private void spheroJoystick_CalibrationReleased(object sender, Sphero.Controls.JoystickCalibrationEventArgs e)
{
if (_spheroDevice != null)
{
_spheroDevice.SetHeading(0);
}
}
public static void ChangeColor(Sphero sphero, String parameter)
{
if (String.IsNullOrEmpty(parameter))
{
Console.WriteLine("Invalid parameter value - {0}", parameter);
return;
}
if (isHelpParameter(parameter))
{
Console.WriteLine("Please specify color value, like Red, Green, Blue, etc.");
return;
}
if (sphero == null)
{
Console.WriteLine("Sphero not connected!");
return;
}
Color c = Color.FromName(parameter);
byte r, g, b;
r = c.R;
g = c.G;
b = c.B;
sphero.SetRGBLEDOutput(r, g, b);
}
private void spheroJoystick_Moving(object sender, Sphero.Controls.JoystickMoveEventArgs e)
{
if (_spheroDevice != null)
{
_spheroDevice.Roll(e.Angle, e.Speed);
}
}
private SpheroControl(Sphero sphero)
{
this.sphero = sphero;
this.r = this.g = this.b = 0;
this.backlightBrightness = 0.0f;
this.rotation = 0;
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
// Connect to the robot and move to the next scene designated by the developer
if (!m_MultipleSpheros)
{
m_Title = "CONNECTION SUCCESS";
SpheroDeviceMessenger.SharedInstance.NotificationReceived -= ReceiveNotificationMessage;
{
if (m_threadSafeLoadLevel != null)
{
m_threadSafeLoadLevel.LoadLevel(m_NextLevel);
}
}
}
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
Sphero notifiedSphero = m_SpheroProvider.GetSphero(message.RobotID);
// Connection only has failed if we are trying to connect to that robot the notification belongs to
if (m_ConnectingRobotName.Equals(notifiedSphero.DeviceInfo.Name))
{
m_Title = "CONNECTION FAILED";
}
}
}
private void spheroJoystick_Calibrating(object sender, Sphero.Controls.JoystickCalibrationEventArgs e)
{
if (_spheroDevice != null)
{
_spheroDevice.Roll(e.Angle, 0);
}
}
private void spheroJoystick_Released(object sender, Sphero.Controls.JoystickMoveEventArgs e)
{
if (_spheroDevice != null)
{
_spheroDevice.Roll(e.Angle, 0);
}
}
override public Sphero[] GetConnectedSpheros() {
if( m_PairedSpheros[0].ConnectionState == Sphero.Connection_State.Connected ) {
Sphero[] connectedSpheros = new Sphero[1];
connectedSpheros[0] = m_PairedSpheros[0];
return connectedSpheros;
}
return new Sphero[0];
}
void DoWindow(int windowID)
{
Vector2 listSize = new Vector2(windowRect.width - 2 * listMargin.x,
windowRect.height - 2 * listMargin.y);
Rect rScrollFrame = new Rect(listMargin.x, listMargin.y, listSize.x, listSize.y);
Rect rList = new Rect(0, 0, m_SpheroLabelWidth, m_RobotNames.Length * m_SpheroLabelHeight);
scrollPosition = GUI.BeginScrollView(rScrollFrame, scrollPosition, rList, false, false);
// Show a list of Spheros that you can connect to
if (m_MultipleSpheros)
{
// Create rows of spinners
for (int i = 0; i < m_RobotNames.Length; i++)
{
m_SpinnerPosition.x = (m_SpinnerSize.x / 2);
m_SpinnerPosition.y = (i * m_SpheroLabelHeight) + (m_SpinnerSize.y / 2);
// Rotate the object
m_SpinnerRect = new Rect(m_SpinnerPosition.x - m_SpinnerSize.x * 0.5f, m_SpinnerPosition.y - m_SpinnerSize.y * 0.5f, m_SpinnerSize.x, m_SpinnerSize.y);
m_SpinnerPivotPos = new Vector2(m_SpinnerRect.xMin + m_SpinnerRect.width * 0.5f, m_SpinnerRect.yMin + m_SpinnerRect.height * 0.5f);
Sphero sphero = m_SpheroProvider.PairedSpheros[i];
// Draw the spinner rotating if it is connecting
if (sphero.ConnectionState == Sphero.Connection_State.Connecting)
