public static void func()
{
while (true)
{
try
{
Odometry.Connect("192.168.1.106", 15010, 100, 100);
while (true)
{
kinect = KinectPoller.getKinect("127.0.0.1");
Odometry.Work();
x = Odometry.current_position.x;
y = Odometry.current_position.y;
theta = Odometry.current_position.theta;
//Console.WriteLine("X: " + Odometry.current_position.x + "\tY: " + Odometry.current_position.y + "\tU: " + Odometry.current_position.theta * 180 / System.Math.PI);
}
}
catch (SocketException e)
{
Console.WriteLine("Greska!" + e.StackTrace);
//throw;
}
Odometry.Disconnect();
}
}
static void Main(string[] args)
{
Odometry.Init();
Thread thread = new Thread(new ThreadStart(func));
thread.Start();
/*
* while (true)
* {
* try
* {
*
* Odometry.Connect("192.168.1.106",15010,100,100);
* while(true)
* {
*
* if (Console.ReadLine() == "1")
* {
* //Odometry.Work();
* KinectPoller.getKinect("127.0.0.1");
* }
* Odometry.Work();
* Console.WriteLine("X: " + Odometry.current_position.x + "\tY: " + Odometry.current_position.y + "\tU: " + Odometry.current_position.theta * 180 / System.Math.PI);
* }
*
* }
* catch( SocketException e)
* {
* Console.WriteLine("Greska!" + e.StackTrace);
* //throw;
* }
* Odometry.Disconnect();
* }
*/
System.Threading.Thread.Sleep(10000);
System.IO.StreamWriter pisac = new System.IO.StreamWriter("log.txt");
int num = 0;
while (true)
{
//if (num >= 300)
// break;
Console.WriteLine("Odometry " + x + " " + y + " " + theta * 180 / System.Math.PI);
Console.Write("Laser 60 ");
pisac.WriteLine("Odometry " + x + " " + y + " " + theta);
pisac.Write("Laser 60 ");
foreach (string item in kinect)
{
Console.Write(item + " ");
pisac.Write(item + " ");
}
pisac.WriteLine();
num++;
Console.WriteLine("Brojac: " + num);
System.Threading.Thread.Sleep(100);
}
pisac.Close();
Console.Read();
}
