public SimLidar(SensorPose toBodyTransform, int id)
{
INetworkAddressProvider addressProvider = new HardcodedAddressProvider();
simLidarClient = new GenericMulticastClient <SimMessage <ILidarScan <ILidar2DPoint> > >(addressProvider.GetAddressByName("SimLidar"), new CSharpMulticastSerializer <SimMessage <ILidarScan <ILidar2DPoint> > >(true));
simLidarClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <SimMessage <ILidarScan <ILidar2DPoint> > > >(simLidarClient_MsgReceived);
this.toBodyTransform = toBodyTransform;
robotID = id;
}
public VFHPathFollower(double maxVelocity, double maxTurn)
{
INetworkAddressProvider na = new HardcodedAddressProvider();
sick = new SickLMS(na.GetAddressByName("Sick"), new SensorPose());
sick.ScanReceived += new EventHandler <ILidarScanEventArgs <ILidarScan <ILidar2DPoint> > >(sick_ScanReceived);
sick.Start();
histogram = new double[361];
this.maxVelocity = maxVelocity;
this.maxTurn = maxTurn;
}
public HokuyoURG(string port, int scannerId, bool useHokuyoTimestamp)
{
this.port = port;
this.scannerId = scannerId;
this.sensorPose = new SensorPose(0, 0, 0, 0, 0, 0, 0);
this.useHokuyoTimestamp = useHokuyoTimestamp;
if (!useHokuyoTimestamp)
{
INetworkAddressProvider addressProvider = new HardcodedAddressProvider();
segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1);
segway.Start();
segway.WheelPositionUpdate += new EventHandler <TimestampedEventArgs <Magic.Common.Robots.IRobotTwoWheelStatus> >(segway_WheelPositionUpdate);
}
}
public SegwayRMP50(NetworkAddress feedback, NetworkAddress control, bool simmode, bool isBackwards, int id)
: this(feedback, control, isBackwards, id)
{
if (simmode)
{
INetworkAddressProvider addrProvider = new HardcodedAddressProvider();
simRobotCommandServer = new GenericMulticastServer <SimMessage <RobotTwoWheelCommand> >(addrProvider.GetAddressByName("RobotSimCommands"), new CSharpMulticastSerializer <SimMessage <RobotTwoWheelCommand> >(true));
simRobotCommandServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired));
//Fake Segway feedback (for Odom)
simSegwayFeedback = new GenericMulticastClient <SimMessage <IRobotTwoWheelStatus> >(addrProvider.GetAddressByName("SimSegwayFeedback"), new CSharpMulticastSerializer <SimMessage <IRobotTwoWheelStatus> >(true));
simSegwayFeedback.MsgReceived += new EventHandler <MsgReceivedEventArgs <SimMessage <IRobotTwoWheelStatus> > >(simSegwayFeedback_MsgReceived);
simSegwayFeedback.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired));
}
this.simMode = simmode;
}
public HokuyoURG(string port, int scannerId, SensorPose sensorPose, bool useHokuyoTimestamp)
{
this.port = port;
this.scannerId = scannerId;
this.sensorPose = sensorPose;
this.useHokuyoTimestamp = useHokuyoTimestamp;
if (!useHokuyoTimestamp)
{
INetworkAddressProvider addressProvider = new HardcodedAddressProvider();
//segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1);
//segway.Start();
//segway.WheelPositionUpdate += new EventHandler<TimestampedEventArgs<Magic.Common.Robots.IRobotTwoWheelStatus>>(segway_WheelPositionUpdate);
ILidar2D lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), new SensorPose(), true);
lidar.ScanReceived += new EventHandler <ILidarScanEventArgs <ILidarScan <ILidar2DPoint> > >(lidar_ScanReceived);
lidar.Start();
}
}