private void initUART()
{
if (Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_HARDWARE_UART]))
{
if (EZBManager.EZBs[0].IsConnected)
{
UInt32 baud = 115200;
int uartPort = Convert.ToInt16(_cf.STORAGE[ConfigTitles.HARDWARE_PORT]);
Invokers.SetAppendText(tbLog, true, "UART {0} @ {1}bps",
uartPort,
baud);
EZBManager.EZBs[0].Uart.UARTExpansionInit(uartPort, baud);
}
else
{
Invokers.SetAppendText(tbLog, true, "Not connected to ez-b");
}
}
if (Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_COM_PORT]))
{
if (_serialPort.IsOpen)
{
_serialPort.Close();
}
_serialPort.BaudRate = 115200;
_serialPort.PortName = _cf.STORAGE[ConfigTitles.COM_PORT].ToString();
_serialPort.Open();
}
}
public override void SendCommand(string windowCommand, params string[] values)
{
var cmd = GetRoombaCommand(windowCommand);
if (cmd == RoombaCmdEnum.Init)
{
init();
}
else if (cmd == RoombaCmdEnum.DisableSensorStream)
{
Invokers.SetChecked(cbSensorStream, false);
cbSensorStream_CheckedChanged(null, null);
}
else if (cmd == RoombaCmdEnum.EnableSensorStream)
{
Invokers.SetChecked(cbSensorStream, true);
cbSensorStream_CheckedChanged(null, null);
}
else if (cmd == RoombaCmdEnum.PowerOff)
{
_robotController.SetMode(Create2OI.Types.OperatingMode.OFF);
}
else if (cmd == RoombaCmdEnum.SeekDockingStation)
{
_robotController.Execute(Create2OI.Types.OpCode.FORCE_SEEKING_DOCK);
}
else if (cmd == RoombaCmdEnum.Clean)
{
_robotController.Execute(Create2OI.Types.OpCode.CLEAN);
}
else if (cmd == RoombaCmdEnum.MaxClean)
{
_robotController.Execute(Create2OI.Types.OpCode.MAX_CLEAN);
}
else if (cmd == RoombaCmdEnum.SpotClean)
{
_robotController.Execute(Create2OI.Types.OpCode.SPOT);
}
else
{
base.SendCommand(windowCommand, values);
}
//else if (cmd == RoombaCmdEnum.DisableAllBrushes)
// _roomba.DisableAllBrushes();
//else if (cmd == RoombaCmdEnum.MainBrushOff)
// _roomba.SetMainBrush(false);
//else if (cmd == RoombaCmdEnum.MainBrushOn)
// _roomba.SetMainBrush(true);
//else if (cmd == RoombaCmdEnum.SideBrushOff)
// _roomba.SetSideBrush(false);
//else if (cmd == RoombaCmdEnum.SideBrushOn)
// _roomba.SetSideBrush(true);
//else if (cmd == RoombaCmdEnum.VacuumOff)
// _roomba.SetVacuum(false);
//else if (cmd == RoombaCmdEnum.VacuumOn)
// _roomba.SetVacuum(true);
}
public override void SetConfiguration(PluginV1 cf)
{
if (!ARC.Scripting.ScriptManager.DoesExecutorExist(Text))
{
var s = ARC.Scripting.ScriptManager.GetExecutor(Text);
s.OnDone += S_OnDone;
s.OnError += S_OnError;
s.OnResult += S_OnResult;
s.OnStart += S_OnStart;
}
cf.SCRIPTS.AddIfNotExist(Config.ConfigTitles.SCRIPT_BUTTON_PRESSED, new ARC.Config.Sub.Reusable.ScriptDefinition());
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.BAUD_RATE_SERIAL, EZ_B.Uart.BAUD_RATE_ENUM.Baud_115200);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.BAUD_RATE_UART, 115200);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.BAUD_RATE_PC, 115200);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.EZB_SERIAL_PORT, EZ_B.Digital.DigitalPortEnum.D0);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.EZB_UART_PORT, 0);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.PC_COM_PORT, string.Empty);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.CONNECTION_TYPE, Config.ConfigTitles.PortTypeEnum.HW_UART);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.SENSOR_POLL_TIME_MS, 500);
cf.STORAGE.AddIfNotExist(Config.ConfigTitles.NMS_POSITION_DATA, true);
try {
init();
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.Message);
}
base.SetConfiguration(cf);
}
private void Servo_OnServoGetPosition(Servo.ServoPortEnum servoPort, EZ_B.Classes.GetServoValueResponse getServoResponse)
{
if (getServoResponse.Success)
{
return;
}
if (!_customConfig.VirtualPorts.Contains(servoPort))
