/// <summary>
/// Represents a connection to R2D2. On construction, this object creates a two-way
/// connection with the bot. To properly shutdown the connection, make sure that
/// the Dispose method is called; this is especially important if you wish to create a
/// new BotConnection later.
/// </summary>
/// <param name="botToBase">Object implementing functions that receive from the bot</param>
/// <param name="hostname">Hostname of the bo.</param>
public BotConnection(BotToBaseDisp_ botToBase, string hostname = "R2D2")
{
try {
Console.WriteLine("Starting server");
communicator = Ice.Util.initialize();
Ice.ObjectAdapter adapter = communicator.createObjectAdapterWithEndpoints(
"BotToBaseAdapter", "tcp -p " + BOT_TO_BASE_PORT);
adapter.add(botToBase, communicator.stringToIdentity("BotToBaseImpl"));
adapter.activate();
Console.WriteLine("Connecting to R2D2");
Ice.ObjectPrx prx = communicator.stringToProxy(
string.Format("BaseToBotImpl:tcp -h {0} -p {1}", hostname, BASE_TO_BOT_PORT));
BotProxy = BaseToBotPrxHelper.checkedCast(prx);
if (BotProxy == null)
{
throw new ApplicationException("Invalid proxy");
}
// Pings are necessary to ensure that the connection is live.
// We want R2D2 to stop immediately if the connection goes dead.
new Thread(pinger).Start();
} catch {
if (communicator != null)
{
communicator.destroy();
}
throw;
}
}
static void PlaySound(BaseToBotPrx bot)
{
Console.WriteLine("Which sound?");
var sounds = Enum.GetValues(typeof(Sound)).Cast <Sound>();
Console.WriteLine(string.Join(", ", sounds.Select((s, i) => i + ". " + s)));
string line = Console.ReadLine();
Sound snd = (Sound)Enum.Parse(typeof(Sound), line, true);
bot.playSound(snd);
}
static void Main(string[] args)
{
BotConnection botConn = null;
while (true)
{
try {
var botToBase = new BotToBaseImpl();
botConn = new BotConnection(botToBase, "r2d2");
BaseToBotPrx bot = botConn.BotProxy;
while (true)
{
Console.WriteLine("Choose a command:");
Console.WriteLine(" 1. Play sound");
Console.WriteLine(" 2. Move using XBox controller");
switch (Console.ReadKey(true).Key)
{
case ConsoleKey.D1:
PlaySound(bot);
break;
case ConsoleKey.D2:
XboxControls(bot, botToBase);
break;
}
}
} catch (Exception e) {
Console.Error.WriteLine(e.ToString());
} finally {
if (botConn != null)
{
botConn.Dispose();
}
}
}
}
public static void write__(IceInternal.BasicStream os__, BaseToBotPrx v__)
{
os__.writeProxy(v__);
}
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
{
// Adjustable constants
const int commandFrequency = 20; // commands per second
const float speedMul = 60;
const float headMul = 2.0f;
const int moveSpeed = 8;
// Mutable state
float headAngle = 0;
GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons;
int prevLSpeed = 0;
int prevRSpeed = 0;
Console.WriteLine("Use the left and right thumbsticks to move the wheels");
Console.WriteLine("Use the left and right triggers to rotate the head");
while (true)
{
GamePadState state = GamePad.GetState(PlayerIndex.One);
if (!state.IsConnected)
{
Console.WriteLine("Gamepad not connected!");
bot.move(0, 0);
return;
}
// Calculate wheel speed
int lSpeed, rSpeed;
if (state.DPad.Up == ButtonState.Pressed)
{
lSpeed = rSpeed = moveSpeed;
}
else if (state.DPad.Down == ButtonState.Pressed)
{
lSpeed = rSpeed = -moveSpeed;
}
else if (state.DPad.Left == ButtonState.Pressed)
{
bot.move(-moveSpeed, moveSpeed);
lSpeed = -moveSpeed;
rSpeed = moveSpeed;
}
else if (state.DPad.Right == ButtonState.Pressed)
{
lSpeed = moveSpeed;
rSpeed = -moveSpeed;
}
else
{
lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
}
// Move; make sure we don't send the same speed repeatedly
if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed))
{
bot.move(lSpeed, rSpeed);
}
prevLSpeed = lSpeed;
prevRSpeed = rSpeed;
// Calculate head angle
float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
if (headAngleDelta != 0)
{
headAngle += headMul * headAngleDelta;
bot.rotateHead((int)headAngle);
}
// Play sound?
