public static nxt_result motor_off(NXTBrick.Motor motor)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
// prepare motor's state to set
motorState.Power = (sbyte)0;
motorState.TurnRatio = (sbyte)0;
motorState.Mode = NXTBrick.MotorMode.None;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Idle;
// tacho limit
motorState.TachoLimit = 0;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return(result);
}
result.result = true;
result.value = "succed";
return(result);
}
public static nxt_result motor_degree(string motors, string degree)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result = motor_degree(NXTBrick.Motor.A, Convert.ToInt32(degree));
}
if (motor.ToUpper() == "B")
{
motor_result = motor_degree(NXTBrick.Motor.B, Convert.ToInt32(degree));
}
if (motor.ToUpper() == "C")
{
motor_result = motor_degree(NXTBrick.Motor.C, Convert.ToInt32(degree));
}
if (motor.ToUpper() == "ALL")
{
motor_result = motor_degree(NXTBrick.Motor.All, Convert.ToInt32(degree));
}
if (motor_result.result == false)
{
return(motor_result);
}
}
return(motor_result);
}
public static nxt_result motor_off(string motors)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result = motor_off(NXTBrick.Motor.A);
}
if (motor.ToUpper() == "B")
{
motor_result = motor_off(NXTBrick.Motor.B);
}
if (motor.ToUpper() == "C")
{
motor_result = motor_off(NXTBrick.Motor.C);
}
if (motor.ToUpper() == "ALL")
{
motor_result = motor_off(NXTBrick.Motor.All);
}
if (motor_result.result == false)
{
return(motor_result);
}
}
return(motor_result);
}
public static nxt_result motor_degree(NXTBrick.Motor motor, int degree)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
if (motor == NXTBrick.Motor.A)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
if (motor == NXTBrick.Motor.B)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[1];
motorState.TurnRatio = (sbyte)speed_motors[1];
}
if (motor == NXTBrick.Motor.C)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[2];
motorState.TurnRatio = (sbyte)speed_motors[2];
}
// TODO If al motor's on handel correct speed
if (motor == NXTBrick.Motor.All)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
// tacho limit
motorState.TachoLimit = degree;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return(result);
}
result.result = true;
result.value = "succed";
return(result);
}
private void timer2_Tick(object sender, EventArgs e)
{
if (config.sensor_auto_on_off)
{
string temp, sql;
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
//send commands
nxt_result[] cmd = new nxt_result[4];
temp = "";
if (sensor1type.SelectedIndex != -1)
{
cmd[0] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 1");
temp += "Sensor 1: " + cmd[0].value + "\n";
}
if (sensor2type.SelectedIndex != -1)
{
cmd[1] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 2");
temp += "Sensor 2: " + cmd[1].value + "\n";
}
if (sensor3type.SelectedIndex != -1)
{
cmd[2] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 3");
temp += "Sensor 3: " + cmd[2].value + "\n";
}
if (sensor4type.SelectedIndex != -1)
{
cmd[3] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 4");
temp += "Sensor 4: " + cmd[3].value + "\n";
}
//update database
sql = "INSERT INTO `rover`.`sensors` (`ID`, `when`, `result`) VALUES (NULL, '" + unixTime.ToString().Replace(',', '.') + "', '" + temp + "');";
mysql.QueryCommand(sql);
//show
if (temp.Length < 5)
{
status.Text = "Please select type of sensor below.";
}
else
{
status.Text = temp;
}
}
}
public static nxt_result run_program(string name)
{
nxt_result result = new nxt_result();
if (nxt.RunProgram(name + ".RXE"))
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return(result);
}
public static nxt_result stop_program()
{
nxt_result result = new nxt_result();
if (nxt.StopProgram())
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return(result);
}
public static nxt_result set_speed(string motors, int speed)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[0] = speed;
}
if (motor.ToUpper() == "B")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[1] = speed;
}
if (motor.ToUpper() == "C")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[2] = speed;
}
if (motor.ToUpper() == "ALL")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[0] = speed;
speed_motors[1] = speed;
speed_motors[2] = speed;
}
if (motor_result.result == false)
{
return(motor_result);
}
}
