Make an ARC Skill

Example: Custom Movement Panel

The ARC software uses controls that register themselves as a movement panel. This allows your plugin to listen to movement requests from other controls. When any control or EZ-Script calls for a movement direction (i.e. Forward, Left, Stop, etc), your plugin can be responsible for moving the robot. There can only be one Movement Panel per robot project. This is because there is only one method of locomotion for a robot, which this Movement Panel would be responsible for.

To understand more about how Movement Panels work in EZ-Builder, read this tutorial.

What's In A Movement Panel? A Movement Panel will have buttons that lets the user specify directions that the robot should move. Your Movement Panel will be responsible for the robot moving. This means that anywhere a direction is specified, your control will be responsible for moving the robot. Generally a Movement Panel has speed controls in the form of trackbars of some sort.

Code Example Want to make your own movement panel? Here is an example of how to implement code which will respond to movement requests:


public FormMain()
  : base() {

  InitializeComponent();

  // Assign this control as a  Movement Panel so the software knows who owns the movements
  EZ_Builder.FormMain.MovementPanel = this;

  // Assign the movement locomotion style for this control.
  // There are different kind of locomotion for your robot, and this helps other
  // controls know what to expect when a movement is happening.
  // Check out the ENUM to see what other locomotion styles there are that
  // fits your  Movement Panel type.
  EZBManager.MovementManager.LocomotionStyle = LocomotionStyleEnum.GAIT;

  // assign the movement event
  // this event is raised when another ARC  control requests movement
  EZBManager.MovementManager.OnMovement2 += Movement_OnMovement2;

  // assign the speed change event
  // this event is raised when another control or user changes the speed
  EZBManager.MovementManager.OnSpeedChanged += Movement_OnSpeedChanged;
}

private void FormModifiedServoMovementPanel_FormClosing(object sender, FormClosingEventArgs e) {

  // Remove this control as a  Movement Panel 
  EZ_Builder.FormMain.MovementPanel = null;

  EZBManager.MovementManager.OnSpeedChanged -= Movement_OnSpeedChanged;

  EZBManager.MovementManager.OnMovement2 -= Movement_OnMovement2;
}

private void Movement_OnSpeedChanged(int speedLeft, int speedRight) {

  // do something with the speed change
}

private void Movement_OnMovement2(MovementManager.MovementDirectionEnum direction, byte speedLeft, byte speedRight) {

  // **
  // do something based on the speed  
  // handle speed change here
  // **

  // Now do something based on the new movement direction

  if (direction == MovementManager.MovementDirectionEnum.Forward) {

    // handle custom Forward movement

  } else if (direction == MovementManager.MovementDirectionEnum.Reverse) {

    // handle custom Reverse movement

  } else if (direction == MovementManager.MovementDirectionEnum.Right) {

    // handle custom Right movement

  } else if (direction == MovementManager.MovementDirectionEnum.Left) {

    // handle custom Left movement

  } else if (direction == MovementManager.MovementDirectionEnum.Stop) {

    // handle custom Stop movement

  }
}


ARC Pro

Upgrade to ARC Pro

Get access to the latest features and updates before they're released. You'll have everything that's needed to unleash your robot's potential!

PRO
Synthiam
#25  

When the popup says it doesn’t detect visual studio, you can still skip and continue. I wonder why it’s not detecting it? We had a hard time trying to find a proper way of detecting - even Microsoft’s suggestion didn’t actually work eye roll

ill look into it a bit further and see if we can find a better way of detecting

PRO
USA
#26  

@DJ: It's easy to find the Visual Studio 2017 and up: Microsoft: https://github.com/Microsoft/vswhere/wiki/Find-MSBuild

