Update to SDK 0.7.0

codaris · Aug 16, 2020 · 7e66328 · 7e66328
1 parent cd31bf0
commit 7e66328
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Showing 23 changed files with 135 additions and 120 deletions.
diff --git a/ReserveControl/ReserveControl.csproj b/ReserveControl/ReserveControl.csproj
@@ -6,7 +6,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_01_HelloWorld/Tutorial_01_HelloWorld.csproj b/Tutorial_01_HelloWorld/Tutorial_01_HelloWorld.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_02_DriveSquare/Tutorial_02_DriveSquare.csproj b/Tutorial_02_DriveSquare/Tutorial_02_DriveSquare.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_03_Motors/Tutorial_03_Motors.csproj b/Tutorial_03_Motors/Tutorial_03_Motors.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_04_Animation/Tutorial_04_Animation.csproj b/Tutorial_04_Animation/Tutorial_04_Animation.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_05_DriveOnOffCharger/Tutorial_05_DriveOnOffCharger.csproj b/Tutorial_05_DriveOnOffCharger/Tutorial_05_DriveOnOffCharger.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_06_FaceImage/Program.cs b/Tutorial_06_FaceImage/Program.cs
@@ -5,6 +5,7 @@
 using System;
 using System.Reflection;
 using System.Runtime.InteropServices;
+using System.Threading;
 using System.Threading.Tasks;
 using Anki.Vector;
 using Anki.Vector.Types;
@@ -23,13 +24,12 @@ public static async Task Main()
         {
             // Get image
             using var resourceStream = Assembly.GetExecutingAssembly().GetManifestResourceStream("Tutorial_06_FaceImage.cozmo_image.jpg");
-            using var image = Image.Load<Rgb24>(resourceStream);
+            using var image = SixLabors.ImageSharp.Image.Load<Rgb24>(resourceStream);
 
             // Create a new connection to the first configured Vector
             using var robot = await Robot.NewConnection();
 
-            // Data in Rgb24 format
-            var data = MemoryMarshal.AsBytes(image.GetPixelSpan()).ToArray();
+            var data = ConvertImageToByteArray(image);
 
             Console.WriteLine("Requesting control of Vector...");
             await robot.Control.RequestControl();
@@ -42,5 +42,20 @@ public static async Task Main()
             await robot.Screen.DisplayImageRgb24(data, 5000);
             await Task.Delay(5000);
         }
+
+        /// <summary>
+        /// Converts the image data to a byte array
+        /// </summary>
+        /// <param name="image">The image.</param>
+        /// <returns></returns>
+        /// <exception cref="NotSupportedException">Cannot extract pixel data from image.</exception>
+        private static byte[] ConvertImageToByteArray(Image<Rgb24> image)
+        {
+            if (image.TryGetSinglePixelSpan(out var pixelSpan))
+            {
+                return MemoryMarshal.AsBytes(pixelSpan).ToArray();
+            }
+            throw new NotSupportedException("Cannot extract pixel data from image.");
+        }
     }
 }
diff --git a/Tutorial_06_FaceImage/Tutorial_06_FaceImage.csproj b/Tutorial_06_FaceImage/Tutorial_06_FaceImage.csproj
@@ -16,8 +16,8 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
-    <PackageReference Include="SixLabors.ImageSharp" Version="1.0.0-beta0006" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
+    <PackageReference Include="SixLabors.ImageSharp" Version="1.0.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_07_DockWithCube/Tutorial_07_DockWithCube.csproj b/Tutorial_07_DockWithCube/Tutorial_07_DockWithCube.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_08_DownloadPhoto/Tutorial_08_DownloadPhoto.csproj b/Tutorial_08_DownloadPhoto/Tutorial_08_DownloadPhoto.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_09_EyeColor/Tutorial_09_EyeColor.csproj b/Tutorial_09_EyeColor/Tutorial_09_EyeColor.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_10_PlayAudio/Tutorial_10_PlayAudio.csproj b/Tutorial_10_PlayAudio/Tutorial_10_PlayAudio.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
     <PackageReference Include="NAudio" Version="1.10.0" />
   </ItemGroup>
 

diff --git a/Tutorial_11_DriveToCliffAndBackUp/Tutorial_11_DriveToCliffAndBackUp.csproj b/Tutorial_11_DriveToCliffAndBackUp/Tutorial_11_DriveToCliffAndBackUp.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_12_ControlPriorityLevel/Tutorial_12_ControlPriorityLevel.csproj b/Tutorial_12_ControlPriorityLevel/Tutorial_12_ControlPriorityLevel.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_13_UserIntent/Tutorial_13_UserIntent.csproj b/Tutorial_13_UserIntent/Tutorial_13_UserIntent.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_14_FaceEvent/Tutorial_14_FaceEvent.csproj b/Tutorial_14_FaceEvent/Tutorial_14_FaceEvent.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_15_FaceFollower/Tutorial_15_FaceFollower.csproj b/Tutorial_15_FaceFollower/Tutorial_15_FaceFollower.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_16_FeatureStatus/Program.cs b/Tutorial_16_FeatureStatus/Program.cs
@@ -1,31 +1,31 @@
-// <copyright file="Program.cs" company="Wayne Venables">
-//     Copyright (c) 2019 Wayne Venables. All rights reserved.
-// </copyright>
-
-using System;
-using System.Collections.Generic;
-using System.Threading.Tasks;
-using Anki.Vector;
-
-namespace Tutorial_16_FeatureStatus
-{
-    class Program
-    {
-        /// <summary>
-        /// Return information about the features that Vector's AI is using
-        /// </summary>
-        static async Task Main()
-        {
-            using var robot = await Robot.NewConnection();
+// <copyright file="Program.cs" company="Wayne Venables">
+//     Copyright (c) 2019 Wayne Venables. All rights reserved.
+// </copyright>
 
-            robot.Events.FeatureStatus += (sender, e) =>
-            {
-                Console.WriteLine($"FeatureStatus: intent {e.FeatureName}");
-                Console.WriteLine(e.Source);
-            };
-
-            Console.WriteLine("Vector is waiting for a voice command like 'Hey Vector!  What time is it?'  Press any key to exit...");
-            await Task.Run(() => Console.ReadKey(true));
-        }
-    }
-}
+using System;
+using System.Collections.Generic;
+using System.Threading.Tasks;
+using Anki.Vector;
+
+namespace Tutorial_16_FeatureStatus
+{
+    class Program
+    {
+        /// <summary>
+        /// Return information about the features that Vector's AI is using
+        /// </summary>
+        static async Task Main()
+        {
+            using var robot = await Robot.NewConnection();
+
+            robot.Events.FeatureStatus += (sender, e) =>
+            {
+                Console.WriteLine($"FeatureStatus: intent {e.FeatureName}");
+                Console.WriteLine(e.Source);
+            };
+
+            Console.WriteLine("Vector is waiting for a voice command like 'Hey Vector!  What time is it?'  Press any key to exit...");
+            await Task.Run(() => Console.ReadKey(true));
+        }
+    }
+}
diff --git a/Tutorial_16_FeatureStatus/Tutorial_16_FeatureStatus.csproj b/Tutorial_16_FeatureStatus/Tutorial_16_FeatureStatus.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
 </Project>
diff --git a/Tutorial_17_AppIntent/Tutorial_17_AppIntent.csproj b/Tutorial_17_AppIntent/Tutorial_17_AppIntent.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Anki.Vector.SDK" Version="0.6.7" />
+    <PackageReference Include="Anki.Vector.SDK" Version="0.7.0" />
   </ItemGroup>
 
   <ItemGroup>