return(motor_result);
}
public static void check()
{
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
mysql_results res = new mysql_results();
nxt_result result = new nxt_result();
//check mysql conntection
if (mysql.connection.State == ConnectionState.Open || mysql.connection.State == ConnectionState.Connecting)
{
res = mysql.QueryCommand("SELECT `ID`,`message`,`when` FROM `log_current_session` WHERE `status`='' AND `when`< '" + unixTime.ToString().Replace(',', '.') + "' AND `when`> '" + (unixTime - 100).ToString().Replace(',', '.') + "' AND `type`='cmd' ORDER BY `when` ASC LIMIT 0,1");
if (res.result)
{
IrcBot.log += DateTime.Now + "checking(" + res.msg + ")...";
result = NXT_ROVER_CONTROL.command_translation(res.msg);
if (result.result)
{
//true
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "', `when`='" + unixTime.ToString().Replace(',', '.') + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "succed\n";
}
else
{
//false
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "faild\n";
}
}
}
else
{
//make connecion
IrcBot.log += "Mysql connection faild";
mysql.connect();
}
}
public static nxt_result run_program_mysql(int name)
{
nxt_result result = new nxt_result();
mysql_results result_mysql = new mysql_results();
result_mysql = mysql.pre_program(Convert.ToString(name));
if (result_mysql.result == true)
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Faild";
}
return(result);
}
public static nxt_result get_sensor(int sensor)
{
nxt_result result = new nxt_result();
NXTBrick.SensorValues sensorValues;
result.result = false;
result.type = "sensor";
result.value = "0";
// get input values
if (nxt.GetSensorValue(sensors[sensor - 1], out sensorValues))
{
result.result = sensorValues.IsValid;
result.value = "Raw: " + sensorValues.Raw.ToString() + " normalized: " + sensorValues.Normalized.ToString();
}
else
{
IrcBot.log += "Failed getting input values\n";
}
return(result);
}
private void timer2_Tick(object sender, EventArgs e)
{
if (config.sensor_auto_on_off)
{
string temp,sql;
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
//send commands
nxt_result[] cmd = new nxt_result[4];
temp = "";
if (sensor1type.SelectedIndex != -1)
{
cmd[0] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 1");
temp += "Sensor 1: " + cmd[0].value + "\n";
}
if (sensor2type.SelectedIndex != -1)
{
cmd[1] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 2");
temp += "Sensor 2: " + cmd[1].value + "\n";
}
if (sensor3type.SelectedIndex != -1)
{
cmd[2] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 3");
temp += "Sensor 3: " + cmd[2].value + "\n";
}
if (sensor4type.SelectedIndex != -1)
{
cmd[3] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 4");
temp += "Sensor 4: " + cmd[3].value + "\n";
}
//update database
sql = "INSERT INTO `rover`.`sensors` (`ID`, `when`, `result`) VALUES (NULL, '" + unixTime.ToString().Replace(',', '.') + "', '" + temp + "');";
mysql.QueryCommand(sql);
//show
if (temp.Length < 5)
{
status.Text = "Please select type of sensor below.";
}
else
{
status.Text = temp;
}
}
}
public static nxt_result stop_program()
{
nxt_result result = new nxt_result();
if (nxt.StopProgram())
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return result;
}
public static nxt_result set_speed(string motors,int speed)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[0] = speed;
}
if (motor.ToUpper() == "B")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[1] = speed;
}
if (motor.ToUpper() == "C")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[2] = speed;
}
if (motor.ToUpper() == "ALL")
{
motor_result.result = true;
motor_result.value = "done!";
speed_motors[0] = speed;
speed_motors[1] = speed;
speed_motors[2] = speed;
}
if (motor_result.result == false)
{
return motor_result;
}
}
return motor_result;
}
public static nxt_result run_program_mysql(int name)
{
nxt_result result = new nxt_result();
mysql_results result_mysql = new mysql_results();
result_mysql = mysql.pre_program(Convert.ToString(name));
if (result_mysql.result == true)
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Faild";
}
return result;
}
public static nxt_result run_program(string name)
{
nxt_result result = new nxt_result();
if (nxt.RunProgram(name + ".RXE"))
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return result;
}
/**
* This function will read out a sensor
* @param sensor sensor number
