public Robot(IRobotConfiguration configuration, StartArgs startArgs, IPriceManagerBuilder priceManagerBuilder, IDiffer differ)
{
_configuration = configuration;
_startArgs = startArgs;
_priceManagerBuilder = priceManagerBuilder;
_differ = differ;
}
/// <summary>
/// Connect to Vector on the local network using the specified robotConfiguration and IP address
/// </summary>
/// <param name="robotConfiguration">The robot configuration.</param>
/// <param name="ipAddress">The IP address.</param>
/// <param name="timeout">The timeout.</param>
/// <returns>A task that represents the asynchronous operation; the task result contains the connected client.</returns>
public static async Task <Client> Connect(IRobotConfiguration robotConfiguration, IPAddress ipAddress, int timeout)
{
var channelCredentials = CreateChannelCredentials(robotConfiguration.Certificate, robotConfiguration.Guid);
var channel = await ConnectChannel(channelCredentials, ipAddress.ToString(), robotConfiguration.RobotName, timeout).ConfigureAwait(false);
return(await ConnectClient(channel, robotConfiguration.Certificate, robotConfiguration.Guid, ipAddress).ConfigureAwait(false));
}
/// <summary>
/// Validates the specified robot configuration.
/// </summary>
/// <param name="robotConfiguration">The robot configuration.</param>
/// <returns>A list of errors</returns>
public static IEnumerable <string> TryValidate(this IRobotConfiguration robotConfiguration)
{
if (robotConfiguration == null)
{
throw new ArgumentNullException(nameof(robotConfiguration));
}
if (string.IsNullOrWhiteSpace(robotConfiguration.RobotName))
{
yield return("Robot name is missing");
}
if (string.IsNullOrWhiteSpace(robotConfiguration.SerialNumber))
{
yield return("Serial number is missing");
}
if (string.IsNullOrWhiteSpace(robotConfiguration.Certificate))
{
yield return("SSL certificate is missing");
}
if (string.IsNullOrWhiteSpace(robotConfiguration.Guid))
{
yield return("GUID token is missing");
}
if (!RobotNameIsValid(robotConfiguration.RobotName))
{
yield return("Invalid robot name. Please match the format exactly. Example: Vector-A1B2");
}
if (!SerialNumberIsValid(robotConfiguration.SerialNumber))
{
yield return("Serial number is not the correct format.");
}
}
public ColorBuilder(IRobotConfiguration configuration)
{
_colorCodes = new Dictionary <string, string>();
foreach (var colorMapping in configuration.ColorMappings)
{
_colorCodes[colorMapping.Name] = colorMapping.Code;
}
}
/// <summary>
/// Finds the current robot address if possible or returns the address from the configuration.
/// </summary>
/// <param name="robotConfiguration">The robot configuration.</param>
/// <returns>A task that represents the asynchronous operation; the task result contains the IP address.</returns>
public static async Task <IPAddress> FindRobotAddress(this IRobotConfiguration robotConfiguration)
{
if (robotConfiguration == null)
{
throw new ArgumentNullException(nameof(robotConfiguration));
}
return(await FindRobotAddress(robotConfiguration.RobotName).ConfigureAwait(false) ?? robotConfiguration.IPAddress);
}
public RobotAssembler(IRobotConfiguration configuration, ILogConfiguration logConfiguration, IEnumerable<ComposablePartCatalog> partCatalogs)
{
_configuration = configuration;
_logConfiguiration = logConfiguration;
_log = _logConfiguiration.CreateLogger("RobotAssembler");
Compose(partCatalogs);
}
/// <summary>
/// Adds the specified robot configuration to the configuration file using the specified SDK configuration file path.
/// <para>The robot configuration is appended if new or updated if already exists</para>
/// </summary>
/// <param name="sdkConfigFilePath">The SDK configuration file path.</param>
/// <param name="robot">The robot configuration.</param>
public static void AddOrUpdate(string sdkConfigFilePath, IRobotConfiguration robot)
{
var list = new List <IRobotConfiguration>()
{
robot
};
SaveFile(sdkConfigFilePath, list);
}
/// <summary>
/// Validates the specified robot configuration.
/// </summary>
/// <param name="robotConfiguration">The robot configuration.</param>
/// <returns>
/// The robot configuration unchanged.
/// </returns>
/// <exception cref="VectorConfigurationException">Validation error</exception>
public static IRobotConfiguration Validate(this IRobotConfiguration robotConfiguration)
{
var error = TryValidate(robotConfiguration).FirstOrDefault();
if (string.IsNullOrEmpty(error))
{
return(robotConfiguration);
}
throw new VectorConfigurationException(error);
}
public Robot(string name, ILogConfiguration logConfig, IRobotConfiguration configuration, IMessageBus bus, IEnumerable<IPart> parts, IHttpHost httpHost)
{
var loggerName = String.Format("Robot.{0}", name);
_logger = logConfig.CreateLogger(loggerName);
Name = name;
Configuration = configuration;
Parts = parts;
HttpHost = httpHost;
Bus = bus;
}
/// <summary>
/// Updates the configuration file data
/// </summary>
/// <param name="robot">The robot configuration.</param>
/// <param name="ankiVectorPath">The anki_vector folder path.</param>
/// <param name="data">The configuration file data.</param>
private static void WriteConfig(IRobotConfiguration robot, string ankiVectorPath, KeyDataCollection data)
{
data[GuidKey] = robot.Guid;
data[NameKey] = robot.RobotName;
if (!data.ContainsKey(CertKey))
{
data[CertKey] = Path.Combine(ankiVectorPath, robot.RobotName + "-" + robot.SerialNumber + ".cert");
}
if (robot.IPAddress != null)
{
data[IpKey] = robot.IPAddress.ToString();
}
if (!File.Exists(data[CertKey]))
{
File.WriteAllText(data[CertKey], robot.Certificate);
}
}
public HandlerRegistration(IRobotConfiguration configuration, List<IMessageHandler> handlers)
{
_configuration = configuration;
_handlers = handlers;
}
/// <summary>
/// Adds the specified robot configuration to the configuration file using the default SDK configuration file path.
/// <para>The robot configuration is appended if new or updated if already exists</para>
/// </summary>
/// <param name="robot">The robot.</param>
public static void AddOrUpdate(IRobotConfiguration robot)
{
AddOrUpdate(DefaultSdkConfigFilePath, robot);
}
public RobotAssembler(IRobotConfiguration configuration, ILogConfiguration logConfiguration, IEnumerable<Assembly> partAssemblies, IEnumerable<string> partDirectories)
: this(configuration, logConfiguration, BuildCatalogs(partAssemblies, partDirectories))
{
}
public RobotAssembler(IRobotConfiguration configuration, ILogConfiguration logConfiguration, IEnumerable<Assembly> partAssemblies)
: this(configuration, logConfiguration, partAssemblies, Enumerable.Empty<string>())
{
}
public RobotAssembler(IRobotConfiguration configuration, ILogConfiguration logConfiguration, IEnumerable<string> partDirectories)
: this(configuration, logConfiguration, Enumerable.Empty<Assembly>(), partDirectories)
{
}
public RobotAssembler(IRobotConfiguration configuration, ILogConfiguration logConfiguration)
: this(configuration, logConfiguration, Enumerable.Empty<Assembly>(), Enumerable.Empty<string>())
{
}
