/// <summary>
/// Handle motor update message from Scribbler
/// </summary>
public void MotorNotificationHandler(brick.Replace notify)
{
if (notify == null)
throw new ArgumentNullException("notify");
if (beeping)
return;
if (notify.Body.MotorLeft < 100 && notify.Body.MotorRight < 100)
{
SpawnIterator(ToneHandler);
}
}
/// <summary>
/// Handle sensor update message from Scribbler
/// </summary>
public void SensorNotificationHandler(brick.Replace notify)
{
_state.LeftSensor.RawMeasurement = notify.Body.LightLeft;
_state.CenterSensor.RawMeasurement = notify.Body.LightCenter;
_state.RightSensor.RawMeasurement = notify.Body.LightRight;
_state.LeftSensor.TimeStamp = DateTime.Now;
_state.CenterSensor.TimeStamp = DateTime.Now;
_state.RightSensor.TimeStamp = DateTime.Now;
_state.LeftSensor.NormalizedMeasurement = (double)_state.LeftSensor.RawMeasurement / (double)_state.LeftSensor.RawMeasurementRange;
_state.CenterSensor.NormalizedMeasurement = (double)_state.CenterSensor.RawMeasurement / (double)_state.CenterSensor.RawMeasurementRange;
_state.RightSensor.NormalizedMeasurement = (double)_state.RightSensor.RawMeasurement / (double)_state.RightSensor.RawMeasurementRange;
bool changed = true;
if (changed)
{
//notify subscribers on any bumper pressed or unpressed
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
}
}
/// <summary>
/// Handle sensor update message from Scribbler
/// </summary>
public void SensorNotificationHandler(brick.Replace notify)
{
//update state
foreach (bumper.ContactSensor sensor in _state.Sensors)
{
bool newval = true;
if (sensor.Name.ToUpper().Contains("LEFT"))
{
newval = !notify.Body.IRLeft; //NOTE: inverting logic here
}
else if (sensor.Name.ToUpper().Contains("RIGHT"))
{
newval = !notify.Body.IRRight;
}
else
LogError("Bumper name missmatch");
bool changed = (sensor.Pressed != newval);
sensor.TimeStamp = DateTime.Now;
sensor.Pressed = newval;
if (changed)
{
//notify subscribers on any bumper pressed or unpressed
_subMgrPort.Post(new submgr.Submit(sensor, DsspActions.UpdateRequest));
}
}
}