* @return nxt_result
*/
public static nxt_result get_sensor(int sensor)
{
nxt_result result = new nxt_result();
NXTBrick.SensorValues sensorValues;
result.result = false;
result.type = "sensor";
result.value = "0";
int key;
// get input values
if (nxt.GetSensorValue(sensors[sensor-1], out sensorValues))
{
result.result = sensorValues.IsValid;
key = 0;
foreach(NXTBrick.SensorType sensorType_sp in sensorTypes){
if (sensorValues.SensorType == sensorType_sp)
{
break;
}else{
key++;
}
}
result.value = sensorValues.Scaled.ToString() + unit[key];
}
else
{
IrcBot.log += "Failed getting input values\n";
}
return result;
}
/**
* This function will translate a text command to the proper function
* @return nxt_result
*/
public static nxt_result command_translation(string text_command)
{
try
{
while (command_translation_inprogress == true)
{
Thread.Sleep(10);
}
command_translation_inprogress = true;
nxt_result result = new nxt_result();
result.result = false;
result.value = "Faild to translate";
arg_command = text_command.Split(' ');
if (arg_command.Length == 4)
{
if (arg_command[1] == "run" && arg_command[2] == "program")
{
command_translation_inprogress = false;
return run_program_mysql(arg_command[3]);
}
}
//check if NXT is connect
if (!nxt.IsConnected)
{
result.result = false;
result.value = "NXT is not connect!";
command_translation_inprogress = false;
return result;
}
//check type
if (arg_command.Length == 4)
{
if (arg_command[1] == "motor" && arg_command[3] == "on")
{
command_translation_inprogress = false;
return motor_on(arg_command[2]);
}
if (arg_command[1] == "motor" && arg_command[3] == "off")
{
command_translation_inprogress = false;
return motor_off(arg_command[2]);
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "motor" && arg_command[2] == "speed")
{
command_translation_inprogress = false;
return set_speed(arg_command[3], arg_command[4]);
}
if (arg_command[1] == "motor" && arg_command[2] == "degrees")
{
command_translation_inprogress = false;
return motor_on(arg_command[3], arg_command[4]);
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "sensor" && arg_command[2] == "value")
{
command_translation_inprogress = false;
return get_sensor(arg_command[3]);
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "run" && arg_command[2] == "rover" && arg_command[3] == "program")
{
command_translation_inprogress = false;
return run_program(arg_command[4]);
}
}
if (arg_command.Length == 6)
{
if (arg_command[1] == "download" && arg_command[2] == "rover" && arg_command[3] == "program")
{
command_translation_inprogress = false;
return download_program_nbc(arg_command[5], config.nbc_path + arg_command[4] + ".nbc");
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "stop" && arg_command[2] == "rover" && arg_command[2] == "program")
{
command_translation_inprogress = false;
return stop_program();
}
}
return result;
}
catch
{
IrcBot.log += "ERROR: Failed translate command\n";
nxt_result failed = new nxt_result();
failed.result = false;
failed.value = "failed";
command_translation_inprogress = false;
return failed;
}
}
/**
* This will delete a rover program
* @param name Name of program without .RXE
* @return nxt_result
*/
public static nxt_result delete_rover_program(string name)
{
nxt_result result = new nxt_result();
if (nxt.delete_command(name + ".rxe"))
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return result;
}
public static void run_irc()
{
NetworkStream stream;
TcpClient irc;
string inputLine;
StreamReader reader;
try
{
irc = new TcpClient(SERVER, PORT);
stream = irc.GetStream();
reader = new StreamReader(stream);
writer = new StreamWriter(stream);
// Start PingSender thread
//PingSender ping = new PingSender ();
//ping.Start();
inputLine = reader.ReadLine();
log += inputLine + "\n";
//MessageBox.Show(inputLine);
ident();
IrcBot.log += "IRC chat ready\n";
nxt_result result = new nxt_result();
while (true)
{
while ((inputLine = reader.ReadLine()) != null)
{
//log += inputLine + "\n";
if (inputLine.Contains("PING"))
{
// inputLine.Split(' ');
//MessageBox.Show(inputLine);
//MessageBox.Show(inputLine.Substring(inputLine.IndexOf(" ") + 2));
//log += "send: " + "PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2) + "\n";
writer.WriteLine("PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2));
writer.Flush();
}
if (inputLine.Contains("Register first."))