{
Matrix4x4 matrixBackup = GUI.matrix;
GUIUtility.RotateAroundPivot(m_SpinnerAngle, m_SpinnerPivotPos);
GUI.DrawTexture(m_SpinnerRect, m_Spinner);
GUI.matrix = matrixBackup;
m_SpinnerAngle += 3;
}
else if (sphero.ConnectionState == Sphero.Connection_State.Connected)
{
GUI.DrawTexture(m_SpinnerRect, m_CheckMark);
}
else if (sphero.ConnectionState == Sphero.Connection_State.Failed)
{
GUI.DrawTexture(m_SpinnerRect, m_RedX);
}
// Otherwise draw it normally
else
{
GUI.DrawTexture(m_SpinnerRect, m_Spinner);
}
// Draw the Sphero Label
GUI.Label(new Rect(m_SpinnerSize.x, i * m_SpheroLabelHeight, m_SpheroLabelWidth, m_SpheroLabelHeight), m_RobotNames[i]);
}
}
// Show a grid of potential Spheros to connect to (only can connect to one)
else
{
m_SpheroLabelSelected = GUI.SelectionGrid(new Rect(0, 0, m_SpheroLabelWidth, m_SpheroLabelHeight * m_RobotNames.Length), m_SpheroLabelSelected, m_RobotNames, 1, "toggle");
}
GUI.EndScrollView();
}
/*
* Get the Robot Provider for Android
*/
public SpheroProviderIOS() : base() {
m_PairedSpheros = new Sphero[1];
m_PairedSpheros[0] = new SpheroIOS();
// DO NOT CHANGE THIS UNTIL MULTIPLE ROBOTS ARE USED ON iOS (if ever)
m_PairedSpheros[0].DeviceInfo.UniqueId = "Robot";
m_PairedSpheros[0].DeviceInfo.Name = "Robot";
// Sign up for notifications on Sphero connections
SpheroDeviceMessenger.SharedInstance.NotificationReceived += ReceiveNotificationMessage;
}
/*
* Get the Robot Provider for Android
*/
public SpheroProviderIOS() : base()
{
m_PairedSpheros = new Sphero[1];
m_PairedSpheros[0] = new SpheroIOS();
// DO NOT CHANGE THIS UNTIL MULTIPLE ROBOTS ARE USED ON iOS (if ever)
m_PairedSpheros[0].DeviceInfo.UniqueId = "Robot";
m_PairedSpheros[0].DeviceInfo.Name = "Robot";
// Sign up for notifications on Sphero connections
SpheroDeviceMessenger.SharedInstance.NotificationReceived += ReceiveNotificationMessage;
}
override public Sphero[] GetConnectedSpheros()
{
if (m_PairedSpheros[0].ConnectionState == Sphero.Connection_State.Connected)
{
Sphero[] connectedSpheros = new Sphero[1];
connectedSpheros[0] = m_PairedSpheros[0];
return(connectedSpheros);
}
return(new Sphero[0]);
}
//Робот найден!
private void OnRobotDiscovered(object sender, Robot robot)
{
if (m_robot == null)
{
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
ConnectionToggle.OnContent = "Connecting...";
m_robot = (Sphero)robot;
SpheroName.Text = string.Format(c_connectingToSphero, robot.BluetoothName);
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = SpheroProvider.GetSharedProvider().GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
Application.LoadLevel("NoSpheroConnectedScene");
}
}
//! @brief when a robot is discovered, connect!
private void OnRobotDiscovered(object sender, Robot robot)
{
Debug.WriteLine(string.Format("Discovered \"{0}\"", robot.BluetoothName));
if (m_robot == null)
{
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
m_robot = (Sphero)robot;
}
}
private void AttemptToConnect()
{
connector = new SpheroConnector();
connector.Scan();
foreach (var device in connector.DeviceNames)
{
if (device.ToLower().Contains("sphero"))
{
Console.WriteLine($"Attempting to connect to {device}");
sphero = connector.Connect(device);
return;
}
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Event handler that listens for disconnects. An example of when one would be received is when Sphero
// goes to sleep.
