Specialization class for command manager, which implemnent destijl protocol between monitor and server More...

Collaboration diagram for monitor.DestijlCommandManager:

Public Types
enum	CommandStatus { CommandStatus.Success, CommandStatus.Rejected, CommandStatus.InvalidAnswer, CommandStatus.Busy, CommandStatus.CommunicationLostWithRobot, CommandStatus.CommunicationLostWithServer }
	List of available return status More...

Public Member Functions
delegate void	CommandReceivedEvent (string header, string data, byte[] buffer)
	Callback for sending received data to application level More...

	DestijlCommandManager (CommandReceivedEvent callback)
	Initializes a new instance of the monitor.DestijlCommandManager class. More...

bool	Open (string hostname)
	Open the specified hostname server, using default port number. More...

bool	Open (string hostname, int port)
	Open connection to server "host", with port number "port" More...

void	Close ()
	Close connection to server More...

CommandStatus	RobotOpenCom ()
	Open communication with robot and wait acknowledge More...

CommandStatus	RobotCloseCom ()
	Close communication with robot and wait acknowledge More...

CommandStatus	RobotPing ()
	Ping the robot. More...

CommandStatus	RobotReset ()
	Reset robot and let it in idle mode More...

CommandStatus	RobotStartWithWatchdog ()
	Start robot, enabling watchdog More...

CommandStatus	RobotStartWithoutWatchdog ()
	Start robot, without enabling watchdog More...

CommandStatus	RobotMove (int distance)
	Move robot forward or backward, for a distance expressed in millimeter More...

CommandStatus	RobotTurn (int angle)
	Make robot turn left or right, for a given angle More...

CommandStatus	RobotGetBattery ()
	Request robot battery level More...

CommandStatus	RobotGetVersion (out string version)
	Request robot firmware version More...

CommandStatus	RobotPowerOff ()
	Power off robot More...

CommandStatus	CameraOpen ()
	Open camera on remote device More...

CommandStatus	CameraClose ()
	Close camera on remote device More...

CommandStatus	CameraAskArena ()
	Request still image of detected arena More...

CommandStatus	CameraArenaConfirm ()
	Confirm arena detection (after requesting image of detected arena, using CameraAskArena More...

CommandStatus	CameraArenaInfirm ()
	Reject arena detected (after requesting image of detected arena, using CameraAskArena More...

CommandStatus	CameraComputePosition ()
	Request robot position computing More...

CommandStatus	CameraStopComputePosition ()
	Stop robot position computing More...

Public Attributes
CommandReceivedEvent	commandReceivedEvent = null

double	timeout = 100
	Timeout used for command with acknowledge More...

Private Member Functions
	~DestijlCommandManager ()
	Releases unmanaged resources and performs other cleanup operations before the monitor.DestijlCommandManager is reclaimed by garbage collection. More...

void	OnCommandReceived (string msg, byte[] buffer)
	Callback used for receiving data from lower layer (CommandManager class) More...

string	CreateCommand (string header, string data)
	Creates the command to send to server, based on header and data provided More...

CommandStatus	DecodeStatus (CommandManager.CommandManagerStatus localStatus, string answer)
	Provide DestijlCommandManager.CommandStatus based on status received by CommandManager.SendCommand and answer string More...

Private Attributes
CommandManager	commandManager = null
	Command Manager object More...

string	receivedHeader = null
	Part of received message corresponding to command header More...

string	receivedData = null
	Part of received message corresponding to command data More...

Detailed Description

Specialization class for command manager, which implemnent destijl protocol between monitor and server

Definition at line 76 of file DestijlCommandManager.cs.

Member Enumeration Documentation

◆ CommandStatus

enum monitor.DestijlCommandManager.CommandStatus

strong

List of available return status

Enumerator
Success
Rejected
InvalidAnswer
Busy
CommunicationLostWithRobot
CommunicationLostWithServer

Definition at line 107 of file DestijlCommandManager.cs.

Constructor & Destructor Documentation

◆ DestijlCommandManager()

monitor.DestijlCommandManager.DestijlCommandManager ( CommandReceivedEvent callback )

Initializes a new instance of the monitor.DestijlCommandManager class.

Parameters

callback Callback reference for reception of data

Definition at line 121 of file DestijlCommandManager.cs.

◆ ~DestijlCommandManager()

monitor.DestijlCommandManager.~DestijlCommandManager ( )

private

Releases unmanaged resources and performs other cleanup operations before the monitor.DestijlCommandManager is reclaimed by garbage collection.

