clad 2.1.0 sdk update (anki#5)

Updated for use with clad 2.1.0
      - All robotIds removed from actions and connections
      - Connection satisfied with RobotState, rather than checking for robotId

Author: ankiNicolas

clad_library/CladCSharp.dll

@@ -22,7 +22,6 @@ public class Action
     {
       private SdkConnection _connection = null;
       private ExternalInterface.QueueSingleAction _message = null;
-      private byte _robotId = 0;
       private uint _id = 0;
       private bool _completed = false;
 
@@ -31,10 +30,9 @@ public class Action
       public uint ID { get { return _id; } }
       public ExternalInterface.QueueSingleAction Message { get { return _message; } }
 
-      public Action(SdkConnection connection, byte robotId)
+      public Action(SdkConnection connection)
       {
         _connection = connection;
-        _robotId = robotId;
 
         _id = _nextActionId;
         _nextActionId++;
@@ -46,7 +44,7 @@ public Action(SdkConnection connection, byte robotId)
 
       public void Abort()
       {
-        _connection.SendMessage(new ExternalInterface.CancelActionByIdTag(_id, _robotId));
+        _connection.SendMessage(new ExternalInterface.CancelActionByIdTag(_id));
       }
 
       public void MarkAsComplete()
@@ -67,7 +65,7 @@ public void Initialize<T>(T state, int numRetries, bool inParallel)
         Cozmo.QueueActionPosition position = inParallel ? Cozmo.QueueActionPosition.IN_PARALLEL : Cozmo.QueueActionPosition.NOW;
         ExternalInterface.RobotActionUnion action = new ExternalInterface.RobotActionUnion();
         action.Initialize(state);
-        _message = new ExternalInterface.QueueSingleAction(robotID: _robotId, idTag: _id, numRetries: (byte)numRetries, position: position, action: action);
+        _message = new ExternalInterface.QueueSingleAction(idTag: _id, numRetries: (byte)numRetries, position: position, action: action);
       }
     }
   } // namespace Cozmo

csharp_interface/cozmoInterface/action.cs

@@ -38,9 +38,7 @@ public class SdkConnection
       private Dictionary<System.Type, Dictionary<object, iCallback>> _callbacks = new Dictionary<System.Type, Dictionary<object, iCallback>>();
       private List<Action> _inFlightActions = new List<Action>();
       private bool _open = false;
-      private byte _currentRobotId = byte.MaxValue;
-
-      public byte CurrentRobotId { get { return _currentRobotId; } }
+      private bool _robotIsConnected = false;
 
       public SdkConnection(string ip, int socket, bool verboseLogging = false)
       {
@@ -62,7 +60,7 @@ public SdkConnection(string ip, int socket, bool verboseLogging = false)
         _open = true;
 
         // wait for robot
-        while (_currentRobotId == byte.MaxValue)
+        while (!_robotIsConnected)
         {
           Thread.Sleep(5);
         }
@@ -85,7 +83,7 @@ public void Close()
 
       public Action SendAction<T>(T state, int numRetries = 0, bool inParallel = false)
       {
-        Action result = new Action(this, _currentRobotId);
+        Action result = new Action(this);
         result.Initialize(state, numRetries, inParallel);
 
         _inFlightActions.Add(result);
@@ -136,7 +134,6 @@ private void SendMessageInternal(SDKMessageOut messageOut)
       private void ReceiveMessage(SDKMessageIn messageIn)
       {
         var message = messageIn.Message;
-
         if (_verboseLogging) { System.Console.WriteLine("Recieved Message - " + message.GetTag()); }
 
         // since the property to access individual message data in a CLAD message shares its name
@@ -154,13 +151,10 @@ private void ReceiveMessage(SDKMessageIn messageIn)
           }
         }
 
-        // does this give us a robot id?
-        string robotIDPropertyName = "robotID";
-        if (_currentRobotId == byte.MaxValue && messageData.GetType().GetProperty(robotIDPropertyName) != null)
+        if (!_robotIsConnected && message.GetTag() == Anki.Cozmo.ExternalInterface.MessageEngineToGame.Tag.RobotState)
         {
-          uint robotId = (uint)messageData.GetType().GetProperty(robotIDPropertyName).GetValue(messageData, null);
-          _currentRobotId = (byte)robotId;
-          System.Console.WriteLine("Robot connected with id " + _currentRobotId.ToString());
+          _robotIsConnected = true;
+          System.Console.WriteLine("Robot connected!");
         }
       }
 

csharp_interface/cozmoInterface/connection.cs

@@ -20,7 +20,7 @@ namespace Cozmo
   {
     public static class SDKVersion
     {
-      public static readonly string _Data = "0.1.0";
+      public static readonly string _Data = "0.4.0";
     }
   } // namespace Cozmo
 } // namespace Anki