private void RobotConnection_CurrentSpeedFeedbackReceived(object sender, MessageParsedEventArgs e)
{
Application.Current.Dispatcher.Invoke(() =>
{
var now = DateTime.Now;
if (_mainViewModel.GuiStatusViewModel.IsRawVelocityEnabled)
{
_mainViewModel.SpeedFeedbackChart.AddNewPoint(
new MeasurementModel {
DateTime = now, Value = e.LeftMotor.RawVelocity
},
new MeasurementModel {
DateTime = now, Value = e.RightMotor.RawVelocity
});
}
else
{
_mainViewModel.SpeedFeedbackChart.AddNewPoint(
new MeasurementModel {
DateTime = now, Value = e.LeftMotor.Velocity
},
new MeasurementModel {
DateTime = now, Value = e.RightMotor.Velocity
});
}
if (_mainViewModel.GuiStatusViewModel.IsRawCurrentEnabled)
{
_mainViewModel.CurrentFeedbackChart.AddNewPoint(
new MeasurementModel {
DateTime = now, Value = e.LeftMotor.RawCurrent
},
new MeasurementModel {
DateTime = now, Value = e.RightMotor.RawCurrent
});
}
else
{
_mainViewModel.CurrentFeedbackChart.AddNewPoint(
new MeasurementModel {
DateTime = now, Value = e.LeftMotor.Current
},
new MeasurementModel {
DateTime = now, Value = e.RightMotor.Current
});
}
});
}
/// <summary>
/// We are goind to log when speed and current appear
/// because it is updated with highest frequency
/// </summary>
private void RobotConnection_SpeedCurrentReceived(object sender, MessageParsedEventArgs e)
{
_log.TimeStamp = DateTime.Now;
_log.LeftSpeed = e.LeftMotor.Velocity;
_log.RawLeftSpeed = e.LeftMotor.RawVelocity;
_log.RightSpeed = e.RightMotor.Velocity;
_log.RawRightSpeed = e.RightMotor.RawVelocity;
_log.LeftCurrent = e.LeftMotor.Current;
_log.RawLeftCurrent = e.LeftMotor.RawCurrent;
_log.RightCurrent = e.RightMotor.Current;
_log.RawRightCurrent = e.RightMotor.RawCurrent;
_log.LeftSetpoint = Setpoints.LeftSpeed;
_log.RightSetpoint = Setpoints.RightSpeed;
Log();
}
// done private void RobotConnection_ParametersReceived(object sender, MessageParsedEventArgs e) => _mainViewModel.RobotControlsViewModel.ParametersModel = e.Parameters;
// done
private void RobotConnection_VoltageTemperatureFeedbackReceived(object sender, MessageParsedEventArgs e) =>
_mainViewModel.RobotControlsViewModel.RobotStatus = new RobotStatusModel
{
Temperature = e.VoltageTemperatureFeedbackModel.Temperature,
Voltage = e.VoltageTemperatureFeedbackModel.Voltage
};
private void Client_OnMessageDecoded(MessageParsedEventArgs eventargs) => OnMessageDecoded?.Invoke(eventargs);
private void RobotConnection_VoltageTemperatureReceived(object sender, MessageParsedEventArgs e)
{
_log.Voltage = e.VoltageTemperatureFeedbackModel.Voltage;
_log.Temperature = e.VoltageTemperatureFeedbackModel.Temperature;
}
