public override void Start(NuttyManager nutty)
{
nutty.Choker = 50;
nutty.HeartbeatFrequency = 25;
nutty.BodyModel = nutty.BodyModels["NAOBodyModel"];
base.Start(nutty);
virtualOutput = false;
if (naoIP=="") naoIP = Microsoft.VisualBasic.Interaction.InputBox("NAO's IP address:", "NuttyNAO", Properties.Settings.Default.naoAddress);
Properties.Settings.Default.naoAddress = naoIP;
Properties.Settings.Default.Save();
nao = new NAOThalamusClient("", naoIP, false);
nao.HeartbeatEcho += nao_HeartbeatEcho;
}
static void Main(string[] args)
{
string character = "";
string pyAddress = "localhost";
if (args.Length > 0)
{
if (args[0] == "help")
{
Console.WriteLine("Useage: " + Environment.GetCommandLineArgs()[0] + " <CharacterName> <naoXmlRpcPyAddress>");
return;
}
character = args[0];
if (args.Length > 1) pyAddress = args[1];
}
NAOThalamusClient client = new NAOThalamusClient(character, pyAddress);
Console.ReadLine();
client.Dispose();
}
public NAOThalamusEventListener(NAOThalamusClient client)
{
this.client = client;
}
private NAOThalamusClient ConnectThalamus(){
//LogClientStatus("Connecting...");
if (CheckNaoIsSelected())
{
NAOThalamusClient client = new NAOThalamusClient(charName, selectedNao.IP);
return client;
}
else return null;
}
private async Task<NAOThalamusClient> ConnectThalamusAsync()
{
Client = await Task.Run<NAOThalamusClient>((() => ConnectThalamus()));
if (Client != null)
{
Client.ClientConnected += Client_ClientConnected;
Client.ClientDisconnectedFromThalamus += Client_ClientDisconnectedFromThalamus;
// Client.DisconnectedFromMaster override di questo nel client e trasformalo in event
Client.EventLogged += Client_EventLogged;
}
return Client;
}
private NAOThalamusClient ConnectThalamus(string charName, string naoIP)
{
NAOThalamusClient client = new NAOThalamusClient(charName, naoIP);
return client;
}
private async Task<NAOThalamusClient> ConnectThalamusAsync(string charName, string naoIP)
{
naoThalamusClient = await Task.Run<NAOThalamusClient>((() => ConnectThalamus(charName, naoIP)));
if (naoThalamusClient != null)
{
naoThalamusClient.ClientConnected += delegate() { status.IsThalamusConnected = true; };
naoThalamusClient.ClientDisconnected += delegate() { status.IsThalamusConnected = false; };
}
return naoThalamusClient;
}
public async void Start()
{
status.IsSearchingForNAO = true;
while (status.IsSearchingForNAO)
{
await naoDiscoverer.DiscoverNAO();
if (naoDiscoverer.NAOs.Count > 0)
{
naoRemote = new NAORemote.NAORemote(naoDiscoverer.NAOs[0].IP, "nao", "nao");
naoRemote.Connect();
status.IsSearchingForNAO = false;
status.DiscoveredNAOs = new ObservableCollection<NAOHost>(naoDiscoverer.NAOs);
status.SelectedNAO = naoDiscoverer.NAOs[0];
}
}
string character = Environment.GetCommandLineArgs().Length > 1 ? Environment.GetCommandLineArgs()[1] : "";
naoThalamusClient = await ConnectThalamusAsync(character, status.SelectedNAO.IP);
CheckPythonInstalledAsync();
CheckBehavioursInstalledAsync();
await shellControl.Connect(status.SelectedNAO.IP, "nao", "nao");
if (!await CheckIsPythonRunning())
{
RunPythonAsync();
PythonChecker();
NaoQiChecker();
}
else
{
LogError("Python already running. You have to manually stop it and run again this application");
}
}