{
getServoResponse.ErrorStr = "No matching lewansoul servo specified";
getServoResponse.Success = false;
return;
}
Invokers.SetAppendText(tbLog, true, "Reading position from {0}", servoPort);
if (Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_COM_PORT]))
{
getServoPositionComSerial(servoPort, getServoResponse);
}
if (!getServoResponse.Success && Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_HARDWARE_UART]))
{
getServoPositionEZBUART(servoPort, getServoResponse);
}
}
private void FormMain_Load(object sender, EventArgs e)
{
detach();
string trainedObjectDataFile = EZ_Builder.Common.CombinePath(
EZ_Builder.Constants.PLUGINS_FOLDER,
_cf._pluginGUID,
"Trained Object Data.xml");
if (!File.Exists(trainedObjectDataFile))
{
MessageBox.Show("Unable to find the trained object data file required for this plugin. Closing...");
Close();
return;
}
try {
using (FileStream fs = new FileStream(trainedObjectDataFile, FileMode.Open, FileAccess.Read)) {
System.Xml.Serialization.XmlSerializer xs = new System.Xml.Serialization.XmlSerializer(typeof(EZ_B.AVM.TrainedObjectsContainer));
_trainedObjects = (EZ_B.AVM.TrainedObjectsContainer)xs.Deserialize(fs);
AssociativeMemory.ReadPackedData(_trainedObjects.Data);
}
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, "Error loading trained object data: {0}", ex);
}
}
private void PrimaryEZB_OnConnectionChange2(EZB sender, bool isConnected)
{
var portType = (Config.ConfigTitles.PortTypeEnum)_cf.STORAGE[Config.ConfigTitles.CONNECTION_TYPE];
if (portType == ConfigTitles.PortTypeEnum.PC_COM)
{
return;
}
try {
if (isConnected)
{
init();
}
else
{
if (_robotController != null)
{
_robotController.Dispose();
_robotController = null;
}
Invokers.SetAppendText(tbLog, true, "Disconnected");
}
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, "Connection change: {0}", ex);
}
}
private void button12_Click(object sender, EventArgs e)
{
try {
init();
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.Message);
}
}
private void _robotController_OnStreamPacketCnt(object sender, int e)
{
if (IsClosing)
{
return;
}
Invokers.SetText(lblStreamCnt, $"{e:###,###}");
}
private void S_OnDone(string compilerName, TimeSpan timeTook)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, $"Done {timeTook}");
}
private void S_OnError(string compilerName, string errorMessage)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, $"> {errorMessage}");
}
private void S_OnStart(string compilerName)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, "Pressed");
}
private void _lidarService_OnLog(object sender, string e)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, e);
}
private void _lidarParser_OnWarning(object sender, string e)
{
if (IsClosing || !_debugging)
{
return;
}
Invokers.SetAppendText(tbLog, true, $"Parser: {e}");
}
private void _robotController_OnLog(object sender, string e)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, e);
}
private void S_OnResult(string compilerName, string resultTxt)
{
if (IsClosing)
{
return;
}
Invokers.SetAppendText(tbLog, true, $"> {resultTxt}");
}
private void MovementManager_OnSpeedChanged(int speedLeft, int speedRight)
{
if (IsClosing)
{
return;
}
Invokers.SetValue(tbSpeedLeft, speedLeft);
Invokers.SetValue(tbSpeedRight, speedRight);
}
private void _robotController_OnError(object sender, Exception txt)
{
if (IsClosing)
{
return;
}
Invokers.SetChecked(cbSensorStream, false);
Invokers.SetAppendText(tbLog, true, txt.ToString());
}
private void button1_Click_1(object sender, EventArgs e)
{
textBox1.Text = textBox1.Text.Trim();
if (textBox1.Text == string.Empty)
{
return;
}
AIMLbot.Request req = new AIMLbot.Request(textBox1.Text, _user, _bot);
tbLog.AppendText("You> " + textBox1.Text);