{
ident();
}
if (inputLine.Contains(CHANNEL + " :"))
{
//echo
// :[email protected] PRIVMSG #control :hello
mes_buffer = inputLine.Substring(inputLine.IndexOf(CHANNEL + " :") + CHANNEL.Length + 2);
log += mes_buffer + "\n";
if (mes_buffer.StartsWith("cmd "))
{
result = NXT_ROVER_CONTROL.command_translation(mes_buffer);
if (result.result)
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result " + result.value);
writer.Flush();
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result faild");
writer.Flush();
}
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result false, Not a command");
writer.Flush();
}
}
}
// Close all streams
writer.Close();
reader.Close();
irc.Close();
}
}
catch (Exception e)
{
// Show the exception, sleep for a while and try to establish a new connection to irc server
log += e.Message.ToString() + "\n";
timesleep *= 2;
Thread.Sleep(timesleep);
run_irc();
}
}
public static nxt_result motor_off(NXTBrick.Motor motor)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
// prepare motor's state to set
motorState.Power = (sbyte)0;
motorState.TurnRatio = (sbyte)0;
motorState.Mode = NXTBrick.MotorMode.None;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Idle;
// tacho limit
motorState.TachoLimit = 0;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return result;
}
result.result = true;
result.value = "succed";
return result;
}
public static nxt_result motor_degree(string motors, string degree)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result = motor_degree(NXTBrick.Motor.A,Convert.ToInt32(degree));
}
if (motor.ToUpper() == "B")
{
motor_result = motor_degree(NXTBrick.Motor.B, Convert.ToInt32(degree));
}
if (motor.ToUpper() == "C")
{
motor_result = motor_degree(NXTBrick.Motor.C, Convert.ToInt32(degree));
}
if (motor.ToUpper() == "ALL")
{
motor_result = motor_degree(NXTBrick.Motor.All, Convert.ToInt32(degree));
}
if (motor_result.result == false)
{
return motor_result;
}
}
return motor_result;
}
public static nxt_result command_translation(string text_command)
{
nxt_result result = new nxt_result();
arg_command = text_command.Split(' ');
if (arg_command.Length == 4)
{
if (arg_command[1] == "run" && arg_command[2] == "program")
{
return run_program_mysql(arg_command[3]);
}
}
//check if NXT is connect
if (!nxt.IsConnected)
{
result.result = false;
result.value = "NXT is not connect!";
return result;
}
//check type
if (arg_command.Length == 4)
{
if (arg_command[1] == "motor" && arg_command[3] == "on")
{
return motor_on(arg_command[2]);
}
if (arg_command[1] == "motor" && arg_command[3] == "off")
{
return motor_off(arg_command[2]);
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "motor" && arg_command[2] == "speed")
{
return set_speed(arg_command[3],arg_command[4]);
}
if (arg_command[1] == "motor" && arg_command[2] == "degree")
{
return set_speed(arg_command[3], arg_command[4]);
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "sensor" && arg_command[2] == "value")
{
return get_sensor(arg_command[3]);
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "run" && arg_command[2] == "rover" && arg_command[3] == "program")
{
return run_program(arg_command[4]);
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "stop" && arg_command[2] == "rover" && arg_command[2] == "program")
{
return stop_program();
}
}
return result;
}
public static void run_irc()
{
NetworkStream stream;
TcpClient irc;
string inputLine;
StreamReader reader;
try
{
irc = new TcpClient (SERVER, PORT);
stream = irc.GetStream ();
reader = new StreamReader (stream);
writer = new StreamWriter (stream);
// Start PingSender thread
//PingSender ping = new PingSender ();
//ping.Start();
inputLine = reader.ReadLine();
log += inputLine + "\n";
//MessageBox.Show(inputLine);
ident();
IrcBot.log += "IRC chat ready\n";
nxt_result result = new nxt_result();
while (true)
{
while ( (inputLine = reader.ReadLine () ) != null )
{
//log += inputLine + "\n";
if (inputLine.Contains("PING"))
{
// inputLine.Split(' ');
//MessageBox.Show(inputLine);
//MessageBox.Show(inputLine.Substring(inputLine.IndexOf(" ") + 2));
//log += "send: " + "PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2) + "\n";
writer.WriteLine("PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2));
writer.Flush();
}
if (inputLine.Contains("Register first."))
