static void StartRobotInterface() { ConsoleFormat.StartRobotInterface(); t1 = new Thread(() => { //Attention, il est nécessaire d'ajouter PresentationFramework, PresentationCore, WindowBase and your wpf window application aux ressources. interfaceRobot = new WpfRobot2RouesInterface(competition); interfaceRobot.Loaded += RegisterRobotInterfaceEvents; interfaceRobot.ShowDialog(); }); t1.SetApartmentState(ApartmentState.STA); t1.Start(); }
public void RenderAnsiOutput_GivenFormat_AppliesAnsiEscapeSequences() { var format1 = new ConsoleFormat(Foreground: Red); var format2 = new ConsoleFormat(Foreground: Green); var output = Prompt.RenderAnsiOutput("here is some output", new[] { new FormatSpan(0, 4, format1), new FormatSpan(8, 4, format2), }, 100); Assert.Equal( ToAnsiEscapeSequence(format1) + "here" + Reset + " is " + ToAnsiEscapeSequence(format2) + "some" + Reset + " output" + MoveCursorLeft(19), output ); }
public async Task ReadLine_CJKCharacters_SyntaxHighlight() { var format1 = new ConsoleFormat(Foreground: Red); var format2 = new ConsoleFormat(Foreground: Blue); var format3 = new ConsoleFormat(Foreground: Green); var console = ConsoleStub.NewConsole(width: 20); console.StubInput($"苹果 o 蓝莓 o avocado o{Enter}"); var prompt = new Prompt( callbacks: new TestPromptCallbacks { HighlightCallback = new SyntaxHighlighterTestData(new Dictionary <string, AnsiColor> { { "苹果", format1.Foreground !.Value },
public void RenderAnsiOutput_GivenFormatAndWrapping_AppliesAnsiEscapeSequences() { var format1 = new ConsoleFormat(Foreground: Red); var format2 = new ConsoleFormat(Foreground: Green); var output = Prompt.RenderAnsiOutput("here is some output", new[] { new FormatSpan(0, 4, format1), new FormatSpan(8, 4, format2), }, 4); Assert.Equal( expected: ToAnsiEscapeSequence(format1) + "here\n" + MoveCursorLeft(3) + Reset + " is \n" + MoveCursorLeft(3) + ToAnsiEscapeSequence(format2) + "some\n" + MoveCursorLeft(3) + Reset + " out\n" + MoveCursorLeft(3) + "put" + MoveCursorLeft(3), actual: output ); }
static void Main(string[] args) { ConsoleFormat.InitMainConsole(); /// Enregistrement de la license SciChart en début de code SciChartSurface.SetRuntimeLicenseKey(ConstVar.SCICHART_RUNTIME_KEY); ConsoleFormat.SetupScichartLicenceKey(); /// Initialisation des modules utilisés dans le robot int robotId = (int)RobotId.Robot1; int teamId = (int)TeamId.Team1; usbDriver = new USBVendor(); msgDecoder = new MsgDecoder(); msgEncoder = new MsgEncoder(); msgGenerator = new MsgGenerator(); msgProcessor = new MsgProcessor(robotId, competition); ConsoleFormat.SetupAllCommunication(); xBoxManette = new XBoxController(robotId); ConsoleFormat.SetupXboxController(); logRecorder = new LogRecorder(); logReplay = new LogReplay(); strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79"); #region Communication to Low Lvl /// Création des liens entre module, sauf depuis et vers l'interface graphique usbDriver.OnUSBuffReceivedEvent += msgDecoder.BuffReceived; // Transmission des messages reçus par l'USB au Message Decoder msgDecoder.OnCorrectMessageReceivedEvent += msgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor msgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeAndSendMessage; // Envoi des messages du générateur de message à l'encoder msgEncoder.OnSendMessageEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder #endregion #region Console // Control: bool hex_viewer = false; bool hex_sender = false; bool hex_viewer_error = true; bool hex_sender_error = true; bool hex_processor = false; bool hex_generator = false; #region USB Vendor usbDriver.OnDeviceAddedEvent += ConsoleFormat.PrintNewDeviceAdded; usbDriver.OnDeviceRemovedEvent += ConsoleFormat.PrintDeviceRemoved; usbDriver.OnUsbVendorExeptionEvent += ConsoleFormat.PrintUsbErrorExeption; #endregion #region Hex Viewer if (hex_viewer) { msgDecoder.OnUnknowByteEvent += ConsoleFormat.PrintUnknowByte; msgDecoder.OnSOFByteReceivedEvent += ConsoleFormat.PrintSOF; msgDecoder.OnFunctionMSBByteReceivedEvent += ConsoleFormat.PrintFunctionMSB; msgDecoder.OnFunctionLSBByteReceivedEvent += ConsoleFormat.PrintFunctionLSB; msgDecoder.OnPayloadLenghtMSBByteReceivedEvent += ConsoleFormat.PrintLenghtMSB; msgDecoder.OnPayloadLenghtLSBByteReceivedEvent += ConsoleFormat.PrintLenghtLSB; msgDecoder.OnPayloadByteReceivedEvent += ConsoleFormat.PrintPayloadByte; msgDecoder.OnCorrectMessageReceivedEvent += ConsoleFormat.PrintCorrectChecksum; msgDecoder.OnErrorMessageReceivedEvent += ConsoleFormat.PrintWrongChecksum; } #endregion #region Hex Viewer Error if (hex_viewer_error) { msgDecoder.OnOverLenghtMessageEvent += ConsoleFormat.PrintOverLenghtWarning; msgDecoder.OnUnknowFunctionEvent += ConsoleFormat.PrintUnknowFunctionReceived; msgDecoder.OnWrongLenghtFunctionEvent += ConsoleFormat.PrintWrongFonctionLenghtReceived; } #endregion #region Hex Sender if (hex_sender) { msgEncoder.OnSendMessageByteEvent += ConsoleFormat.PrintSendMsg; } #endregion #region Hex Sender Error if (hex_sender_error) { msgEncoder.OnSerialDisconnectedEvent += ConsoleFormat.PrintOnSerialDisconnectedError; msgEncoder.OnUnknownFunctionSentEvent += ConsoleFormat.PrintUnknowFunctionSent; msgEncoder.OnWrongPayloadSentEvent += ConsoleFormat.PrintWrongFunctionLenghtSent; } #endregion #endregion #region Lidar lidar = new SickLidar(17422959); // 18110177 lidarProcess = new LidarProcess(robotId, teamId); lidar.OnLidarDeviceConnectedEvent += lidarProcess.OnNewLidarConnected; lidar.OnLidarDeviceConnectedEvent += ConsoleFormat.NewLidarDeviceConnected; lidar.PointsAvailable += lidarProcess.OnRawPointAvailable; lidar.Start(); #endregion lidarProcess.OnRawLidarDataEvent += logRecorder.OnRawLidarDataReceived; msgProcessor.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived; #region Local World Map localWorldMap = new LocalWorldMap(robotId, teamId); localWorldMap.OnUpdateRobotLocationEvent += lidarProcess.OnRobotLocation; lidarProcess.OnRawLidarPointPolarEvent += localWorldMap.OnLidarRawPointReceived; lidarProcess.OnProcessLidarPolarDataEvent += localWorldMap.OnLidarProcessedPointReceived; lidarProcess.OnProcessLidarLineDataEvent += localWorldMap.OnLidarProcessedLineReceived; lidarProcess.OnProcessLidarCupDataEvent += localWorldMap.OnLidarProcessedCupReceived; lidarProcess.OnLidarSetupRobotLocationEvent += localWorldMap.OnRobotLocation; //lidarProcess.OnProcessLidarObjectsDataEvent += localWorldMap.OnLidarProcesObjectsReceived; localWorldMap.OnLocalWorldMapEvent += strategyManager.OnLocalWorldMapReceived; localWorldMap.Init(); #endregion #region Position2Wheels positioning2Wheels = new Positioning2Wheels(robotId); msgProcessor.OnSpeedPolarOdometryFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived; positioning2Wheels.OnCalculatedLocationEvent += localWorldMap.OnRobotLocationArgs; #endregion #region TrajectoryPlanner trajectoryPlanner = new TrajectoryPlanner(robotId); trajectoryPlanner.OnNewGhostLocationEvent += localWorldMap.OnGhostLocation; trajectoryPlanner.OnNewRobotLocationEvent += localWorldMap.OnRobotLocation; trajectoryPlanner.OnDestinationReachedEvent += strategyManager.OnGhostLocationReached; #endregion #region Strategy /!\Need to be Last /! \ strategyManager.On2WheelsToPolarMatrixSetupEvent += msgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué strategyManager.On2WheelsAngleSetupEvent += msgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué strategyManager.OnOdometryPointToMeterSetupEvent += msgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué strategyManager.OnSetAsservissementModeEvent += msgGenerator.GenerateMessageSetAsservissementMode; strategyManager.OnDestinationReachedEvent += localWorldMap.OnDestinationReached; strategyManager.OnWaypointsReachedEvent += localWorldMap.OnWaypointReached; strategyManager.OnSetActualLocationEvent += trajectoryPlanner.OnUpdateActualLocation; strategyManager.OnSetWantedLocationEvent += trajectoryPlanner.OnUpdateWantedDestination; strategyManager.OnGhostCalculationBeginEvent += trajectoryPlanner.OnLaunchCalculation; strategyManager.OnSetNewWaypointEvent += localWorldMap.AddNewWaypointsEvent; strategyManager.OnSetNewDestinationEvent += localWorldMap.SetDestinationLocationEvent; strategyManager.OnUpdateGhostCalculationOrderEvent += trajectoryPlanner.OnCalculateGhostMovement; ConsoleFormat.PrintStrategyBoot(); strategyManager.InitStrategy(); //à faire après avoir abonné les events ! #endregion if (usingMatchDisplay) { StartMatchInterface(); } else { StartRobotInterface(); } ConsoleFormat.EndMainBootSequence(); while (!exitSystem) { Thread.Sleep(500); } }
public static string ToAnsiEscapeSequence(ConsoleFormat formatting) => Escape + "[" + string.Join(
public FormattedString(string?text, ConsoleFormat formatting) : this(text, (text?.Length ?? 0) == 0 ? Array.Empty <FormatSpan>() : new[] { new FormatSpan(0, text !.Length, formatting) })