internal IkController(InverseKinematics inverseKinematics,
SparkFunSerial16X2Lcd display,
IoTClient ioTClient,
Gps.Gps gps)
{
_inverseKinematics = inverseKinematics;
_display = display;
_ioTClient = ioTClient;
_gps = gps;
_perimeterInInches = 15;
_selectedIkFunction = SelectedIkFunction.BodyHeight;
_behavior = Behavior.Bounce;
}
internal IkController(InverseKinematics inverseKinematics,
SparkFunSerial16X2Lcd display,
IoTClient ioTClient,
Gps.Gps gps)
{
_inverseKinematics = inverseKinematics;
_display = display;
_ioTClient = ioTClient;
_gps = gps;
_perimeterInInches = 15;
_selectedIkFunction = SelectedIkFunction.BodyHeight;
_behavior = Behavior.Bounce;
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
_deferral = taskInstance.GetDeferral();
_display = new SparkFunSerial16X2Lcd();
_xboxController = new XboxController(_display);
_ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
_ioTClient = new IoTClient(_display);
_gps = new Gps.Gps( _display, _ntripClient);
_inverseKinematics = new InverseKinematics(_display);
_ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
_navigator = new Navigator(_ikController, _display, _gps);
_hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);
_initializeTasks.Add(_display.InitializeAsync());
_initializeTasks.Add(_xboxController.InitializeAsync());
_initializeTasks.Add(_ikController.InitializeAsync());
_initializeTasks.Add(_ntripClient.InitializeAsync());
_initializeTasks.Add(_gps.InitializeAsync());
_initializeTasks.Add(_inverseKinematics.InitializeAsync());
_initializeTasks.Add(_ioTClient.InitializeAsync());
_startTasks.Add(_ntripClient.StartAsync());
_startTasks.Add(_ikController.StartAsync());
_startTasks.Add(_gps.StartAsync());
_startTasks.Add(_inverseKinematics.StartAsync());
//_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server
//foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
//{
// await _ioTClient.SendEvent(d);
//}
await Task.WhenAll(_initializeTasks.ToArray());
await Task.WhenAll(_startTasks.ToArray());
}