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = SpheroProvider.GetSharedProvider().GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
streaming = false;
Application.LoadLevel("NoSpheroConnectedScene");
}
}
/* Next block should be moved later */
public static void GoForward(Sphero sphero, byte speed, int duration)
{
var programLines = new List <string>();
programLines.Add("10 goroll 0, " + speed + ", 2\r");
programLines.Add("20 delay " + duration + "\r");
programLines.Add("30 goroll 0, 0, 0\r");
var area = StorageArea.Temporary;
sphero.EraseOrbBasicStorage(area);
sphero.SendOrbBasicProgram(area, programLines);
sphero.ExecuteOrbBasicProgram(area, 10);
}
void _spheroDevice_SensorDataNotification(Sphero.Locator.SensorData data)
{
// If IMU data are present
if (data.FilteredIMU != null)
{
// Update Sliders with data on UI Thread
Dispatcher.BeginInvoke(() =>
{
sldPitch.Value = data.FilteredIMU.Pitch;
sldRoll.Value = data.FilteredIMU.Roll;
sldYaw.Value = data.FilteredIMU.Yaw;
});
}
}
/*
* Get the Robot Provider for Android
*/
public SpheroProviderAndroid() : base() {
// The SDK uses alot of handlers that need a valid Looper in the thread, so set that up here
using (AndroidJavaClass jc = new AndroidJavaClass("android.os.Looper"))
{
jc.CallStatic("prepare");
}
using (AndroidJavaClass jc = new AndroidJavaClass("orbotix.robot.base.RobotProvider"))
{
m_RobotProvider = jc.CallStatic<AndroidJavaObject>("getDefaultProvider");
}
// Sign up for notifications on Sphero connections
SpheroDeviceMessenger.SharedInstance.NotificationReceived += ReceiveNotificationMessage;
m_PairedSpheros = new Sphero[0];
}
//! @brief when a robot is connected, get ready to drive!
private void OnRobotConnected(object sender, Robot robot)
{
SpheroName = string.Format(kSpheroConnected, robot.BluetoothName);
Debug.WriteLine(SpheroName);
m_robot = (Sphero)robot;
ConnectionToggle.IsOn = true;
ConnectionToggle.OnContent = "Connected";
SpheroConnected = true;
m_robot.SetRGBLED(255, 255, 255);
InitializeSensorReading.IsEnabled = true;
m_robot.SensorControl.Hz = 15;
Debug.WriteLine("SensorControl Hz Set");
//m_robot.CollisionControl.StartDetectionForWallCollisions();
//m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected;
}
/*
* Get the Robot Provider for Android
*/
public SpheroProviderAndroid() : base()
{
// The SDK uses alot of handlers that need a valid Looper in the thread, so set that up here
using (AndroidJavaClass jc = new AndroidJavaClass("android.os.Looper"))
{
jc.CallStatic("prepare");
}
using (AndroidJavaClass jc = new AndroidJavaClass("orbotix.robot.base.RobotProvider"))
{
m_RobotProvider = jc.CallStatic <AndroidJavaObject>("getDefaultProvider");
}
// Sign up for notifications on Sphero connections
SpheroDeviceMessenger.SharedInstance.NotificationReceived += ReceiveNotificationMessage;
m_PairedSpheros = new Sphero[0];
}
public void ShutdownRobotConnection()
{
if (m_robot != null)
{
if (SpheroConnected)
{
try
{
if (!AccelerometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + AccelerometerFiltered.filePath);
}
if (!GyrometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + GyrometerFiltered.filePath);
}
m_robot.SensorControl.StopAll();
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent -= OnGyrometerUpdated;
m_robot.Sleep();
m_robot.Disconnect();
Debug.WriteLine("Sphero Disconnected");
}
catch (Exception)
{
throw;
}
}
m_robot = null;
}
SpheroConnected = false;
InitializeSensorReading.IsEnabled = false;
SpheroName = kNoSpheroConnected;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Connected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Failed;
}
}
override public void FindRobots() {
// Only run this stuff if the adapter is enabled
if( IsAdapterEnabled() ) {
m_RobotProvider.Call("findRobots");
AndroidJavaObject pairedRobots = m_RobotProvider.Call<AndroidJavaObject>("getRobots");
int pairedRobotCount = pairedRobots.Call<int>("size");
// Initialize Sphero array
m_PairedSpheros = new Sphero[pairedRobotCount];
// Create Sphero objects for the Paired Spheros
for( int i = 0; i < pairedRobotCount; i++ ) {
// Set up the Sphero objects