{
ident();
}
if (inputLine.Contains(CHANNEL + " :"))
{
//echo
// :[email protected] PRIVMSG #control :hello
mes_buffer = inputLine.Substring(inputLine.IndexOf(CHANNEL + " :")+ CHANNEL.Length + 2);
log += mes_buffer + "\n";
if (mes_buffer.StartsWith("cmd "))
{
result = NXT_ROVER_CONTROL.command_translation(mes_buffer);
if (result.result)
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result " + result.value);
writer.Flush();
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result faild");
writer.Flush();
}
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result false, Not a command");
writer.Flush();
}
}
}
// Close all streams
writer.Close ();
reader.Close ();
irc.Close ();
}
}
catch (Exception e)
{
// Show the exception, sleep for a while and try to establish a new connection to irc server
log += e.Message.ToString () + "\n";
timesleep *= 2;
Thread.Sleep (timesleep);
run_irc ();
}
}
public static nxt_result command_translation(string text_command)
{
nxt_result result = new nxt_result();
arg_command = text_command.Split(' ');
if (arg_command.Length == 4)
{
if (arg_command[1] == "run" && arg_command[2] == "program")
{
return(run_program_mysql(arg_command[3]));
}
}
//check if NXT is connect
if (!nxt.IsConnected)
{
result.result = false;
result.value = "NXT is not connect!";
return(result);
}
//check type
if (arg_command.Length == 4)
{
if (arg_command[1] == "motor" && arg_command[3] == "on")
{
return(motor_on(arg_command[2]));
}
if (arg_command[1] == "motor" && arg_command[3] == "off")
{
return(motor_off(arg_command[2]));
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "motor" && arg_command[2] == "speed")
{
return(set_speed(arg_command[3], arg_command[4]));
}
if (arg_command[1] == "motor" && arg_command[2] == "degree")
{
return(set_speed(arg_command[3], arg_command[4]));
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "sensor" && arg_command[2] == "value")
{
return(get_sensor(arg_command[3]));
}
}
if (arg_command.Length == 5)
{
if (arg_command[1] == "run" && arg_command[2] == "rover" && arg_command[3] == "program")
{
return(run_program(arg_command[4]));
}
}
if (arg_command.Length == 4)
{
if (arg_command[1] == "stop" && arg_command[2] == "rover" && arg_command[2] == "program")
{
return(stop_program());
}
}
return(result);
}
public static void check()
{
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
mysql_results res = new mysql_results();
nxt_result result = new nxt_result();
//check mysql conntection
if (mysql.connection.State == ConnectionState.Open || mysql.connection.State == ConnectionState.Connecting)
{
res = mysql.QueryCommand("SELECT `ID`,`message`,`when` FROM `log_current_session` WHERE `status`='' AND `when`< '" + unixTime.ToString().Replace(',', '.') + "' AND `when`> '" + (unixTime-100).ToString().Replace(',', '.') + "' AND `type`='cmd' ORDER BY `when` ASC LIMIT 0,1");
if (res.result)
{
IrcBot.log += DateTime.Now + "checking(" + res.msg + ")...";
result = NXT_ROVER_CONTROL.command_translation(res.msg);
if (result.result)
{
//true
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "', `when`='" + unixTime.ToString().Replace(',', '.') + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "succed\n";
}
else
{
//false
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "faild\n";
}
}
}
else
{
//make connecion
IrcBot.log += "Mysql connection faild";
mysql.connect();
}
}
public static nxt_result motor_on(string motors, string degrees)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors = motors.ToLower();
int number = 1;
if (motors == "all")
{
motors = "AvBvC";
}
motors_array = motors.Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result = motor_on(NXTBrick.Motor.A, Convert.ToInt32(degrees), (motors_array.Length)-number);
number++;
}
if (motor.ToUpper() == "B")
{
motor_result = motor_on(NXTBrick.Motor.B, Convert.ToInt32(degrees), (motors_array.Length) - number);
number++;
}
if (motor.ToUpper() == "C")
{
motor_result = motor_on(NXTBrick.Motor.C, Convert.ToInt32(degrees), (motors_array.Length) - number);
number++;
}
if (motor.ToUpper() == "ALL")
{
motor_result = motor_on(NXTBrick.Motor.All, Convert.ToInt32(degrees), (motors_array.Length) - number);
number++;
}
if (motor_result.result == false)
{
return motor_result;
}
}
return motor_result;
}
public static nxt_result get_sensor(int sensor)
{
nxt_result result = new nxt_result();
NXTBrick.SensorValues sensorValues;
result.result = false;
result.type = "sensor";
result.value = "0";
// get input values
if (nxt.GetSensorValue(sensors[sensor-1], out sensorValues))
{