Some quick c# code to use with .NET: https://github.com/ppedro74/Utils/blob/master/FindVisualStudio/Program.cs

using System;
using System.Diagnostics;
using System.IO;

namespace FindVisualStudio
{
    internal class Program
    {
        static string ProcessStart(string fileName, string args)
        {
            var processStartInfo = new ProcessStartInfo
            {
                Arguments = args,
                CreateNoWindow = true,
                FileName = fileName,
                RedirectStandardOutput = true,
                UseShellExecute = false,
                WindowStyle = ProcessWindowStyle.Hidden,
                WorkingDirectory = Path.GetDirectoryName(fileName),
            };

            using (var process = Process.Start(processStartInfo))
            {
                process.WaitForExit();
                return process.StandardOutput.ReadToEnd().Trim();
            }
        }

        private static string GetInstallationPath(string vsWhere)
        {
            var installationPath = ProcessStart(vsWhere, "-latest -products * -requires Microsoft.Component.MSBuild -property installationPath");
            return installationPath;
        }

        private static string GetProductLineVersion(string vsWhere)
        {
            var version = ProcessStart(vsWhere, "-latest -property catalog_productLineVersion");
            return version;
        }


        private static void Main(string[] args)
        {
            var programFiles = Environment.GetFolderPath(Environment.SpecialFolder.ProgramFilesX86);
            var vsWhere = Path.Combine(programFiles, "Microsoft Visual Studio", "Installer", "vswhere.exe");
            if (!File.Exists(vsWhere))
            {
                throw new FileNotFoundException("Cannot find Microsoft Visual Studio's vswhere.exe utility.", vsWhere);
            }

            var version = GetProductLineVersion(vsWhere);
            Console.WriteLine($"Visual Studio Version: {version}");

            var installationPath = GetInstallationPath(vsWhere);
            if (!Directory.Exists(installationPath))
            {
                throw new DirectoryNotFoundException(installationPath);
            }

            Console.WriteLine($"Visual Studio installation Path: {installationPath}");

        }
    }
}
PRO
USA
#27   — Edited

Quote:

With Visual Studio 2017 Update 2 or newer installed, you can find vswhere at %ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe, or to make sure it's always available in your repo see Installing for an option using NuGet.
Because is only available with "Visual Studio 2017 Update 2", you can add the vswhere package to your ARC project, and use your version (nuget) to detect older 2017 or legacy Visual Studio Versions (although does not make sense for ARC). https://devblogs.microsoft.com/setup/vswhere-now-searches-older-versions-of-visual-studio/

PRO
Synthiam
#28   — Edited

We went this route and it didn’t work on my computer - because I had a preview of visual studio installed which isn’t in that directory path. Microsoft had numerous suggestions of detecting visual studio. The one which worked for our various installations was a registry check.

apparently with the above individual, the registry didn’t work either. I’ll have to combine a few methods.

everything looks simple from the outside - until you have a hundred thousand+ installations of your software. That’s when you run into things like this lol

PRO
USA
#29   — Edited

@DJ: I agree sometimes the things go out of script easily.

I avoid going through the registry keys, unless is recommended by the vendor. A lot of people blame the changes (keys,  entries are renamed etc), but, that is normal if I own my product is my business and is part of the software evolution. Some products you can break the support contract agreement if you query directly the database, or if you look elsewhere outside of the public API.

Is true story some years ago a "rogue" developer on my team released a Sharepoint integration using a mix of APIs and database queries, everything worked well with multiple clients, until one day the Microsoft Black suits visit one of the customers to follow up on an unrelated support ticket, and they basically used "unsupported" card and left the client hanging, and we had problems too, unfortunately the Rogue developer went to another galaxy ... and the team suffered the consequences.

That does not mean I'm not tempted to do it...:)

I used the vswhere before and I would say is almost 99% bulletproof, is used with Xamarin, NVIDIA, Intel setups. If you add vswhere.exe to your project (nuget package) you cover scenarios where the tool is not present or have been deleted (broken uninstalls).

The other fallback could be ask the user the visual studio version.

The other reason to avoid registry is due to Visual Studio uses a private exclusive registry keys to store more stuff:  http://www.visualstudioextensibility.com/2017/07/15/about-the-new-privateregistry-bin-file-of-visual-studio-2017/

So the things are getting more complex.

The above post is only part of the "Full solution" for example I have one setup with visual studio 2017 c# installed and Visual studio 2019 with Python and C++, vswhere will return 2019 version,  but my c# is done with VS2017.

If you are generating customized vs version project files, maybe a fallback (ask the VS version) will cover more bases.

PRO
Synthiam
#30  

Yes - Microsoft has a few pages on how to identify visual studio and we tried them all during testing - the one we went with was with registry. I'm going to combine the two as using only one method apparently doesn't work for all cases.