AndroidJavaObject robot = pairedRobots.Call<AndroidJavaObject>("get",i);
string bt_name = robot.Call<string>("getName");
string bt_address = robot.Call<string>("getUniqueId");
m_PairedSpheros[i] = new SpheroAndroid(robot, bt_name, bt_address);
}
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = m_PairedSpheros[0];
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Connected;
// Consider setting bluetooth device info here
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Failed;
}
}
override public void FindRobots()
{
// Only run this stuff if the adapter is enabled
if (IsAdapterEnabled())
{
m_RobotProvider.Call("findRobots");
AndroidJavaObject pairedRobots = m_RobotProvider.Call <AndroidJavaObject>("getRobots");
int pairedRobotCount = pairedRobots.Call <int>("size");
// Initialize Sphero array
m_PairedSpheros = new Sphero[pairedRobotCount];
// Create Sphero objects for the Paired Spheros
for (int i = 0; i < pairedRobotCount; i++)
{
// Set up the Sphero objects
AndroidJavaObject robot = pairedRobots.Call <AndroidJavaObject>("get", i);
string bt_name = robot.Call <string>("getName");
string bt_address = robot.Call <string>("getUniqueId");
m_PairedSpheros[i] = new SpheroAndroid(robot, bt_name, bt_address);
}
}
}
// Update is called once per frame
void Update () {
if (!streaming &&
SpheroProvider.GetSharedProvider().GetConnectedSpheros().Length > 0)
{
// Setup streaming for the first time once a Sphero is connected.
//// Register the event handler call back with the SpheroDeviceMessenger
SpheroDeviceMessenger.SharedInstance.AsyncDataReceived += ReceiveAsyncMessage;
//// Get the currently connected Sphero
Sphero[] spheros =
SpheroProvider.GetSharedProvider().GetConnectedSpheros();
m_Sphero = spheros[0];
//// Enable data streaming for controller app. This method turns off stabilization (disables the wheel motors),
//// turn on the back LED (negative x axis reference), and sets data streaming at 20 samples/sec (400/20),
//// a single sample per packet sent, and turns on accelerometer, quaternion, and IMU (attitude) sampling.
m_Sphero.EnableControllerStreaming(20, 1,
SpheroDataStreamingMask.AccelerometerFilteredAll |
SpheroDataStreamingMask.QuaternionAll |
SpheroDataStreamingMask.IMUAnglesFilteredAll);
streaming = true;
}
}
override public Sphero[] GetConnectedSpheros()
{
List <Sphero> connectedSpheros = new List <Sphero>();
// Create a list of connected Spheros
foreach (Sphero sphero in m_PairedSpheros)
{
if (sphero.ConnectionState == Sphero.Connection_State.Connected)
{
connectedSpheros.Add(sphero);
}
}
// Create and fill an array of connected spheros
Sphero[] spheroArray = new Sphero[connectedSpheros.Count];
int i = 0;
foreach (Sphero sphero in connectedSpheros)
{
spheroArray[i] = sphero;
i++;
}
return(spheroArray);
}
// Use this for initialization
void Awake()
{
/*var message = new Server.Message(Server.MessageType.RollSphero);
message.AddContent(180.0f);
message.AddContent(0.25f);
message.AddContent("SPHERO-BOO");
Server.OpenConnection("127.0.0.1", 7777);
Server.SendEndianness();
Server.Send(message);*/
Server.Name = "Rollout Server";
Server.StartListening(7777);
Sphero boo = new Sphero();
boo.DeviceName = "tty.Sphero-BOO-AMP-SPP";
boo.Health = 96.4f;
boo.Shield = 44.5f;
boo.Weapons.Add(new SpheroWeapon(SpheroWeaponType.RailGun));
boo.BatteryVoltage = 7.2f;
SpheroManager.Instances[boo.DeviceName] = boo;
}
void Start()
{
ARUNController controller = ARUNController.Instance;
if (controller != null)
{
controller.OnVisionUpdate += OnVisionUpdate;
}
else
{
//Debug.LogWarning("AureController.Instance not set");
}
#if !UNITY_EDITOR
// Get first connected Sphero
Sphero[] spheros = SpheroProvider.GetSharedProvider().GetConnectedSpheros();
if (spheros.Length > 0)
{
sphero = spheros[0];
sphero.AddDataStreamingMask((ulong)kVisionMask);
SpheroDeviceMessenger.SharedInstance.AsyncDataReceived += ReceiveAsyncMessage;
}
#endif
}
// Update is called once per frame
void Update()
{
if (!streaming &&
SpheroProvider.GetSharedProvider().GetConnectedSpheros().Length > 0)
{
// Setup streaming for the first time once a Sphero is connected.
