public STPlanner()
{
TBWriter.Spaced("Simple Task Planner, Version 0.98798");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "asdasd as asd ");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "Builded 16/feb/13 , 15:351 p.m.");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "");
cmdMan = new STPCommandManager();
cnnMan = new ConnectionManager(connectionPort, this.cmdMan);
TBWriter.Write(" Connection Port = " + connectionPort.ToString());
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
TBWriter.Spaced(TBWriter.time() + " Waiting for Blackboard Connection . . .");
taskPlanner = new TaskPlanner(cmdMan, this);
LoadCommands();
sharedVarConnected = new StringSharedVariable("connected");
sharedVarSkeletons = new StringSharedVariable("skeletons");
sharedVarOdometryPos = new DoubleArraySharedVariable("odometryPos");
sharedVarHdPos = new DoubleArraySharedVariable("hd_pos");
sharedVarTorso = new DoubleArraySharedVariable("torsoPosition");
sharedVarRobotRegion = new StringSharedVariable("robotRoom");
//cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
cnnMan.Start();
TBWriter.Write(3, " > Connection Manager Started");
cmdMan.Start();
TBWriter.Write(3, " > Command Manager Started");
//if(!sharedVarLoadEvent) TBWriter.Spaced(" Waiting for Shared Variables Load from BlackBoard . . .")
}
public CmdAligneHuman(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("align_human")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdTake(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("take")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdFindObject(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("find_object")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdHolding(STPCommandManager cmdMan, TaskPlanner taskPLanner)
: base("holding")
{
this.taskPlanner = taskPLanner;
this.cmdMan = cmdMan;
}
public CmdDrop(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("drop")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdAligneEdge(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("aligneedge")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdExecuteLearn(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("executelearned")
{
this.taskPlanner = taskPlanner;
this.cmdMan = cmdMan;
}
public CmdFindHuman(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("find_human")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdDoPresentation(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("dopresentation")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdTakeHumandHands(STPCommandManager cmdMan, TaskPlanner taskplanner)
: base("takehumanhands")
{
this.cmdMan = cmdMan;
this.taskplanner = taskplanner;
}
public CmdAutolocalization(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("autolocalization")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdRememberHuman(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("remember_human")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdDeliverObject(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("deliverobject")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdStopLearn(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("stoplearn")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdPointAtObject(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("pointatobject")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdTakeHandOver(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("takehandover")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdDoTechnicalChallenge(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("dotechnicalchallenge")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdTakeFromShelf(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("takefromshelf")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdDetectCubes(STPCommandManager cmdMan, TaskPlanner taskPln)
: base("detectcubes")
{
this.cmdMan = cmdMan;
this.taskPln = taskPln;
}
public CmdFindOnShelf(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("findonshelf")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdPFAutoDetected(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("detected")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
public CmdShakeHands(STPCommandManager cmdMan, TaskPlanner taskPlanner)
: base("shakehand")
{
this.cmdMan = cmdMan;
this.taskPlanner = taskPlanner;
}