tbLog.AppendText(Environment.NewLine);
AIMLbot.Result r = _bot.Chat(req);
string unfilteredResp = r.Output;
string resp = string.Empty;
string[] cmds = Common.GetTextBetween(unfilteredResp, out resp, '[', ']');
resp = resp.Replace("\r", string.Empty);
resp = resp.Replace("\n", string.Empty);
resp = EZ_Builder.Scripting.VariableManager.SubsituteWithValues(resp);
resp = resp.Replace("\"", "");
resp = Regex.Replace(resp, @"\s+", " ");
tbLog.AppendText("Bot> " + resp);
tbLog.AppendText(Environment.NewLine);
EZ_Builder.Scripting.VariableManager.SetVariable(
_cf.STORAGE[ConfigTitles.RESPONSE_VARIABLE].ToString(),
resp);
if (_cf.STORAGE[ConfigTitles.RESPONSE_SCRIPT].ToString() != string.Empty)
{
EZ_Builder.Scripting.EZScriptManager.GetExecutor(_EXECUTOR_NAME).StartScriptASync(_cf.STORAGE[ConfigTitles.RESPONSE_SCRIPT].ToString());
}
foreach (string cmd in cmds)
{
Invokers.SetAppendText(tbLog, true, 50, "Exec: {0}", cmd);
string response = EZ_Builder.Scripting.EZScriptManager.GetExecutor(_EXECUTOR_NAME + "_embedded").ExecuteScriptSingleLine(cmd);
if (response != string.Empty)
{
Invokers.SetAppendText(tbLog, true, 50, response);
}
}
textBox1.Clear();
}
internal override void Configure(long codeRegistration, long metadataRegistration)
{
base.Configure(codeRegistration, metadataRegistration);
if (Image is MachOReader)
{
// fix method pointer in mach-o (always +1, don't know why)
MethodPointers = MethodPointers.Select(ptr => ptr - 1).ToArray();
ManagedToNative = ManagedToNative.Select(ptr => ptr - 1).ToArray();
Invokers = Invokers.Select(ptr => ptr - 1).ToArray();
}
}
public FormMain()
{
InitializeComponent();
// Bind to the events for moving a servo and changing connection state
EZBManager.EZBs[0].OnConnectionChange += FormMain_OnConnectionChange;
EZBManager.EZBs[0].Servo.OnServoMove += Servo_OnServoMove;
EZBManager.EZBs[0].Servo.OnServoGetPosition += Servo_OnServoGetPosition;
EZBManager.EZBs[0].Servo.OnServoRelease += Servo_OnServoRelease;
Invokers.SetAppendText(tbLog, true, "Connected Events");
}
void Camera_OnNewFrame()
{
if (_isClosing)
{
return;
}
try {
Bitmap image = _cameraControl.Camera.GetCurrentBitmap;
var found = GetDetectedImage(image);
if (found == UCProgramItem.ProgramItemEnum.NA)
{
}
else if (_lastDetectedItem != found && found == UCProgramItem.ProgramItemEnum.Start)
{
say("Running your program");
_currentRunningIndex = 0;
flowLayoutPanel1.Invoke(new Action(() => {
var item = (UCProgramItem)flowLayoutPanel1.Controls[_currentRunningIndex];
item.BackColor = Color.Green;
_executor.StartScriptASync(item.GetCode());
}));
}
else if (_lastDetectedItem != found)
{
flowLayoutPanel1.Invoke(new Action(() => Invokers.AddControl(flowLayoutPanel1, new UCProgramItem(found))));
say(string.Format("Added {0} command", found));
}
_lastDetectedItem = found;
// Rather than creating a new bitmap for the picturebox, we simply overwrite the bitmap data with the bmTmp data
// This way, when the bmpTmp is destroyed from the using, the picturebox has the brand new image data
pictureBox1.Invoke(new Action(() => EZ_B.Camera.CopyBitmapMemory(image, (Bitmap)pictureBox1.Image)));
Invokers.SetRefresh(pictureBox1);
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.ToString());
Invokers.SetEnabled(btnAttachCamera, true);
}
}
private bool disposedValue = false; // 要检测冗余调用
/// <summary>
/// 释放资源。
/// </summary>
/// <param name="disposing">全部释放。</param>
protected virtual void Dispose(bool disposing)
{
if (!disposedValue)
{
Routers.Clear();
Invokers.Clear();
if (disposing)
{
GC.SuppressFinalize(this);
}
disposedValue = true;
}
}
private void btnConnect_Click(object sender, EventArgs e)
{
try {
if (_lidarService.IsRunning)
{
stop();
}
else
{
start();
}
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.Message);
