/// <summary>
/// main()
/// </summary>
/// <param name="args"></param>
static void Main(string[] args)
{
string robot_acc = "";
string robot_passwd = "";
if (args.Length == 0)
{
Console.WriteLine("USAGE:MSNRobot.exe <msn_account> [password]");
return;
}
robot_acc = args[0];
if (args.Length == 2)
robot_passwd = args[1];
else
{
Console.WriteLine("Password for " + robot_acc + ":");
robot_passwd = Console.ReadLine();
}
RobotMain app = new RobotMain();
app.BeginLogin(robot_acc, robot_passwd);
while (true)
{
Console.WriteLine("I am a MSN robot:" + robot_acc);
Console.ReadLine();
}
}
public RobotConversation(Conversation conv, RobotMain robotmain)
{
Console.WriteLine("==> Struct a conversation");
_conversation = conv;
_conversation.Switchboard.TextMessageReceived += new EventHandler<TextMessageEventArgs>(Switchboard_TextMessageReceived);
_conversation.Switchboard.SessionClosed += new EventHandler<EventArgs>(Switchboard_SessionClosed);
_conversation.Switchboard.ContactLeft += new EventHandler<ContactEventArgs>(Switchboard_ContactLeft);
_robotmain = robotmain;
}
// Use this for initialization
void Start()
{
isTheChosenOne = true;
filePathPosResNum = Application.dataPath + pathPosNum;
if (File.Exists(filePathPosResNum))
{
fileContent = File.ReadAllText(filePathPosResNum);
trajectory = JsonUtility.FromJson <JsonRobotData>(fileContent);
Debug.Log(trajectory.time);
filePos.Close();
if (trajectory.time == 0.0f)
{
CheckIteration();
}
}
alpha = startingAlpha;
beta = startingBeta;
if (alpha + beta < 1f)
{
CheckIteration();
}
timer = Timer();
robot = GameObject.Find("Robot");
robotScript = robot.GetComponent <RobotMain>();
rPl = robot.GetComponent <RobotPlanning>();
rP = robot.GetComponent <RobotProgress>();
rDMUtility = robot.GetComponent <RobotDMUtilityCloseWall>();
rDMUtility.alpha = startingAlpha;
rDMUtility.beta = startingBeta;
robotScript.forgettingFactor = forgettingFactor[startingDelta];
rP.pathMapNum = pathMapNum + iteration.ToString() + ".json";
rP.pathPosNum = pathPosNum + iteration.ToString() + ".json";
alpha = startingAlpha;
beta = startingBeta;
deltaIndex = startingDelta;
//robotScript.SetVariables();
rP.DefiningFolderAndFile();
rP.SetAlpha(alpha);
rP.SetBeta(beta);
rP.SetDelta(forgettingFactor[deltaIndex]);
rP.SetMapName(mapName);
Debug.Log(rDMUtility.alpha);
Debug.Log(rDMUtility.beta);
Debug.Log(robotScript.forgettingFactor);
StartCoroutine(timer);
}
void Start()
{
/* #if UNITY_EDITOR
* UnityEditor.SceneView.FocusWindowIfItsOpen(typeof(UnityEditor.SceneView));
#endif */
playerScript = player.GetComponent <Player>();
robotScript = player.GetComponent <RobotMain>();
tutorialGameUIManagerScript.Fade(0.7f, 1f, true, 0.5f);
}
private Vector3 localDownVector; // vector used to give the angular direction of the camera
void Start()
{
/* #if UNITY_EDITOR
* UnityEditor.SceneView.FocusWindowIfItsOpen(typeof(UnityEditor.SceneView));
#endif */
playerScript = player.GetComponent <Player>();
robotScript = player.GetComponent <RobotMain>();
for (int i = 0; i < target.Length; i++)
{
targetReached.Add(false);
}
tutorialGameUIManagerScript.Fade(0.7f, 1f, true, 0.5f);
}
private void OnLevelWasLoaded(int level)
{
if (!isTheChosenOne)
{
Destroy(this.gameObject);
}
else
{
iteration = 1 + iteration;
if (alpha < maxAlpha)
{
alpha = 0.1f + alpha;
}
else if (beta < maxBeta)
{
beta = 0.1f + beta;
alpha = minAlpha;
}
else if (deltaIndex < maxDeltaIndex)
{
deltaIndex = deltaIndex + 1;
alpha = minAlpha;
beta = minBeta;
}
filePathPosResNum = Application.dataPath + pathPosNum;
if (File.Exists(filePathPosResNum))
