public SenseResponse GetSensorsData()
{
var response = new SenseResponse();
try
{
var imu = _senseCommon.GetData();
var pressure = _sensePressure.Read();
var humidity = _senseHumidity.Read();
response = new SenseResponse
{
FusionPose = imu.FusionPoseValid ? imu.FusionPose : (Vector3?)null,
FusionQPose = imu.FusionQPoseValid ? imu.FusionQPose : (Quaternion?)(null),
Gyro = imu.GyroValid ? imu.Gyro : (Vector3?)null,
Accel = imu.AccelValid ? imu.Accel : (Vector3?)null,
Compass = imu.CompassValid ? imu.Compass : (Vector3?)null,
Pressure = pressure.PressureValid ? pressure.Pressure : (float?)null,
PressureTemperature = pressure.TemperatureValid ? pressure.Temperatur : (float?)null,
Humidity = humidity.HumidityValid ? humidity.Humidity : (float?)null,
HumidityTemperature = humidity.TemperatureValid ? humidity.Temperatur : (float?)null
};
_statusReportService.DisplayStatus(response);
return(response);
}
catch (Exception ex)
{
_logger.LogError(ex, "Error reading Sense data");
_statusReportService.DisplayStatus(response);
}
return(null);
}
private void OpenDevices()
{
var temperatureInterfaces = DeviceList
.Local
.GetHidDevices()
.Where(hid => hid.ProductID == PRODUCT_ID && hid.VendorID == VENDOR_ID);
_controlDevice = temperatureInterfaces.FirstOrDefault(x => x.DevicePath.Contains(CONTROL_INTERFACE_NAME));
_bulkDevice = temperatureInterfaces.FirstOrDefault(x => x.DevicePath.Contains(BULK_INTERFACE_NAME));
if (_controlDevice == null || _bulkDevice == null)
{
_statusReportService.DisplayStatus(new OutsideTemperatureResponse());
return;
}
if (_controlDevice.TryOpen(out _controlStream))
{
_controlDeviceOpen = true;
_controlStream.Write(_iniCommand);
_controlStream.Write(_ini1Command);
_controlStream.Write(_ini2Command);
}
if (_bulkDevice.TryOpen(out _bulkStream))
{
_bulkDeviceOpen = true;
}
}
public GpsModuleStatusResponse GetStatus()
{
var response = new GpsModuleStatusResponse {
Enabled = false
};
var command = $"{BASE_COMMAND}{GET_STATUS_COMMAND}";
_logger.LogInformation(command);
_serialPort.WriteLine(command);
Thread.Sleep(500);
var rawResponse = _serialPort.ReadExisting();
_logger.LogInformation(rawResponse);
if (rawResponse.Contains("OK"))
{
try
{
var parsedResponse = ParseStatusResponse(rawResponse);
response = new GpsModuleStatusResponse
{
Enabled = parsedResponse[0] == "1",
Mode = (GpsModuleModes)int.Parse(parsedResponse[1])
};
_statusReportService.DisplayStatus(response);
return(response);
}
catch (Exception ex)
{
_logger.LogError(ex, "Error parsing GPS Status Response");
_statusReportService.DisplayStatus(response);
}
}
return(response);
}
public GpsModuleResponse GetGpsData()
{
var response = new GpsModuleResponse();
var command = $"{BASE_COMMAND}";
_logger.LogInformation(command);
_serialPort.WriteLine(command);
var rawResponse = _serialPort.ReadExisting();
_logger.LogInformation(rawResponse);
try
{
response = FormatResponse(ParseCoordinatesResponse(rawResponse));
_statusReportService.DisplayStatus(response);
return(response);
}
catch (Exception ex)
{
_logger.LogError(ex, "Error parsing coordinates");
_statusReportService.DisplayStatus(response);
}
return(null);
}
