private bool CheckParam(string[] valid_status)
{
int valid_status_code = 0;
int pos;
foreach (string s in valid_status)
{
pos = Array.IndexOf(StateMaps.RobotStatusMap, s);
if (pos == -1)
{
throw new System.ArgumentException(
String.Format("{0} is not an status in StatusMap", s),
"STATUS");
}
else
{
valid_status_code |= 1 << pos;
}
}
RobotParameters gp = group_ctrl.GroupParameters;
if (gp.Status == valid_status_code)
{
return(true);
}
else
{
return(false);
}
}
private async static void Backtest(ISymbol symbol, IEnumerable <IBar> data)
{
var startTime = data.Min(iBar => iBar.Time);
var endTime = data.Max(iBar => iBar.Time);
var robotParmeters = new RobotParameters
{
Account = new BacktestAccount(1, 1, string.Empty, 500, "ConsoleTester"),
Backtester = new OhlcBacktester {
Interval = TimeSpan.FromHours(1)
},
BacktestSettings = new BacktestSettings(startTime, endTime),
Mode = Mode.Backtest,
Server = new Server(),
Symbols = new List <ISymbol> {
symbol
},
SymbolsBacktestData = new List <ISymbolBacktestData> {
new SymbolBacktestData(symbol, data)
},
TimerContainer = new TimerContainer(),
};
robotParmeters.TradeEngine = new BacktestTradeEngine(robotParmeters.Server, robotParmeters.Account);
robotParmeters.Account.AddTransaction(new Transaction(10000, startTime));
robotParmeters.Backtester.OnBacktestStopEvent += Backtester_OnBacktestStopEvent;
robotParmeters.Backtester.OnBacktestProgressChangedEvent += Backtester_OnBacktestProgressChangedEvent;
var robot = new SingleSymbolMaCrossOverBot();
await robot.StartAsync(robotParmeters);
}
public void motorState([FromBody] RobotParameters parameters)
{
if (parameters.MotorState.HasValue)
{
Console.WriteLine("Set Motors to " + (parameters.MotorState.Equals(true) ? "on" : "off"));
this._rosService.SetMotorState(parameters.MotorState.Value);
}
}
public void setParams([FromBody] RobotParameters robotParameters)
{
if (robotParameters.Speed.HasValue || robotParameters.Zone.HasValue)
{
Console.WriteLine("Set Robot Parameters");
this._rosService.SetParameters(robotParameters);
}
}
public void Awake()
{
hpDebuffLevel = new ReactiveProperty <float>(1);
robotParameters = GetComponent <RobotParameterHolder>().robotParameter;
maxHp = robotParameters.hp;
hp = new ReactiveProperty <float>(maxHp);
deadSubject = new Subject <Unit>();
onDamagedSubject = new Subject <float>();
}
public void SetParameters(RobotParameters robotParameters)
{
if (robotParameters.Zone.HasValue)
{
_serialPort.WriteLine($"{(int) RobotCommand.CommandType.SetZone},{robotParameters.Zone.Value}");
}
if (robotParameters.Speed.HasValue)
{
_serialPort.WriteLine($"{(int) RobotCommand.CommandType.SetSpeed},{robotParameters.Speed.Value}");
}
if (robotParameters.MotorState.HasValue)
{
_serialPort.WriteLine($"{(int) RobotCommand.CommandType.SetMotorState},{robotParameters.MotorState.Value}");
}
}
private void initializeControls()
{
// Load any saved settings
RobotParameters.ReadParametersFromDisk(this);
// Text
_potisionTextView = (TextView)FindViewById(Resource.Id.PositionTextView);
// Button Controls
Button initializeButton = (Button)FindViewById(Resource.Id.InitializationButton);
Button lightButton = (Button)FindViewById(Resource.Id.LightButton);
initializeButton.Click += InitializeButton_Click;
lightButton.Click += LightButton_Click;
// Joystick
JoystickView joystick = (JoystickView)FindViewById(Resource.Id.Joystick);
joystick.PositionChanged += Joystick_PositionChanged;
joystick.PositionStop += Joystick_PositionStop;
// Head and Arm buttons
_headLeftButton = (Button)FindViewById(Resource.Id.HeadLeftButton);
_headRightButton = (Button)FindViewById(Resource.Id.HeadRightButton);
_shoulderOpenButton = (Button)FindViewById(Resource.Id.ShoulderOpenButton);
_shoulderCloseButton = (Button)FindViewById(Resource.Id.ShoulderCloseButton);
_wristOpenButton = (Button)FindViewById(Resource.Id.WristOpenButton);
_wristCloseButton = (Button)FindViewById(Resource.Id.WristCloseButton);
_gripperOpenButton = (Button)FindViewById(Resource.Id.GripperOpenButton);
_gripperCloseButton = (Button)FindViewById(Resource.Id.GripperCloseButton);
_headLeftButton.Touch += Button_Touch;
_headRightButton.Touch += Button_Touch;
_shoulderOpenButton.Touch += Button_Touch;
_shoulderCloseButton.Touch += Button_Touch;
_wristOpenButton.Touch += Button_Touch;
_wristCloseButton.Touch += Button_Touch;
_gripperOpenButton.Touch += Button_Touch;
_gripperCloseButton.Touch += Button_Touch;
_timer = new Timer();
_timer.Interval = 1; // interval in milliseconds
_timer.Enabled = false;
_timer.Elapsed += TimerEvent;
_timer.AutoReset = true;
}
/* Other Utils */
#region Utils
public int SysParamUpdate()
{
NexMotion_GroupAdapter groupAdapter = group_ctrl.GroupAdapter;
RobotParameters groupParameters = group_ctrl.GroupParameters;
groupAdapter.NMC_GroupGetState(ref groupParameters.State);
groupAdapter.NMC_GroupGetStatus(ref groupParameters.Status);
groupAdapter.NMC_GroupGetActualPosAcs(ref groupParameters.PosAcs);
groupAdapter.NMC_GroupGetActualPosPcs(ref groupParameters.PosPcs);
// WTF...
groupParameters.ActAcs = groupParameters.PosAcs.pos;
groupParameters.ActPcs = groupParameters.PosPcs.pos;
/* TODO: IO Sync? */
return(NexMotion_ErrCode.NMCERR_SUCCESS);
}
private bool IsFileReady(RobotParameters parameters)
{
try
{
// code to try opening a file goes here
// or code to see if files exist goes here
// assuming file was opened with no errors and is ready for processing
return true;
}
catch (Exception e)
{
// file is not ready for processing
// and could not be opened
return false;
}
}
public void StartMonitoringForNewFiles(RobotParameters parameters)
{
try
{
while (stopProcessing == false)
{
stopProcessing = IsFileReady(parameters);
Thread.Sleep(5000); // sleeps for 5 seconds
if (stopProcessing == true)
{
break; // get out of loop since file is ready
}
}
}
catch (Exception e)
{
throw;
}
}
public void SetParameters(RobotParameters robotParameters)
{
throw new NotImplementedException();
}
public void SetParameters(RobotParameters robotParameters)
{
Console.Write("-> Test - ", System.Reflection.MethodBase.GetCurrentMethod().Name + " ->");
Console.WriteLine(robotParameters.ToString() + " <-");
}
