protected override void OnMessage(MessageEventArgs e)
{
// read operation
var bytes = e.RawData;
var operation = (Operation)bytes[0];
if (operation == Operation.Ping)
{
return;
}
if (operation == Operation.Move)
{
var leftSpeedByte = bytes[1];
var rightSpeedByte = bytes[2];
if (leftSpeedByte == 0 && rightSpeedByte == 0)
{
robot.Stop();
base.OnMessage(e);
return;
}
var leftSpeed = Convert.ToSingle((sbyte)leftSpeedByte);
var rightSpeed = Convert.ToSingle((sbyte)rightSpeedByte);
robot.Forward(leftSpeed, rightSpeed);
}
else if (operation == Operation.CameraMove)
{
var movement = (CameraMovement)bytes[1];
var degrees = Convert.ToInt32((sbyte)bytes[2]);
if (movement == CameraMovement.Pan)
{
robot.CameraChangePanPosition(degrees);
}
else
{
robot.CameraChangeTiltPosition(degrees);
}
}
base.OnMessage(e);
}
static void ManualControl()
{
const int speedStep = 10;
int speed = 80;
const int cameraStep = 5;
int cameraPanPosition = 0;
int cameraTiltPosition = 0;
Console.WriteLine("press q to quit.");
// move camera to initial position
robot.CameraChangePanPosition(cameraPanPosition);
robot.CameraChangeTiltPosition(cameraTiltPosition);
// light off
//robot.LedFront.Set(false);
//robot.LedRear.Set(false);
bool ledFront = false, ledRear = false;
ConsoleKeyInfo key;
while ((key = Console.ReadKey(true)).Key != ConsoleKey.Q)
{
// speed control
if (key.Key == ConsoleKey.H && speed < 100)
{
speed += speedStep;
Console.WriteLine("speed is now at {0}%", speed);
}
if (key.Key == ConsoleKey.N && speed > 0)
{
speed -= speedStep;
Console.WriteLine("speed is now at {0}%", speed);
}
var hasShift = (key.Modifiers & ConsoleModifiers.Shift) != 0;
// if shift is not pressed, control wheel
if (!hasShift)
{
if (key.Key == ConsoleKey.UpArrow)
{
robot.Forward(speed);
Console.WriteLine("forward");
}
if (key.Key == ConsoleKey.DownArrow)
{
robot.Reverse(speed);
Console.WriteLine("reverse");
}
if (key.Key == ConsoleKey.RightArrow)
{
robot.SpinRight(speed);
Console.WriteLine("spin right");
}
if (key.Key == ConsoleKey.LeftArrow)
{
robot.SpinLeft(speed);
Console.WriteLine("spin left");
}
if (key.Key == ConsoleKey.Spacebar)
{
robot.Stop();
Console.WriteLine("stop");
}
if (key.Key == ConsoleKey.D)
{
//Console.WriteLine("distance = {0}cm", robot.Sonar.Distance());
}
}
else
{
Console.WriteLine("shift + " + key.Key);
// if shift move camera
if (key.Key == ConsoleKey.A || key.Key == ConsoleKey.UpArrow)
{
cameraTiltPosition += cameraStep;
robot.CameraChangeTiltPosition(cameraTiltPosition);
Console.WriteLine("camera up");
}
if (key.Key == ConsoleKey.B || key.Key == ConsoleKey.DownArrow)
{
cameraTiltPosition -= cameraStep;
robot.CameraChangeTiltPosition(cameraTiltPosition);
Console.WriteLine("camera down");
}
if (key.Key == ConsoleKey.C || key.Key == ConsoleKey.RightArrow)
{
cameraPanPosition += cameraStep;
robot.CameraChangePanPosition(cameraPanPosition);
Console.WriteLine("camera right");
}
if (key.Key == ConsoleKey.D || key.Key == ConsoleKey.LeftArrow)
{
cameraPanPosition -= cameraStep;
robot.CameraChangePanPosition(cameraPanPosition);
Console.WriteLine("camera left");
}
}
if (key.Key == ConsoleKey.F)
{
ledFront = !ledFront;
//robot.LedFront.Set(ledFront);
}
if (key.Key == ConsoleKey.R)
{
ledRear = !ledRear;
//robot.LedRear.Set(ledRear);
}
}
}