static async Task Main(string[] args)
{
System.Console.WriteLine("Hello World!");
var config = new VectorControllerPlusConfig()
{
ReconnectDelay_ms = 2000
};
await using (IVectorControllerPlus controller = new VectorControllerPlus())
{
controller.OnConnectionChanged += async(previously, state) => System.Console.WriteLine("! Connection: " + state);
//await controller.AddBehaviourAsync(new MonitoringEventsBehaviour(false));
await controller.AddBehaviourAsync(new OfferTeaSometimesBehaviour(0));
await controller.AddBehaviourAsync(new ExterminateCubeOnSightBehaviour(1));
controller.OnBehaviourReport += async(report) =>
{
System.Console.WriteLine(report.Description);
await File.AppendAllLinesAsync(LOG_FILE, new[] { report.Description });
};
await controller.ConnectAsync(config);
cancelSource = new CancellationTokenSource();
await controller.StartMainLoopAsync(cancelSource.Token);
}
}
public async Task TestControllerCanConnectToRobotAsync()
{
var config = new VectorControllerPlusConfig()
{
ReconnectDelay_ms = 2000
};
var connected = await controller.ConnectAsync(config);
Assert.True(connected);
}
public async Task TestStubVisionBehaviourPlusReceivesFrames()
{
await controller.AddBehaviourAsync(new StubVisionBehaviour(0));
var config = new VectorControllerPlusConfig()
{
ReconnectDelay_ms = 2000
};
var connected = await controller.ConnectAsync(config);
Assert.True(connected);
var processor = controller.FrameProcessors.First();
Assert.True(processor is YoloCameraFrameProcessor);
Thread.Sleep(500);
Assert.True(processor.FramesProcessed >= 2);
}