result.result = sensorValues.IsValid;
result.value = "Raw: " + sensorValues.Raw.ToString() + " normalized: " + sensorValues.Normalized.ToString();
}
else
{
IrcBot.log += "Failed getting input values\n";
}
return result;
}
/**
* This will set the motor on
* @param motor type NXTBrick.Motor
* @return nxt_result
*/
public static nxt_result motor_on(NXTBrick.Motor motor, int degrees, int number)
{
//Debug.WriteLine("Set motor on");
//Debug.WriteLine(motor);
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
if (motor == NXTBrick.Motor.A)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = 50;
}
if (motor == NXTBrick.Motor.B)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[1];
motorState.TurnRatio = 50;
}
if (motor == NXTBrick.Motor.C)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[2];
motorState.TurnRatio = 50;
}
// TODO If al motor's on handel correct speed
if (motor == NXTBrick.Motor.All)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = 50;
}
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.RotationCount = 0;
// tacho limit
motorState.TachoCount = 0;
if (motorState.Power < 0)
{
motorState.TachoLimit = -degrees;
}
else
{
motorState.TachoLimit = degrees;
}
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return result;
}
result.result = true;
result.value = "succed";
return result;
}
public static nxt_result motor_degree(NXTBrick.Motor motor, int degree)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
if (motor == NXTBrick.Motor.A)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
if (motor == NXTBrick.Motor.B)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[1];
motorState.TurnRatio = (sbyte)speed_motors[1];
}
if (motor == NXTBrick.Motor.C)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[2];
motorState.TurnRatio = (sbyte)speed_motors[2];
}
// TODO If al motor's on handel correct speed
if (motor == NXTBrick.Motor.All)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
// tacho limit
motorState.TachoLimit = degree;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return result;
}
result.result = true;
result.value = "succed";
return result;
}
/**
* This will compile and download a rover program
* @param name Name of program without .RXE
* @param path Localtion of the file on the computer(NBC)
* @return nxt_result
*/
public static nxt_result download_program_nbc(string name, string path)
{
nxt_result result = new nxt_result();
string output_data = "";
try{
output_data = compile("\""+path + "\" -O=result.rxe");
IrcBot.log += output_data;
if (output_data.Length > 1)
{
result.result = false;
result.value = output_data.Replace("\n", "<br />").Replace("\\", "/");
return result;
}
/*
Process proc = new Process();
proc.StartInfo.FileName = "nbc.exe";
proc.StartInfo.Arguments = path + " -O=result.rxe";
//proc.StartInfo.RedirectStandardOutput = true;
//proc.StartInfo.RedirectStandardError = true;
// proc.StartInfo.UseShellExecute = true;
proc.Start();
//System.IO.StreamReader myOutput = proc.StandardOutput;
proc.WaitForExit(10000);
//output_data = myOutput.ReadToEnd();
*/
//remove old one
delete_rover_program(name);
return download_program(name, "result.rxe");
}
catch
{
result.result = false;
result.value = "Failed";
return result;
}
}
public static nxt_result motor_on(string motors)
{
string[] motors_array;
nxt_result motor_result = new nxt_result();
motor_result.result = false;
motor_result.value = "Motor not found.";
motors_array = motors.ToLower().Split('v');
foreach (string motor in motors_array)
{
if (motor.ToUpper() == "A")
{
motor_result = motor_on(NXTBrick.Motor.A);
}
if (motor.ToUpper() == "B")
{
motor_result = motor_on(NXTBrick.Motor.B);
}
if (motor.ToUpper() == "C")
{
motor_result = motor_on(NXTBrick.Motor.C);
}
if (motor.ToUpper() == "ALL")
{
motor_result = motor_on(NXTBrick.Motor.All);
}
if (motor_result.result == false)
{
return motor_result;
}
}
return motor_result;
}
/**
* This will download a rover program
* @param name Name of program without .RXE
* @param path Localtion of the file on the computer
* @return nxt_result
*/
public static nxt_result download_program(string name, string path)
{
nxt_result result = new nxt_result();
try
{
FileStream textFile = new FileStream(path, FileMode.Open);
byte[] buffer = new byte[textFile.Length];
textFile.Read(buffer, 0, buffer.Length);
textFile.Close();
if (nxt.download_program(name + ".rxe", buffer))
{
result.result = true;
result.value = "succed";
}
else
{
result.result = false;
result.value = "Failed";
}
return result;
}
catch
{
result.result = false;
result.value = "Failed";
return result;
}
}