if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A)
{
bot.playSound(Sound.CHEERFUL);
}
else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B)
{
bot.playSound(Sound.EXCITED);
}
else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X)
{
bot.playSound(Sound.LAUGHING);
}
else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y)
{
bot.playSound(Sound.SAD);
}
// Move flap?
if (state.Buttons.RightShoulder == ButtonState.Pressed &&
state.Buttons.RightShoulder != buttons.RightShoulder)
{
bot.setFlapState(FlapState.FLAPOPEN);
}
else if (state.Buttons.LeftShoulder == ButtonState.Pressed &&
state.Buttons.LeftShoulder != buttons.LeftShoulder)
{
bot.setFlapState(FlapState.FLAPCLOSED);
}
buttons = state.Buttons;
Thread.Sleep(1000 / commandFrequency);
}
}
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
{
// Adjustable constants
const int commandFrequency = 20; // commands per second
const float speedMul = 60;
const float headMul = 2.0f;
const int moveSpeed = 8;
// Mutable state
float headAngle = 0;
GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons;
int prevLSpeed = 0;
int prevRSpeed = 0;
Console.WriteLine("Use the left and right thumbsticks to move the wheels");
Console.WriteLine("Use the left and right triggers to rotate the head");
while (true) {
GamePadState state = GamePad.GetState(PlayerIndex.One);
if (!state.IsConnected) {
Console.WriteLine("Gamepad not connected!");
bot.move(0, 0);
return;
}
// Calculate wheel speed
int lSpeed, rSpeed;
if (state.DPad.Up == ButtonState.Pressed) {
lSpeed = rSpeed = moveSpeed;
} else if (state.DPad.Down == ButtonState.Pressed) {
lSpeed = rSpeed = -moveSpeed;
} else if (state.DPad.Left == ButtonState.Pressed) {
bot.move(-moveSpeed, moveSpeed);
lSpeed = -moveSpeed;
rSpeed = moveSpeed;
} else if (state.DPad.Right == ButtonState.Pressed) {
lSpeed = moveSpeed;
rSpeed = -moveSpeed;
} else {
lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
}
// Move; make sure we don't send the same speed repeatedly
if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed)) {
bot.move(lSpeed, rSpeed);
}
prevLSpeed = lSpeed;
prevRSpeed = rSpeed;
// Calculate head angle
float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
if (headAngleDelta != 0) {
headAngle += headMul * headAngleDelta;
bot.rotateHead((int) headAngle);
}
// Play sound?
if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A) {
bot.playSound(Sound.CHEERFUL);
} else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B) {
bot.playSound(Sound.EXCITED);
} else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X) {
bot.playSound(Sound.LAUGHING);
} else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y) {
bot.playSound(Sound.SAD);
}
// Move flap?
if (state.Buttons.RightShoulder == ButtonState.Pressed
&& state.Buttons.RightShoulder != buttons.RightShoulder) {
bot.setFlapState(FlapState.FLAPOPEN);
} else if (state.Buttons.LeftShoulder == ButtonState.Pressed
&& state.Buttons.LeftShoulder != buttons.LeftShoulder) {
bot.setFlapState(FlapState.FLAPCLOSED);
}
buttons = state.Buttons;
Thread.Sleep(1000 / commandFrequency);
}
}
static void PlaySound(BaseToBotPrx bot)
{
Console.WriteLine("Which sound?");
var sounds = Enum.GetValues(typeof(Sound)).Cast<Sound>();
Console.WriteLine(string.Join(", ", sounds.Select((s, i) => i + ". " + s)));
string line = Console.ReadLine();
Sound snd = (Sound)Enum.Parse(typeof(Sound), line, true);
bot.playSound(snd);
}