Definition at line 131 of file DestijlCommandManager.cs.

Member Function Documentation

◆ CameraArenaConfirm()

CommandStatus monitor.DestijlCommandManager.CameraArenaConfirm ( )

Confirm arena detection (after requesting image of detected arena, using CameraAskArena

Returns: Command status (see DecodeStatus)

Definition at line 492 of file DestijlCommandManager.cs.

◆ CameraArenaInfirm()

CommandStatus monitor.DestijlCommandManager.CameraArenaInfirm ( )

Reject arena detected (after requesting image of detected arena, using CameraAskArena

Returns: Command status (see DecodeStatus)

Definition at line 509 of file DestijlCommandManager.cs.

◆ CameraAskArena()

CommandStatus monitor.DestijlCommandManager.CameraAskArena ( )

Request still image of detected arena

Returns: Command status (see DecodeStatus)

Definition at line 475 of file DestijlCommandManager.cs.

◆ CameraClose()

CommandStatus monitor.DestijlCommandManager.CameraClose ( )

Close camera on remote device

Returns: Command status (see DecodeStatus)

Definition at line 458 of file DestijlCommandManager.cs.

◆ CameraComputePosition()

CommandStatus monitor.DestijlCommandManager.CameraComputePosition ( )

Request robot position computing

Returns: Command status (see DecodeStatus)

Definition at line 526 of file DestijlCommandManager.cs.

◆ CameraOpen()

CommandStatus monitor.DestijlCommandManager.CameraOpen ( )

Open camera on remote device

Returns: Command status (see DecodeStatus)

Definition at line 441 of file DestijlCommandManager.cs.

◆ CameraStopComputePosition()

CommandStatus monitor.DestijlCommandManager.CameraStopComputePosition ( )

Stop robot position computing

Returns: Command status (see DecodeStatus)

Definition at line 543 of file DestijlCommandManager.cs.

◆ Close()

void monitor.DestijlCommandManager.Close ( )

Close connection to server

Definition at line 183 of file DestijlCommandManager.cs.

◆ CommandReceivedEvent()

delegate void monitor.DestijlCommandManager.CommandReceivedEvent	(	string	header,
		string	data,
		byte []	buffer
	)

Callback for sending received data to application level

◆ CreateCommand()

string monitor.DestijlCommandManager.CreateCommand	(	string	header,
		string	data
	)

private

Creates the command to send to server, based on header and data provided

Returns: The command string

Parameters

header	Header part of the command
data	Data part of the command

Definition at line 194 of file DestijlCommandManager.cs.

◆ DecodeStatus()

CommandStatus monitor.DestijlCommandManager.DecodeStatus	(	CommandManager.CommandManagerStatus	localStatus,
		string	answer
	)

private

Provide DestijlCommandManager.CommandStatus based on status received by CommandManager.SendCommand and answer string

Returns: Status compatible with DestijlCommandManager.CommandStatus type

Parameters

localStatus	Status provided by CommandManager.SendCommand
answer	Answer provided by CommandManager.SendCommand

Definition at line 205 of file DestijlCommandManager.cs.

◆ OnCommandReceived()

void monitor.DestijlCommandManager.OnCommandReceived	(	string	msg,
		byte []	buffer
	)

private

Callback used for receiving data from lower layer (CommandManager class)

Parameters

msg	String containing received message
buffer	Raw buffer to be used when data are not in ascii format (image for example)

Definition at line 141 of file DestijlCommandManager.cs.

◆ Open() [1/2]

bool monitor.DestijlCommandManager.Open ( string hostname )

Open the specified hostname server, using default port number.

Returns: true if connection succeded, false otherwise

Parameters

hostname Hostname to connect to

Definition at line 163 of file DestijlCommandManager.cs.

◆ Open() [2/2]

bool monitor.DestijlCommandManager.Open	(	string	hostname,
		int	port
	)

Open connection to server "host", with port number "port"

Returns: true if connection succeded, false otherwise

Parameters

hostname	Hostname to connect to
port	Port number for connection

Definition at line 174 of file DestijlCommandManager.cs.

◆ RobotCloseCom()

CommandStatus monitor.DestijlCommandManager.RobotCloseCom ( )

Close communication with robot and wait acknowledge

Returns: Command status (see DecodeStatus)

Definition at line 251 of file DestijlCommandManager.cs.

◆ RobotGetBattery()

CommandStatus monitor.DestijlCommandManager.RobotGetBattery ( )

Request robot battery level

Returns: Command status (see DecodeStatus)

Definition at line 372 of file DestijlCommandManager.cs.

