public override async Task<bool> EmergencyStop(RobotStateArgs args)
{
await base.EmergencyStop(args);
await args.Context.Controller.StopMotorsAll();
return await args.Context.NextState(new ReadyState());
}
public override async Task<bool> Disconnect(RobotStateArgs args)
{
try
{
args.Context.Controller.Disconnect();
}
catch(Exception ex)
{
Debug.WriteLine("Disconnect Exception: " + ex.Message);
}
finally
{
await args.Context.NextState(new OfflineState());
}
return true;
}
public override async Task<bool> HandleRobotDataChange(RobotStateArgs args)
{
await base.HandleRobotDataChange(args);
if (args.Context.Data.ActiveButton > 0)
{
RemoteButton button = (RemoteButton)args.Context.Data.ActiveButton;
switch (button)
{
case RemoteButton.RedTop: //Emergency stop button
{
return await EmergencyStop(args);
}
}
}
return true;
}
public virtual Task<bool> StartCleaning(RobotStateArgs args) { return Task.FromResult(true);; }
public virtual Task<bool> TurnCleanerStop(RobotStateArgs args) { return Task.FromResult(true);; }
public virtual Task<bool> TurnHeadDownStart(RobotStateArgs args) { return Task.FromResult(true);; }
public virtual Task<bool> DriveStop(RobotStateArgs args) { return Task.FromResult(true);; }
public virtual Task<bool> DriveBackwardStart(RobotStateArgs args) { return Task.FromResult(true);; }
public override async Task<bool> TurnHeadDownStart(RobotStateArgs args)
{
await args.Context.Controller.TurnHeadDownStart();
return true;
}
public virtual Task<bool> HandleUltraSonicDataChange(RobotStateArgs args) { return Task.FromResult(true); }
public virtual Task<bool> HandleAngleChange(RobotStateArgs args) { return Task.FromResult(true); }
public virtual Task<bool> Disconnect(RobotStateArgs args) { return Task.FromResult(true); }
public virtual Task<bool> InitState(RobotStateArgs args) { return Task.FromResult(true); }
public override async Task<bool> HandleRobotDataChange(RobotStateArgs args)
{
await base.HandleRobotDataChange(args);
if (args.Context.Data.ActiveButton > 0)
{
RemoteButton button = (RemoteButton)args.Context.Data.ActiveButton;
switch (button)
{
case RemoteButton.BlueTop:
{
return await StartCleaning(args);
}
}
}
return true;
}
public override async Task<bool> StartCleaning(RobotStateArgs args)
{
return await args.Context.NextState(new DriveForwardState(DriveForwardState.Mode.NextTurnRight));
}
public override async Task<bool> TurnCleanerStop(RobotStateArgs args)
{
await args.Context.Controller.TurnCleanerStop();
return true;
}
public virtual Task<bool> EmergencyStop(RobotStateArgs args) { return Task.FromResult(true); }
public override async Task<bool> DriveStop(RobotStateArgs args)
{
await args.Context.Controller.DriveStop();
return true;
}