//// Register the event handler call back with the SpheroDeviceMessenger
SpheroDeviceMessenger.SharedInstance.AsyncDataReceived += ReceiveAsyncMessage;
//// Get the currently connected Sphero
Sphero[] spheros =
SpheroProvider.GetSharedProvider().GetConnectedSpheros();
m_Sphero = spheros[0];
//// Enable data streaming for controller app. This method turns off stabilization (disables the wheel motors),
//// turn on the back LED (negative x axis reference), and sets data streaming at 20 samples/sec (400/20),
//// a single sample per packet sent, and turns on accelerometer, quaternion, and IMU (attitude) sampling.
m_Sphero.EnableControllerStreaming(20, 1,
SpheroDataStreamingMask.AccelerometerFilteredAll |
SpheroDataStreamingMask.QuaternionAll |
SpheroDataStreamingMask.IMUAnglesFilteredAll);
streaming = true;
}
}
// Use this for initialization
void Awake()
{
/*var message = new Server.Message(Server.MessageType.RollSphero);
* message.AddContent(180.0f);
* message.AddContent(0.25f);
* message.AddContent("SPHERO-BOO");
*
* Server.OpenConnection("127.0.0.1", 7777);
*
* Server.SendEndianness();
* Server.Send(message);*/
Server.Name = "Rollout Server";
Server.StartListening(7777);
Sphero boo = new Sphero();
boo.DeviceName = "tty.Sphero-BOO-AMP-SPP";
boo.Health = 96.4f;
boo.Shield = 44.5f;
boo.Weapons.Add(new SpheroWeapon(SpheroWeaponType.RailGun));
boo.BatteryVoltage = 7.2f;
SpheroManager.Instances[boo.DeviceName] = boo;
}
public static string GetNextSpheroName()
{
Sphero s = GetNextSphero();
return((s == null) ? SpectatorName : s.DeviceName);
}
override public Sphero[] GetConnectedSpheros() {
List<Sphero> connectedSpheros = new List<Sphero>();
// Create a list of connected Spheros
foreach( Sphero sphero in m_PairedSpheros ) {
if( sphero.ConnectionState == Sphero.Connection_State.Connected ) {
connectedSpheros.Add(sphero);
}
}
// Create and fill an array of connected spheros
Sphero[] spheroArray = new Sphero[connectedSpheros.Count];
int i = 0;
foreach( Sphero sphero in connectedSpheros ) {
spheroArray[i] = sphero;
i++;
}
return spheroArray;
}
private void ProcessStreamedData(int type)
{
if (!Enum.IsDefined(typeof(ServerMessageType), type))
{
Debug.LogFormat("Uknown type 0x{0:x2}.", type);
return;
}
ServerMessageType messageType = (ServerMessageType)type;
Debug.LogFormat("0x{0:x2}.", type);
ServerMessage message = new ServerMessage();
switch (messageType)
{
case ServerMessageType.SpheroShoot:
ReadStreamedBytes(6);
ReadStreamedBytes(buffer[5], 6);
SpheroManager.Shoot(buffer);
break;
case ServerMessageType.RollSphero:
ReadStreamedBytes(9);
ReadStreamedBytes(buffer[8], 9);
SpheroManager.Roll(buffer);
break;
case ServerMessageType.SpheroPowerUp:
ReadStreamedBytes(2);
ReadStreamedBytes(buffer[1], 2);
SpheroManager.UsePowerUp(buffer);
break;
case ServerMessageType.AppInit:
ReadStreamedBytes(1);
Sphero sphero = null;
message.Type = ServerMessageType.AppInit;
message.AddContent(BitConverter.IsLittleEndian);
if (BitConverter.ToBoolean(buffer, 0) && ((sphero = SpheroManager.GetNextSphero()) != null))
{
message.AddContent(sphero.DeviceName);
}
else
{
message.AddContent(SpheroManager.SpectatorName);
//SpectatorManager.Instances.Add(new Spectator(receivedFrom));
}
Send(message);
if (sphero != null)
{
sphero.HasController = true;
sphero.Connection = this;
