public static Handler DriveTiming(
double v,
double w,
double time,
out double progress)
=> Win32
? SafeNativeMethodsWin32.DriveTiming(v, w, time, out progress)
: SafeNativeMethodsUnix.DriveTiming(v, w, time, out progress);
public static Handler DriveSpatial(
double v,
double w,
double spatium,
double angle,
out double progress)
=> Win32
? SafeNativeMethodsWin32.DriveSpatial(v, w, spatium, angle, out progress)
: SafeNativeMethodsUnix.DriveSpatial(v, w, spatium, angle, out progress);
/// <summary>
/// 从错误管理器清除所有错误信息
/// </summary>
public static void ClearErrorInfo()
{
if (Win32)
{
SafeNativeMethodsWin32.ClearErrorInfo();
}
else
{
SafeNativeMethodsUnix.ClearErrorInfo();
}
}
public static void SetPaused(bool paused)
{
if (Win32)
{
SafeNativeMethodsWin32.SetPaused(paused);
}
else
{
SafeNativeMethodsUnix.SetPaused(paused);
}
}
public static void CancelAction()
{
if (Win32)
{
SafeNativeMethodsWin32.CancelAction();
}
else
{
SafeNativeMethodsUnix.CancelAction();
}
}
/// <summary>
/// 从错误管理器移除错误信息
/// </summary>
/// <param name="handler">操作序号</param>
public static void RemoveErrorInfo(Handler handler)
{
if (Win32)
{
SafeNativeMethodsWin32.RemoveErrorInfo(handler);
}
else
{
SafeNativeMethodsUnix.RemoveErrorInfo(handler);
}
}
public static Handler GetOdometry(
out double stamp,
out double s, out double sa,
out double x, out double y, out double theta)
=> Win32
? SafeNativeMethodsWin32.GetOdometry(
out stamp,
out s, out sa,
out x, out y, out theta)
: SafeNativeMethodsUnix.GetOdometry(
out stamp,
out s, out sa,
out x, out y, out theta);
public static bool IsPaused()
=> Win32
? SafeNativeMethodsWin32.IsPaused()
: SafeNativeMethodsUnix.IsPaused();
public static Handler AdjustRudder(double offset, out double progress)
=> Win32
? SafeNativeMethodsWin32.AdjustRudder(offset, out progress)
: SafeNativeMethodsUnix.AdjustRudder(offset, out progress);
/// <summary>
/// 重置参数值到默认值
/// </summary>
/// <param name="id">参数类型 id</param>
/// <returns>操作序号</returns>
public static Handler ResetParameter(Handler id)
=> Win32
? SafeNativeMethodsWin32.ResetParameter(id)
: SafeNativeMethodsUnix.ResetParameter(id);
/// <summary>
/// 设置参数
/// </summary>
/// <param name="id">参数类型 id</param>
/// <param name="value">参数值</param>
/// <returns>操作序号</returns>
public static Handler SetParameter(Handler id, double value)
=> Win32
? SafeNativeMethodsWin32.SetParameter(id, value)
: SafeNativeMethodsUnix.SetParameter(id, value);
/// <summary>
/// 获取后轮方向角
/// </summary>
/// <param name="value">后轮方向角（弧度）</param>
/// <returns>操作序号</returns>
public static Handler GetRudder(out double value)
=> Win32
? SafeNativeMethodsWin32.GetRudder(out value)
: SafeNativeMethodsUnix.GetRudder(out value);
public static Handler DriveWheels(double left, double right)
=> Win32
? SafeNativeMethodsWin32.DriveWheels(left, right)
: SafeNativeMethodsUnix.DriveWheels(left, right);
public static Handler DrivePhysical(double speed, double rudder)
=> Win32
? SafeNativeMethodsWin32.DrivePhysical(speed, rudder)
: SafeNativeMethodsUnix.DrivePhysical(speed, rudder);
public static byte CheckState()
=> Win32
? SafeNativeMethodsWin32.CheckState()
: SafeNativeMethodsUnix.CheckState();
public static Handler SetEnabled(bool value)
=> Win32
? SafeNativeMethodsWin32.SetEnabled(value)
: SafeNativeMethodsUnix.SetEnabled(value);
public static Handler ResetOdometry()
=> Win32
? SafeNativeMethodsWin32.ResetOdometry()
: SafeNativeMethodsUnix.ResetOdometry();
/// <summary>
/// 获取当前打开的串口名字
/// </summary>
/// <returns>串口名字（C 风格字符串）</returns>
public static IntPtr GetConnectedPort()
=> Win32
? SafeNativeMethodsWin32.GetConnectedPort()
: SafeNativeMethodsUnix.GetConnectedPort();
/// <summary>
/// 从错误管理器获取错误信息
/// </summary>
/// <param name="handler">操作序号</param>
/// <returns>错误信息（C 风格字符串）</returns>
public static IntPtr GetErrorInfo(Handler handler)
=> Win32
? SafeNativeMethodsWin32.GetErrorInfo(handler)
: SafeNativeMethodsUnix.GetErrorInfo(handler);
/// <summary>
/// 关闭
/// </summary>
/// <returns>操作序号</returns>
public static Handler Shutdown()
=> Win32
? SafeNativeMethodsWin32.Shutdown()
: SafeNativeMethodsUnix.Shutdown();
public static Handler DriveVelocity(double v, double w)
=> Win32
? SafeNativeMethodsWin32.DriveVelocity(v, w)
: SafeNativeMethodsUnix.DriveVelocity(v, w);
/// <summary>
/// 获取电池电量百分比
/// </summary>
/// <param name="value">电量百分比值</param>
/// <returns>操作序号</returns>
public static Handler GetBatteryPercent(out double value)
=> Win32
? SafeNativeMethodsWin32.GetBatteryPercent(out value)
: SafeNativeMethodsUnix.GetBatteryPercent(out value);
/// <summary>
/// 初始化
/// </summary>
/// <param name="port">目标串口</param>
/// <param name="progress">进度</param>
/// <returns>操作序号</returns>
public static Handler Initialize(string port, out double progress)
=> Win32
? SafeNativeMethodsWin32.Initialize(port, out progress)
: SafeNativeMethodsUnix.Initialize(port, out progress);
public static double CalculateSpatium(double spatium, double angle, double width)
=> Win32
? SafeNativeMethodsWin32.CalculateSpatium(spatium, angle, width)
: SafeNativeMethodsUnix.CalculateSpatium(spatium, angle, width);
/// <summary>
/// 获取参数默认值
/// </summary>
/// <param name="id">参数类型 id</param>
/// <returns>参数默认值</returns>
public static double GetDefaultParameter(Handler id)
=> Win32
? SafeNativeMethodsWin32.GetDefaultParameter(id)
: SafeNativeMethodsUnix.GetDefaultParameter(id);
/// <summary>
/// 获取参数当前值
/// </summary>
/// <param name="id">参数类型 id</param>
/// <param name="value">参数当前值</param>
/// <returns>操作序号</returns>
public static Handler GetParameter(Handler id, out double value)
=> Win32
? SafeNativeMethodsWin32.GetParameter(id, out value)
: SafeNativeMethodsUnix.GetParameter(id, out value);
