private void MeasurementTimer_Elapsed(object sender, ElapsedEventArgs e)
{
// lock (_lock)
// {
if (!(CenterSonarDevice is null))
{
try
{
Log.Debug($"Updating distance measurements...");
var centerDistance = CenterSonarDevice.Distance.Centimeters;
Log.Debug("Center distance measuremente updated ({distance} cm.)", Math.Round(centerDistance, 4, MidpointRounding.AwayFromZero));
Thread.Sleep(60);
var leftDistance = LeftSonarDevice.Distance.Centimeters;
Log.Debug("Left distance measuremente updated ({distance} cm.)", Math.Round(leftDistance, 4, MidpointRounding.AwayFromZero));
Thread.Sleep(60);
var rightDistance = RightSonarDevice.Distance.Centimeters;
Log.Debug("Right distance measuremente updated ({distance} cm.)", Math.Round(rightDistance, 4, MidpointRounding.AwayFromZero));
Thread.Sleep(60);
Distance = new DistanceTuple(leftDistance, centerDistance, rightDistance);
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
// }
}
/// <summary>
/// Initializes a <see cref="Sonar"/> instance
/// </summary>
public Sonar()
{
Log.Debug("Initializing sonar hardware and services...");
Distance = new DistanceTuple(0, 0, 0);
CenterSonarDevice = new Hcsr04(CENTER_TRIG, CENTER_ECHO);
LeftSonarDevice = new Hcsr04(LEFT_TRIG, LEFT_ECHO);
RightSonarDevice = new Hcsr04(RIGHT_TRIG, RIGHT_ECHO);
Log.Debug("Sonar hardware and services initialized");
MeasurementTimer = new System.Timers.Timer(250);
MeasurementTimer.Elapsed += MeasurementTimer_Elapsed;
MeasurementTimer.AutoReset = true;
MeasurementTimer.Enabled = true;
}