Debug.LogFormat("Health: {0}", sphero.Health);
sphero.SendStateToController();
}
break;
case ServerMessageType.RemoveSphero:
ReadStreamedBytes(1);
ReadStreamedBytes(buffer[0], 1);
Close();
// SpheroManager.RemoveSphero(buffer);
// Server.TcpConnections.Remove(this);
break;
default:
break;
}
}
void Start()
{
ARUNController controller = ARUNController.Instance;
if (controller != null)
{
controller.OnVisionUpdate += OnVisionUpdate;
}
else
{
//Debug.LogWarning("AureController.Instance not set");
}
#if !UNITY_EDITOR
// Get first connected Sphero
Sphero[] spheros = SpheroProvider.GetSharedProvider().GetConnectedSpheros();
if( spheros.Length > 0 ) {
sphero = spheros[0];
sphero.AddDataStreamingMask((ulong)kVisionMask);
SpheroDeviceMessenger.SharedInstance.AsyncDataReceived += ReceiveAsyncMessage;
}
#endif
}
static void Main(string[] args)
{
SpheroConnector spheroConnector = new SpheroConnector();
Sphero sphero = null;
string[] parameters = new string[] { "none" };
string command = "none";
while (!string.IsNullOrEmpty(command))
{
command = parameters[0];
switch (command)
{
case "find":
spheroConnector.Scan();
var deviceNames = spheroConnector.DeviceNames;
for (int i = 0; i < deviceNames.Count; i++)
{
Console.WriteLine("{0}: {1}", i, deviceNames[i]);
}
break;
case "connect":
if (parameters.Length < 2)
{
break;
}
int index = -1;
if (int.TryParse(parameters[1], out index))
{
try
{
sphero = spheroConnector.Connect(index);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
else
{
Console.WriteLine("'{0}' is not a valid device index.", parameters[1]);
}
break;
case "close":
spheroConnector.Close();
break;
case "sleep":
sphero.Sleep();
break;
case "setcolor":
if (parameters.Length < 2)
{
break;
}
ChangeColor(sphero, parameters[1]);
break;
case "getresponses":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroResponsePacket> packets = sphero.Listener.GetLastResponsePackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "getasync":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroAsyncPacket> packets = sphero.Listener.GetLastAsyncPackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "exit":
spheroConnector.Close();
Console.WriteLine("See you soon ... ;) ");
Thread.Sleep(1500);
return;
case "sendprogram":
{
var area = StorageArea.Temporary;
IEnumerable <string> programLines = GetOrbBasicLinesFromFile("orbbasic.txt");
foreach (var programLine in programLines)
{
Console.WriteLine(programLine);
}
sphero.EraseOrbBasicStorage(area);
sphero.SendOrbBasicProgram(area, programLines);
}
break;
case "runprogram":
{
StorageArea area = StorageArea.Temporary;
sphero.ExecuteOrbBasicProgram(area, 10);
}
break;
case "abortprogram":
sphero.AbortOrbBasicProgram();
break;
case "diagnostics":
{
sphero.PerformLevelOneDiagnostics();
}
break;
case "none":
Console.WriteLine("Welcome to Sphero CMD controll application");
break;
case "help":
Console.WriteLine("HELP will be realized soon.");
break;
case "goForward":
if (parameters.Length < 3)
{
break;
}
ChangeColor(sphero, "Red");
GoForward(sphero, Byte.Parse(parameters[1]), int.Parse(parameters[2]));
break;
default:
Console.WriteLine("Unknown command. Please type 'help' for getting list of available commands.");
break;
}
Console.Write("> ");
parameters = Console.ReadLine().Split(new char[] { ' ' });
}
}