◆ RobotGetVersion()

CommandStatus monitor.DestijlCommandManager.RobotGetVersion ( out string version )

Request robot firmware version

Returns: Command status (see DecodeStatus)

Parameters

version todo

Definition at line 390 of file DestijlCommandManager.cs.

◆ RobotMove()

CommandStatus monitor.DestijlCommandManager.RobotMove ( int distance )

Move robot forward or backward, for a distance expressed in millimeter

Returns: Command status (see DecodeStatus)

Parameters

distance Distance of mouvment, in millimeter

Definition at line 337 of file DestijlCommandManager.cs.

◆ RobotOpenCom()

CommandStatus monitor.DestijlCommandManager.RobotOpenCom ( )

Open communication with robot and wait acknowledge

Returns: Command status (see DecodeStatus)

Definition at line 234 of file DestijlCommandManager.cs.

◆ RobotPing()

CommandStatus monitor.DestijlCommandManager.RobotPing ( )

Ping the robot.

Returns: Command status (see DecodeStatus)

Definition at line 268 of file DestijlCommandManager.cs.

◆ RobotPowerOff()

CommandStatus monitor.DestijlCommandManager.RobotPowerOff ( )

Power off robot

Returns: Command status (see DecodeStatus)

Definition at line 424 of file DestijlCommandManager.cs.

◆ RobotReset()

CommandStatus monitor.DestijlCommandManager.RobotReset ( )

Reset robot and let it in idle mode

Returns: Command status (see DecodeStatus)

Definition at line 285 of file DestijlCommandManager.cs.

◆ RobotStartWithoutWatchdog()

CommandStatus monitor.DestijlCommandManager.RobotStartWithoutWatchdog ( )

Start robot, without enabling watchdog

Returns: Command status (see DecodeStatus)

Definition at line 319 of file DestijlCommandManager.cs.

◆ RobotStartWithWatchdog()

CommandStatus monitor.DestijlCommandManager.RobotStartWithWatchdog ( )

Start robot, enabling watchdog

Returns: Command status (see DecodeStatus)

Definition at line 302 of file DestijlCommandManager.cs.

◆ RobotTurn()

CommandStatus monitor.DestijlCommandManager.RobotTurn ( int angle )

Make robot turn left or right, for a given angle

Returns: Command status (see DecodeStatus)

Parameters

angle Angle of turn, in degree (negative for left, positive for right)

Definition at line 355 of file DestijlCommandManager.cs.

Member Data Documentation

◆ commandManager

CommandManager monitor.DestijlCommandManager.commandManager = null

private

Command Manager object

Definition at line 81 of file DestijlCommandManager.cs.

◆ commandReceivedEvent

CommandReceivedEvent monitor.DestijlCommandManager.commandReceivedEvent = null

Definition at line 97 of file DestijlCommandManager.cs.

◆ receivedData

string monitor.DestijlCommandManager.receivedData = null

private

Part of received message corresponding to command data

Definition at line 91 of file DestijlCommandManager.cs.

◆ receivedHeader

string monitor.DestijlCommandManager.receivedHeader = null

private

Part of received message corresponding to command header

Definition at line 86 of file DestijlCommandManager.cs.

◆ timeout

double monitor.DestijlCommandManager.timeout = 100

Timeout used for command with acknowledge

Definition at line 102 of file DestijlCommandManager.cs.

The documentation for this class was generated from the following file:

DestijlCommandManager.cs

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ CommandStatus

Constructor & Destructor Documentation

◆ DestijlCommandManager()

◆ ~DestijlCommandManager()

Member Function Documentation

◆ CameraArenaConfirm()

◆ CameraArenaInfirm()

◆ CameraAskArena()

◆ CameraClose()

◆ CameraComputePosition()

◆ CameraOpen()

◆ CameraStopComputePosition()

◆ Close()

◆ CommandReceivedEvent()

◆ CreateCommand()

◆ DecodeStatus()

◆ OnCommandReceived()

◆ Open() [1/2]

◆ Open() [2/2]

◆ RobotCloseCom()

◆ RobotGetBattery()

◆ RobotGetVersion()

◆ RobotMove()

◆ RobotOpenCom()

◆ RobotPing()

◆ RobotPowerOff()

◆ RobotReset()

◆ RobotStartWithoutWatchdog()

◆ RobotStartWithWatchdog()

◆ RobotTurn()

Member Data Documentation

◆ commandManager

◆ commandReceivedEvent

◆ receivedData

◆ receivedHeader

◆ timeout