private void InitializeDevices()
{
Connection = new IPConnection();
Connection.Connect("localhost", 4223);
ServoBrick = new BrickServo("ap6zRki6edN", Connection);
SetupServoBrick();
DistanceBricklet = new BrickletDistanceIR("8XU", Connection);
var distanceCollection = new ClosestDistanceSensorCollection();
distanceCollection.AddSensor(new ImmediateDistanceIRSensor(DistanceBricklet));
Distances = distanceCollection;
var drivingStrategy = new SimpleDistanceDrivingStrategy(Engine, Distances);
drivingStrategy.MinimumDrivingDistance = 30.Centimeters();
drivingStrategy.ReversalDistance = 11.Centimeters();
drivingStrategy.RefreshInterval = 10;
this.DrivingStrategy = drivingStrategy;
}
public static bool init(ref IPConnection brick_connection) {
// get UIDs of bricks and bricklets
AppSettingsReader config = new AppSettingsReader();
host = (string)config.GetValue("host", typeof(string));
port = (int)config.GetValue("port", typeof(int));
server_port = (int)config.GetValue("server_port", typeof(int));
string master_brick_uid = (string)config.GetValue("master_brick_uid", typeof(string));
string ambient_bricklet_uid = (string)config.GetValue("ambient_light_bricklet_uid", typeof(string));
string temperature_bricklet_uid = (string)config.GetValue("temperature_bricklet_uid", typeof(string));
string lcd_20x4_bricklet_uid = (string)config.GetValue("lcd_20x4_bricklet_uid", typeof(string));
#if DEBUG
Console.WriteLine("Master Brick Host:Port ...: {0}:{1}", host, port);
Console.WriteLine("Serverport (udp msgs).....: :{0}", server_port);
Console.WriteLine("Master Brick UID .........: {0}", master_brick_uid);
Console.WriteLine("Ambient Bricklet UID .....: {0}", ambient_bricklet_uid);
Console.WriteLine("Temperature Bricklet UID .: {0}", temperature_bricklet_uid);
Console.WriteLine("LCD 20x4 Bricklet UID ....: {0}", lcd_20x4_bricklet_uid);
#endif
// setup connection to master und bricklets
try {
brick_connection = new IPConnection(host, port);
ambient_light = new BrickletAmbientLight(ambient_bricklet_uid);
temperature = new BrickletTemperature(temperature_bricklet_uid);
lcd = new BrickletLCD20x4(lcd_20x4_bricklet_uid);
displayHelper = new LCDisplayHelper(lcd);
brick_connection.AddDevice(ambient_light);
brick_connection.AddDevice(temperature);
brick_connection.AddDevice(lcd);
} catch (Tinkerforge.TimeoutException te) {
Console.WriteLine(te.Message);
return false;
}
return true;
}
private void ConnectWorker_DoWork(object sender, DoWorkEventArgs e)
{
string[] argument = e.Argument as string[];
ipcon = new IPConnection();
try
{
relay = new BrickletIndustrialQuadRelay(argument[2], ipcon);
}
catch (ArgumentOutOfRangeException)
{
e.Result = ConnectResult.NO_DEVICE;
return;
}
try
{
ipcon.Connect(argument[0], Convert.ToInt32(argument[1]));
}
catch (System.IO.IOException)
{
e.Result = ConnectResult.NO_CONNECTION;
return;
}
catch (ArgumentOutOfRangeException)
{
e.Result = ConnectResult.NO_CONNECTION;
return;
}
try
{
string uid;
string connectedUid;
char position;
byte[] hardwareVersion;
byte[] firmwareVersion;
int deviceIdentifier;
relay.GetIdentity(out uid, out connectedUid, out position,
out hardwareVersion, out firmwareVersion, out deviceIdentifier);
if (deviceIdentifier != BrickletIndustrialQuadRelay.DEVICE_IDENTIFIER)
{
ipcon.Disconnect();
e.Result = ConnectResult.NO_DEVICE;
return;
}
}
catch (TinkerforgeException)
{
try
{
ipcon.Disconnect();
}
catch (NotConnectedException)
{
}
e.Result = ConnectResult.NO_DEVICE;
return;
}
e.Result = ConnectResult.SUCCESS;
}
/// <summary>
/// Creates an object with the unique device ID <c>uid</c> and adds it to
/// the IPConnection <c>ipcon</c>.
/// </summary>
public BrickletIndustrialQuadRelay(string uid, IPConnection ipcon)
: base(uid, ipcon)
{
this.apiVersion[0] = 2;
this.apiVersion[1] = 0;
this.apiVersion[2] = 0;
callbackWrappers[CALLBACK_MONOFLOP_DONE] = new CallbackWrapper(OnMonoflopDone);
responseExpected[FUNCTION_SET_VALUE] = ResponseExpectedFlag.FALSE;
responseExpected[FUNCTION_GET_VALUE] = ResponseExpectedFlag.ALWAYS_TRUE;
responseExpected[FUNCTION_SET_MONOFLOP] = ResponseExpectedFlag.FALSE;
responseExpected[FUNCTION_GET_MONOFLOP] = ResponseExpectedFlag.ALWAYS_TRUE;
responseExpected[FUNCTION_SET_GROUP] = ResponseExpectedFlag.FALSE;
responseExpected[FUNCTION_GET_GROUP] = ResponseExpectedFlag.ALWAYS_TRUE;
responseExpected[FUNCTION_GET_AVAILABLE_FOR_GROUP] = ResponseExpectedFlag.ALWAYS_TRUE;
responseExpected[FUNCTION_SET_SELECTED_VALUES] = ResponseExpectedFlag.FALSE;
responseExpected[FUNCTION_GET_IDENTITY] = ResponseExpectedFlag.ALWAYS_TRUE;
responseExpected[CALLBACK_MONOFLOP_DONE] = ResponseExpectedFlag.ALWAYS_FALSE;
}
