monitor.DestijlCommandManager Class Reference

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

Collaboration diagram for monitor.DestijlCommandManager:
[legend]

## 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