{
fileContent = File.ReadAllText(filePathPosResNum);
trajectory = JsonUtility.FromJson <JsonRobotData>(fileContent);
Debug.Log(trajectory.time);
filePos.Close();
if (trajectory.time == 0.0f)
{
CheckIteration();
}
}
if (alpha + beta < 1f)
{
CheckIteration();
}
timer = Timer();
robot = GameObject.Find("Robot");
robotScript = robot.GetComponent <RobotMain>();
rPl = robot.GetComponent <RobotPlanning>();
rP = robot.GetComponent <RobotProgress>();
rDMUtility = robot.GetComponent <RobotDMUtilityCloseWall>();
rDMUtility.alpha = alpha;
rDMUtility.beta = beta;
robotScript.forgettingFactor = forgettingFactor[deltaIndex];
rP.pathMapNum = pathMapNum + iteration.ToString() + ".json";
rP.pathPosNum = pathPosNum + iteration.ToString() + ".json";
//robotScript.SetVariables();
rP.DefiningFolderAndFile();
rP.SetAlpha(alpha);
rP.SetBeta(beta);
rP.SetDelta(forgettingFactor[deltaIndex]);
rP.SetMapName(mapName);
Debug.Log(alpha);
Debug.Log(beta);
Debug.Log(forgettingFactor[deltaIndex]);
StartCoroutine(timer);
}
}
protected RobotMain mainScipt; //The core component (the one responsible for scanning and decisioning)
private void Start()
{
mainScipt = GetComponent <RobotMain>();
}
public bool WriteCommand(string message)
{
if (string.IsNullOrEmpty(message) || string.IsNullOrWhiteSpace(message))
{
return(false);
}
byte id = 0b00000000;
byte[] buffer = new byte[1];
byte[] ascii = new byte[1];
int spaceIndex = message.IndexOf(' ');
if (spaceIndex <= 0)
{
spaceIndex = message.Length;
}
string cmdString = message.Substring(0, spaceIndex).ToLower().Trim();
string[] argStrings = message.Substring(spaceIndex >= message.Length ? spaceIndex : spaceIndex + 1).ToLower().Trim().Split(' ');
for (int i = argStrings.Length - 1; i >= 0; i--)
{
argStrings[i] = argStrings[i].Trim();
}
switch (cmdString)
{
case "help":
WriteHelp();
break;
case "health":
WriteHealth();
break;
case "start_test":
if (RobotMain.IsRunning == false)
{
RobotMain.Start();
}
RobotMain.State = RobotMain.RobotState.TestInit;
break;
case "start_idle":
if (RobotMain.IsRunning == false)
{
RobotMain.Start();
}
RobotMain.State = RobotMain.RobotState.IdleInit;
break;
case "start_autonomous":
if (RobotMain.IsRunning == false)
{
RobotMain.Start();
}
RobotMain.State = RobotMain.RobotState.AutonomousInit;
break;
case "start_teleop":
if (RobotMain.IsRunning == false)
{
RobotMain.Start();
}
RobotMain.State = RobotMain.RobotState.TeleopInit;
break;
case "setchnnl":
WriteSetChnnl(Convert.ToByte(argStrings[0]));
break;
case "start":
WriteStart();
if (RobotMain.IsRunning == false)
{
RobotMain.Start();
}
break;
case "stop":
WriteStop();
if (RobotMain.IsRunning == true)
{
RobotMain.Stop();
}
break;
case "print":
string msg = string.Empty;
for (int i = 0; i < argStrings.Length; i++)
{
if (i == 0)
{
msg += $"{argStrings[i]}";
}
else
{
msg += $" {argStrings[i]}";
}
}
WritePrint(msg);
break;
case "ping":
WritePing();
break;
case "setbchnnl":
WriteSetBChnnl(Convert.ToByte(argStrings[0]));
break;
case "drive":
WriteDrive(Convert.ToByte(argStrings[0]), Convert.ToByte(argStrings[1]));
break;
case "drivetimed":
WriteDriveTimed(Convert.ToByte(argStrings[0]), Convert.ToByte(argStrings[1]), Convert.ToInt16(argStrings[2]));
break;
case "tdrive":
WriteTDrive(Convert.ToByte(argStrings[0]), Convert.ToByte(argStrings[1]));
break;
case "tdrivetimed":
WriteTDriveTimed(Convert.ToByte(argStrings[0]), Convert.ToByte(argStrings[1]), Convert.ToInt16(argStrings[2]));
break;
case "claw":
WriteClaw(Convert.ToByte(argStrings[0]));
break;
default:
WriteBlank();
break;
}
return(true);
}
