// the message handling function (called by an internal timer)
public override void handleMessages(object sender, EventArgs e)
{
int packetsavailable = packetsAvailable();
EZPacket pack;
// 1. checking pakcets available and acting
if (packetsavailable > 0)
{
pack = getNextAvailablePacket();
// unwrapping the packet
CommandMsg msg = RobotMessenger.convertBytes2CommandMsg(pack.Message);
////////////////// Handle the message here //////////////////
// sending a sample answer
CommandMsg outmsg = new CommandMsg();
outmsg.robot = t_Robot.t_Station;
outmsg.Cmd = RobotCmd.rc_ManualCommand;
outmsg.CmdParams = new byte[] { (byte)'H', (byte)'E', (byte)'L', (byte)'L', (byte)'O' };
outmsg.ParamsLength = (byte)outmsg.CmdParams.Length; // one byte - ability index
// send it
sendCommandMessage(outmsg);
}
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill
(
taskInstance,
new MoveArmsAndHead()
);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill
(
taskInstance,
new RespondToTouchSensors()
);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill
(
taskInstance,
new Wander(),
SkillLogLevel.Verbose
);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
//Load your skill and attach to the Misty robot
RobotMessenger.LoadAndPrepareSkill
(
taskInstance,
new MistyNativeSkill(),
SkillLogLevel.Verbose
);
}
public override void handleMessages(object sender, EventArgs e)
{
int packetsavailable = packetsAvailable();
EZPacket pack;
// 1. checking pakcest available and acting
if (packetsavailable > 0)
{
pack = getNextAvailablePacket();
// unwrapping the packet
CommandMsg msg = RobotMessenger.convertBytes2CommandMsg(pack.Message);
// handling the message
switch (msg.Cmd)
{
case RobotCmd.rc_CommandDone: // handling the flags
flagAbilityExecuting = false;
flagAbilityDone = true;
break;
case RobotCmd.rc_ManualCommand: // Nothing...
break;
case RobotCmd.rc_SendCMUCAMAbstractionData: // nothing...
break;
case RobotCmd.rc_SendSensors: // nothing
break;
case RobotCmd.rc_SensorData: // retrieving sensory data from the avatar
acquireSensorData(msg);
flagSensorDataAcquired = true;
break;
case RobotCmd.rc_CMUCAMAbstractionData: // retrieving a CMUCAM frame
acquireCMUCAMAbstractionData(msg);
break;
case RobotCmd.rc_SonarFired: // handling flags
flagSonarArrayFiring = false;
flagSonarArrayFiringDone = true;
break;
}
}
// 2. Cheking state and flags
if (flagAbstractionDataReady)
{
requestCMUCAMAbstractionData();
}
}
/*
* Current intro skills in (somewhat) order of complexity:
*
* SkillTemplate, //empty skill template you can use to build your skills
*
* MostlyHarmlessSkill,
* MostlyHarmlessTooSkill,
* HelloWorldSkill,
* HelloAgainWorldSkill,
* LookAroundSkill,
* InteractiveMistySkill,
* ForceDriving,
* HelloLocomotionSkill
*
* Change the skill below and re-deploy to run the skill
*
* If you want to run multiple at the same time, you will need to make a Skill Background Task for each skill and deploy individually - see below or documentation for more details.
*
*/
public void Run(IBackgroundTaskInstance taskInstance)
{
//Call LoadAndPrepareSkill to register robot events and add an instance of the robot interface to the skill
RobotMessenger.LoadAndPrepareSkill
(
//Background task instance passed in for task management, managed by system
taskInstance,
//Instance of your skill
new ForceDriving(),
//Skill Log Level to start in
SkillLogLevel.Verbose,
//Overwrite default logging preface to help label runs in log
"Skill Test Run #1 => "
);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill(taskInstance, new UnitTestExampleSkill());
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill(taskInstance, new TextToSpeech());
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill(taskInstance, new MistyNativeSkill(), MistyRobotics.Common.Types.SkillLogLevel.Verbose);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
RobotMessenger.LoadAndPrepareSkill(taskInstance, new GrossMisty());
}
private void Awake()
{
messenger = GetComponentInParent <RobotMessenger> ();
Debug.Assert(messenger != null, "Couldn't find a Messenger in the GameObject");
}
private void Awake()
{
robMov = GetComponent <RobotMovement> ();
robMes = GetComponent <RobotMessenger> ();
CurrentBatteryAmount = maxBattery;
}
