public bool Init()
{
var list = DeviceList.Local;
list.Changed += (sender, e) => SearchDevices();
listener = new HexpodSequenceListener(Path.Combine(Path.GetDirectoryName(Assembly.GetCallingAssembly().Location), "../../sequence.xml"));
listener.SequenceChanged += (sender, e) =>
{
if (this.Model.State == MovementState.InWalkSequence)
{
this.Command.StopHexSequencer().Execute();
this.RunSequence();
}
};
return(SearchDevices());
}
internal void Run()
{
listener = new HexpodSequenceListener(Path.Combine(Path.GetDirectoryName(Assembly.GetCallingAssembly().Location), "../../sequence.xml"));
listener.SequenceChanged += (sender, e) =>
{
if (this.Model.State == MovementState.InWalkSequence)
{
this.Command.StopHexSequencer().Execute();
Command.StartSequence(listener.Sequence).Execute();
}
};
Console.WriteLine("Awaiting commands.");
while (true)
{
string cmd = Console.ReadLine();
var split = cmd.Split(' ');
if (split == null || split.Length == 0)
{
continue;
}
switch (split[0].ToUpper())
{
case "Q":
case "QUIT":
return;
case "SEQ":
Command.StartSequence(listener.Sequence).Execute();
break;
case "STOP":
Command.StopHexSequencer().Execute();
break;
case "C":
try
{
currentChannel = int.Parse(split[1]);
}
catch (Exception e)
{
Log.Error(e.ToString());
Console.WriteLine("Usage: C [Channel].");
}
break;
case "S":
try
{
int channel = int.Parse(split[1]);
int pulse = int.Parse(split[2]);
Command.SingleServo(channel, pulse).Execute();
}
catch (Exception e)
{
Log.Error(e.ToString());
Console.WriteLine("Usage: S [Channel] [Pulse]");
}
break;
default:
try
{
int pulse = int.Parse(split[0]);
Command.SingleServo(currentChannel, pulse).Execute();
}
catch (Exception e)
{
Log.Error(e.ToString());
Console.WriteLine("Usage: [Pulse]");
}
break;
}
}
}