}
}
private void _lidarService_OnStart()
{
if (IsClosing)
{
return;
}
Invokers.SetText(btnConnect, "Stop");
Invokers.SetBackColor(btnConnect, Color.Red);
Invokers.SetForeColor(btnConnect, Color.White);
Invokers.SetEnabled(groupBox3, false);
ARC.Scripting.VariableManager.SetVariable(_cf.STORAGE[ConfigTitles.IS_LIDAR_RUNNING_VARIABLE].ToString(), true);
_stopWatch.Restart();
}
internal static T GetDelegateForInvokeExact <T>(MethodHandle mh)
where T : class
{
MethodType type = mh.type();
if (mh._invokeExactDelegate == null)
{
if (type._invokeExactDynamicMethod == null)
{
type._invokeExactDynamicMethod = DynamicMethodBuilder.CreateInvokeExact(type);
}
mh._invokeExactDelegate = type._invokeExactDynamicMethod.CreateDelegate(GetDelegateTypeForInvokeExact(type), mh);
T del = mh._invokeExactDelegate as T;
if (del != null)
{
return(del);
}
}
throw Invokers.newWrongMethodTypeException(GetDelegateMethodType(typeof(T)), type);
}
void detach()
{
if (_cameraControl != null)
{
if (!_isClosing)
{
EZ_Builder.EZBManager.Log("Detaching from {0}", _cameraControl.Text);
}
_cameraControl.Camera.OnNewFrame -= Camera_OnNewFrame;
_cameraControl = null;
}
if (!_isClosing)
{
Invokers.SetEnabled(btnAttachCamera, true);
Invokers.SetText(btnAttachCamera, "Attach Camera");
}
}
private void cbSensorStream_CheckedChanged(object sender, EventArgs e)
{
try {
if (_robotController == null || IsClosing)
{
return;
}
if (cbSensorStream.Checked)
{
_robotController.StartStreaming();
}
else
{
_robotController.StopStreaming();
}
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.Message);
}
}
private void initUART()
{
if (Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_HARDWARE_UART]) && EZBManager.PrimaryEZB.Firmware.IsCapabilitySupported(EZ_B.Firmware.XMLFirmwareSimulator.CAP_HARDWARE_UART_TX_RX_WITH_DMA_BUFFER))
{
if (EZBManager.EZBs[0].IsConnected)
{
UInt32 baud = 1000000;
int uartPort = Convert.ToInt16(_cf.STORAGE[ConfigTitles.HARDWARE_PORT]);
Invokers.SetAppendText(tbLog, true, "UART {0} @ {1}bps",
uartPort,
baud);
EZBManager.EZBs[0].Uart.UARTExpansionInit(uartPort, baud);
}
}
if (Convert.ToBoolean(_cf.STORAGE[ConfigTitles.USE_COM_PORT]))
{
if (_serialPort.IsOpen)
{
_serialPort.Close();
}
_serialPort.BaudRate = 1000000;
_serialPort.PortName = _cf.STORAGE[ConfigTitles.COM_PORT].ToString();
Invokers.SetAppendText(tbLog, true, "{0} @ {1}bps",
_serialPort.PortName,
_serialPort.BaudRate);
try {
_serialPort.Open();
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, ex.Message);
}
}
}
void attach()
{
detach();
Control[] cameras = EZ_Builder.EZBManager.FormMain.GetControlByType(typeof(EZ_Builder.UCForms.FormCameraDevice));
if (cameras.Length == 0)
{
MessageBox.Show("There are no camera controls in this project.");
return;
}
foreach (EZ_Builder.UCForms.FormCameraDevice camera in cameras)
{
if (camera.Camera.IsActive)
{
this.Invoke(new Action(() => {
pictureBox1.Image = new Bitmap(camera.Camera.CaptureWidth, camera.Camera.CaptureHeight, EZ_B.Camera.PixelFormat);
_cameraControl = camera;
Invokers.SetAppendText(tbLog, true, "Attached to: {0}", _cameraControl.Text);
btnAttachCamera.Enabled = true;
btnAttachCamera.Text = "Detach Camera";
_cameraControl.Camera.OnNewFrame += Camera_OnNewFrame;
}));
return;
}
}
MessageBox.Show("There are no active cameras in this project. This control will connect to the first active camera that it detects in the project");
}
/// <summary> /// 添加指定目标类型工厂(同种目标类型第一次配置生效)。 /// </summary> /// <typeparam name="TResult">目标类型。</typeparam> /// <param name="invoke">将任意类型转为目标类型的工厂。</param> /// <returns>返回真代表注册成功，返回假代表注册失败（目标类型已被指定其他调用器）。</returns> public bool Use <TResult>(Func <T, Type, Func <object, TResult> > invoke) => Invokers.TryAdd(typeof(TResult), new Invoker <TResult>(invoke));
