static void Main(string[] _)
{
Console.WriteLine("Connecting to Fenton Chassis");
Console.WriteLine("Ports available:");
Console.WriteLine(string.Join(" ", SerialPort.GetPortNames()));
Console.Write("Choose port: ");
string portName = Console.ReadLine();
portName = string.IsNullOrWhiteSpace(portName.Trim())
? "COM5"
: portName.ToUpper().Trim();
Roomba roomba = new Roomba(portName);
roomba.Sensors.ButtonSpot.Subscribe(o => Console.WriteLine("Spot Button Pressed"));
roomba.Song(Song.Define(SongNumber.Song1, Melody.Define((Note.C4, 64), (Note.D4, 32), (Note.E4, 16))));
roomba.Sing(SongNumber.Song1);
Console.ReadLine();
roomba.ModeOff();
}
/// <summary>
/// Connect to the robot.
/// </summary>
/// <param name="portName"></param>
private void ConnectToRobot(string portName)
{
// Create robot.
this.robot = new Roomba(new SerialCommunicator(portName));
// Attach events.
this.robot.OnMesage += this.robot_OnMesage;
// Connect to robot.
this.robot.Connect();
// Wakeup procedure.
this.robot.Start();
this.robot.Start();
this.robot.Safe();
this.robot.Start();
this.robot.Safe();
// Show connect message.
if (robot.IsConnected)
{
string message = "Robot Connection: Connected@" + portName;
this.tsslRobotConnection.Text = message;
this.LogMessage(message);
}
}
public override void Move()
{
roomba = GetComponent <Roomba>();
//SetTimer();
//Debug.Log("Timer set");
StartCoroutine(RandomMove());
StartCoroutine(WaitToSpiral());
}
/// <summary>
/// Connect to the robot.
/// </summary>
/// <param name="portName"></param>
private void ConnectToRobot(string portName)
{
this.robot = new Roomba(portName);
this.robot.OnMesage += this.robot_OnMesage;
this.robot.OnConnect += Robot_OnConnect;
this.robot.OnDisconnect += Robot_OnDisconnect;
this.robot.Connect();
}
void OnRoombaCollision(Roomba roomba)
{
//just disappear for now (back into the ObjectPool)
bool pickedUpBaby = roomba.PickupBaby(this);
if (pickedUpBaby)
{
babyManager.DestroySprite(this.gameObject);
}
}
private void AutoStart()
{
Roomba.SendToRoomba str = PortRoomba.Write;
roomba = new Roomba(str);
ConnectSynchronous();
roomba.InitROI();
roomba.Leds_Raw(80, 92, 124, 0); // write rob
//sensorGroupList.SelectedItem = 3;
//updateFreqTrackBar.Value = 4;
// StartPollingSensors();
}
static void Main(string[] args)
{
try
{
Roomba roomba = new Roomba();
roomba.Auto();
Console.ReadLine();
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
void OnTriggerEnter2D(Collider2D other)
{
if (GameManager.Instance.IsPlaying)
{
if (other.gameObject.GetComponent <Door>() != null)
{
OnDoorCollision();
return;
}
Roomba roomba = other.gameObject.GetComponent <Roomba>();
if (roomba != null)
{
OnRoombaCollision(roomba);
return;
}
}
}
private void OnTriggerStay2D(Collider2D collision)
{
Human human = collision.gameObject.GetComponent <Human>();
//If collided with human
if (human != null && Activated && !human.falling)
{
Transform shadow = human.gameObject.transform.Find("Shadow");
if (shadow != null)
{
Debug.Log(shadow);
Destroy(shadow.gameObject);
}
human.StopAllCoroutines();
SortLayer sortLayer = human.gameObject.GetComponent <SortLayer>();
sortLayer.offset = -6000;
human.gameObject.transform.GetChild(0).GetComponent <SortParent>().offset = -1;
Vector3 humanpos = human.transform.position;
Vector3 newPos = Vector3.Lerp(humanpos, gameObject.transform.position, 0.1f);
Vector3 thisPos = gameObject.transform.position;
if (Vector3.Magnitude(humanpos - newPos) < 0.1f)
{
collision.gameObject.GetComponent <Collider2D>().enabled = false;
Drop(human);
}
else
{
human.transform.position = newPos;
}
}
if (collision.gameObject.tag == "Roomba")
{
Roomba roomba = collision.gameObject.GetComponent <Roomba>();
roomba.bodyCarried = false;
}
else
{
collision.gameObject.transform.parent = border.transform;
}
}
private void OnTriggerEnter2D(Collider2D other)
{
if (roomba == null)
{
roomba = GameObject.FindGameObjectWithTag("roomba").GetComponent <Roomba>();
Debug.Log("Vac Eff: " + roomba.GetVacEff());
Debug.Log("Whisker Eff: " + roomba.GetWhiskerEff());
Debug.Log(roomba != null);
}
else if (Object.FindObjectOfType <Simulation>().IsPlaying())
{
if (other.gameObject.tag == "whiskers")
{
dirtiness *= 1.0f - (roomba.GetWhiskerEff() / 100.0f);
}
else if (other.gameObject.tag == "vacuum")
{
dirtiness *= 1.0f - (roomba.GetVacEff() / 100.0f);
}
}
}
void Awake()
{
instance = this;
}
public static IInteractionMode Init(Roomba robot) => new Off(robot);
protected OpenInterfaceMode(Roomba robot)
{
this.robot = robot;
}
private void Robot_OnConnect(object sender, EventArgs e)
{
Roomba robot = (Roomba)sender;
this.LogMessage("Connected to robot port: " + robot.PortName);
}
void Awake()
{
instance = this;
}
internal Passive(Roomba robot)
: base(robot)
{
Console.WriteLine("OI Mode: Passive");
}
void Start()
{
roomba = GetComponentInParent <Roomba>();
path = roomba.GetPath();
}
internal Full(Roomba robot)
: base(robot)
{
Console.WriteLine("OI Mode: Full");
}
internal Off(Roomba robot)
: base(robot)
{
Console.WriteLine("OI Mode: Off");
}
internal Safe(Roomba robot)
: base(robot)
{
Console.WriteLine("OI Mode: Safe");
}
