Пример #1
0
 private static void OnDeviceAdded(NXT nxt)
 {
     if (RobotAdded != null)
     {
         RobotAdded(nxt, new AvailableDevicesChangedEventArgs(nxt));
     }
 }
Пример #2
0
 public NXTViewModel(NXT robot)
 {
     this.robot = robot;
     robot.PropertyChanged += new PropertyChangedEventHandler(robot_PropertyChanged);
     robot.Disconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Disconnected);
     robot.Reconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Reconnected);
     connected = false;
 }
Пример #3
0
 private static void OnDeviceAdded(NXT nxt)
 {
     if (RobotAdded != null)
         RobotAdded(nxt, new AvailableDevicesChangedEventArgs(nxt));
 }
Пример #4
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        public static void FindNXTDevices(object sender, DoWorkEventArgs eventArgs)
        {
            while (continueDeviceDiscovery)
            {
                if (!availableRobots.ContainsKey("USB")) // If a usb was not connected before test it now
                {
                    NXT usbNXT = new NXT("USB", new NXTUsbConnection());
                    if (usbNXT.nxtConn.IsConnected)
                    {
                        availableRobots.Add("USB", usbNXT);
                        OnDeviceAdded(usbNXT);
                    }
                }

                var btClient = new BluetoothClient();
                List<BluetoothClient> btRobots = new List<BluetoothClient>();
                btClient.InquiryLength = new TimeSpan(0, 0, 4);
                BluetoothDeviceInfo[] btDevices = btClient.DiscoverDevicesInRange();
                foreach (BluetoothDeviceInfo btDevice in btDevices)
                {
                    try
                    {
                        // The property InstalledServices only lists services for devices that have been paired with
                        // the computer already (rather than requesting it from the device). This is fine in our
                        // scenario since you cant get a service list off the devices unless it is already paired.
                        if (btDevice.InstalledServices.Contains(NXT32FeetBT.NXT_BT_SERVICE))
                        {
                            String nxtIdentifier = btDevice.DeviceAddress.ToString();
                            if (!availableRobots.ContainsKey(nxtIdentifier))
                            {
                                NXT foundNXT = new NXT(nxtIdentifier, new NXT32FeetBT(btDevice.DeviceAddress));
                                availableRobots.Add(nxtIdentifier, foundNXT);
                                OnDeviceAdded(foundNXT);
                            }
                            else
                            {
                                if (!availableRobots[nxtIdentifier].connected)
                                {
                                    availableRobots[nxtIdentifier].Reconnect();
                                }
                            }
                        }
                    }
                    catch (SocketException e) { } // Socket exception occurs if the device is not an nxt
                }

                // Check if any previously found devices were lost
                var btAddresses = from btDevice in btDevices
                                  select btDevice.DeviceAddress.ToString();
                foreach (NXT nxt in AvailableRobots.Values)
                {
                    if (!btAddresses.Contains(nxt.uniqueID))
                    {
                        nxt.connected = false;
                        nxt.OnDeviceDisconnected();
                    }
                }

                // Sleep for the designated poll interval
                Thread.Sleep(DEVICE_DISCOVERY_POLL_RATE);
            }
        }
Пример #5
0
 public NXTRobot(NXT robot)
 {
     Name = robot.Name;
     ID = robot.ID;
 }
Пример #6
0
        public static void FindNXTDevices(object sender, DoWorkEventArgs eventArgs)
        {
            while (continueDeviceDiscovery)
            {
                if (!availableRobots.ContainsKey("USB")) // If a usb was not connected before test it now
                {
                    NXT usbNXT = new NXT("USB", new NXTUsbConnection());
                    if (usbNXT.nxtConn.IsConnected)
                    {
                        availableRobots.Add("USB", usbNXT);
                        OnDeviceAdded(usbNXT);
                    }
                }

                var btClient = new BluetoothClient();
                List <BluetoothClient> btRobots = new List <BluetoothClient>();
                btClient.InquiryLength = new TimeSpan(0, 0, 4);
                BluetoothDeviceInfo[] btDevices = btClient.DiscoverDevicesInRange();
                foreach (BluetoothDeviceInfo btDevice in btDevices)
                {
                    try
                    {
                        // The property InstalledServices only lists services for devices that have been paired with
                        // the computer already (rather than requesting it from the device). This is fine in our
                        // scenario since you cant get a service list off the devices unless it is already paired.
                        if (btDevice.InstalledServices.Contains(NXT32FeetBT.NXT_BT_SERVICE))
                        {
                            String nxtIdentifier = btDevice.DeviceAddress.ToString();
                            if (!availableRobots.ContainsKey(nxtIdentifier))
                            {
                                NXT foundNXT = new NXT(nxtIdentifier, new NXT32FeetBT(btDevice.DeviceAddress));
                                availableRobots.Add(nxtIdentifier, foundNXT);
                                OnDeviceAdded(foundNXT);
                            }
                            else
                            {
                                if (!availableRobots[nxtIdentifier].connected)
                                {
                                    availableRobots[nxtIdentifier].Reconnect();
                                }
                            }
                        }
                    }
                    catch (SocketException e) { } // Socket exception occurs if the device is not an nxt
                }

                // Check if any previously found devices were lost
                var btAddresses = from btDevice in btDevices
                                  select btDevice.DeviceAddress.ToString();

                foreach (NXT nxt in AvailableRobots.Values)
                {
                    if (!btAddresses.Contains(nxt.uniqueID))
                    {
                        nxt.connected = false;
                        nxt.OnDeviceDisconnected();
                    }
                }

                // Sleep for the designated poll interval
                Thread.Sleep(DEVICE_DISCOVERY_POLL_RATE);
            }
        }
 public AvailableDevicesChangedEventArgs(NXT nxt)
 {
     AffectedDevice = nxt;
 }
 public AvailableDevicesChangedEventArgs(NXT nxt)
 {
     AffectedDevice = nxt;
 }