void Main1(string[] args)
{
xCon.WriteLine("*w^z Spiked3.com MiniMagellan Kernel - (c) 2015-2016 Mike Partain ");
xCon.WriteLine("*w^z \\^c || break to stop ");
#if __MonoCS__
xCon.Write("Mono / ");
#else
xCon.Write(".Net / ");
#endif
if (Unix)
xCon.WriteLine("Unix");
else
xCon.WriteLine("Windows");
Console.CancelKeyPress += Console_CancelKeyPress;
Console.TreatControlCAsInput = false;
// startup parms
var parms = new OptionSet
{ { "pilot=", (v) => { PilotString = v; } } };
parms.Parse(Environment.GetCommandLineArgs());
// pilot, listen for events
Pilot = Pilot.Factory(PilotString);
Pilot.OnPilotReceive += PilotReceive;
Vis = new Vision(); // start vision first because Navigation listens to vision events
taskVis = new Task(Vis.TaskRun, TaskCreationOptions.LongRunning);
taskVis.Start();
Nav = new Navigation();
taskNav = new Task(Nav.TaskRun, TaskCreationOptions.LongRunning);
taskNav.Start();
Appr = new Approach();
taskAppr = new Task(Appr.TaskRun, TaskCreationOptions.LongRunning);
taskAppr.Start();
int telementryIdx = 0;
new Task(ListenWayPointsTask).Start();
// menu
Dictionary<char, string> menu = new Dictionary<char, string>() {
{ 'F', "Fake waypoints" },
{ 'E', "rEset" },
{ 'A', "Autonomous Start" },
{ 'P', "Autonomous Start" },
{ 'S', "State" },
{ 'R', ".Rotate" },
{ 'M', ".Move" },
{ 'B', ".Bumper" },
{ 'T', "Telementry" },
{ ' ', "eStop (space bar)" } };
for (;;)
{
// use ^C to break
char n = Char.ToUpper(GetCharChoice(menu));
if (State == RobotState.Shutdown)
return;
switch (n)
{
case 'W':
break;
case 'F':
FakeWayPoints();
break;
case 'E':
resetPilot();
break;
case 'A':
Trace.t(cc.Warn, string.Format("^yStarting autonomous @ {0}", DateTime.Now.ToLongTimeString()));
configPilot();
State = RobotState.Idle;
break;
case 'P':
configPilot();
Pilot.Send(new { Cmd = "MOV", Pwr = 20 });
break;
case 'S':
ViewStatus();
break;
case 'R':
xCon.Write("^c#");
X = Nav.CurrentWayPoint.X;
Y = Nav.CurrentWayPoint.Y;
H = (float)Nav.lastHdg;
Pilot.FakeOnReceive(new { T = "Rotate", V = "1" });
break;
case 'M':
xCon.Write("^c#");
Pilot.FakeOnReceive(new { T = "Move", V = "1" });
break;
case 'B':
xCon.Write("^c#");
Pilot.FakeOnReceive(new { T = "Bumper", V = "1" });
break;
case 'T':
Pilot.Send(new { Cmd = "TELEM", Flag = (++telementryIdx % 5) });
break;
case ' ': // EStop
Trace.t(cc.Bad, "eStop");
State = RobotState.eStop;
Pilot.Send(new { Cmd = "MOV", M1 = 0, M2 = 0 });
Pilot.Send(new { Cmd = "ESC", Value = 0 });
break;
}
}
}
