void cnnMan_ClientConnected(System.Net.Sockets.Socket s)
{
connectedToBlackboard = true;
TBWriter.Spaced(TBWriter.time() + " Connected to Blackboard ");
sharedVarSubscriptionThread = new Thread(new ThreadStart(sharedVarSubscriptionThreadTask));
sharedVarSubscriptionThread.IsBackground = true;
sharedVarSubscriptionThread.Start();
}
protected override Response AsyncTask(Command command)
{
TBWriter.Spaced(TBWriter.time() + " >>> Received " + command.CommandName + " , received = [" + command.Parameters + "]");
bool success = taskPlanner.Cmd_AligneHuman();
TBWriter.Spaced(TBWriter.time() + " Terminated " + command.CommandName + " , sending = [" + command.Parameters + "] <<<");
return(Response.CreateFromCommand(command, success));
}
protected override Response AsyncTask(Command command)
{
bool result = false;
TBWriter.Spaced(TBWriter.time() + " ===>>> COMMAND RECEIVED : " + command.CommandName);
result = taskPlanner.Cmd_TakeTable();
TBWriter.Spaced(TBWriter.time() + " <<<=== COMMAND TERMINATED : " + command.CommandName + " ; Result{" + result + "}");
return(Response.CreateFromCommand(command, result));
}
protected override Response AsyncTask(Command command)
{
bool result;
double[] desireParams;
TBWriter.Spaced(TBWriter.time() + " ===>>> COMMAND RECEIVED : " + command.CommandName + " ; Params{" + command.Parameters + "}");
if (!Parse.string2doubleArray(command.Parameters, out desireParams))
{
desireParams = new double[2];
desireParams[0] = 0.0;
desireParams[1] = 0.15;
}
result = taskPlanner.Cmd_AlignWithEdge(desireParams[0], desireParams[1]);
TBWriter.Spaced(TBWriter.time() + " <<<=== COMMAND TERMINATED : " + command.CommandName + " ; Result{" + result + "} Params{" + command.Parameters + "}");
return(Response.CreateFromCommand(command, result));
}
public STPlanner()
{
TBWriter.Spaced("Simple Task Planner, Version 0.98798");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "asdasd as asd ");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "Builded 16/feb/13 , 15:351 p.m.");
TextBoxStreamWriter.DefaultLog.WriteLine(0, "");
cmdMan = new STPCommandManager();
cnnMan = new ConnectionManager(connectionPort, this.cmdMan);
TBWriter.Write(" Connection Port = " + connectionPort.ToString());
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
TBWriter.Spaced(TBWriter.time() + " Waiting for Blackboard Connection . . .");
taskPlanner = new TaskPlanner(cmdMan, this);
LoadCommands();
sharedVarConnected = new StringSharedVariable("connected");
sharedVarSkeletons = new StringSharedVariable("skeletons");
sharedVarOdometryPos = new DoubleArraySharedVariable("odometryPos");
sharedVarHdPos = new DoubleArraySharedVariable("hd_pos");
sharedVarTorso = new DoubleArraySharedVariable("torsoPosition");
sharedVarRobotRegion = new StringSharedVariable("robotRoom");
//cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
cnnMan.Start();
TBWriter.Write(3, " > Connection Manager Started");
cmdMan.Start();
TBWriter.Write(3, " > Command Manager Started");
//if(!sharedVarLoadEvent) TBWriter.Spaced(" Waiting for Shared Variables Load from BlackBoard . . .")
}
