private bool StateIsDifferent(irobottypes.ReturnSensors a, irobottypes.ReturnSensors b)
{
return((a.BumpsWheeldrops != b.BumpsWheeldrops) ||
(a.CliffFrontLeft != b.CliffFrontLeft) ||
(a.CliffFrontRight != b.CliffFrontRight) ||
(a.CliffLeft != b.CliffLeft) ||
(a.CliffRight != b.CliffRight) ||
(a.DirtDetectorLeft != b.DirtDetectorLeft) ||
(a.DirtDetectorRight != b.DirtDetectorRight) ||
(a.MotorOvercurrents != b.MotorOvercurrents) ||
(a.RoombaMode != b.RoombaMode) ||
(a.VirtualWall != b.VirtualWall) ||
(a.Wall != b.Wall));
}
private void ProcessSensors(roomba.ReturnSensors sensors)
{
foreach (bumper.ContactSensor bumper in _state.Sensors)
{
bool bump = false;
// Find the Roomba sensor which corresponds to this bumper
switch ((RoombaBumpers)bumper.HardwareIdentifier)
{
case RoombaBumpers.LeftBumper:
bump = ((sensors.BumpsWheeldrops & roomba.BumpsWheeldrops.BumpLeft) == roomba.BumpsWheeldrops.BumpLeft);
break;
case RoombaBumpers.RightBumper:
bump = ((sensors.BumpsWheeldrops & roomba.BumpsWheeldrops.BumpRight) == roomba.BumpsWheeldrops.BumpRight);
break;
case RoombaBumpers.Wall:
bump = sensors.Wall;
break;
case RoombaBumpers.VirtualWall:
bump = sensors.VirtualWall;
break;
case RoombaBumpers.CliffLeft:
bump = sensors.CliffLeft;
break;
case RoombaBumpers.CliffFrontLeft:
bump = sensors.CliffFrontLeft;
break;
case RoombaBumpers.CliffFrontRight:
bump = sensors.CliffFrontRight;
break;
case RoombaBumpers.CliffRight:
bump = sensors.CliffRight;
break;
case RoombaBumpers.WheelDropLeft:
bump = ((sensors.BumpsWheeldrops & roomba.BumpsWheeldrops.WheelDropLeft) == roomba.BumpsWheeldrops.WheelDropLeft);
break;
case RoombaBumpers.WheelDropRight:
bump = ((sensors.BumpsWheeldrops & roomba.BumpsWheeldrops.WheelDropRight) == roomba.BumpsWheeldrops.WheelDropRight);
break;
case RoombaBumpers.WheelDropRear:
bump = ((sensors.BumpsWheeldrops & roomba.BumpsWheeldrops.WheelDropCaster) == roomba.BumpsWheeldrops.WheelDropCaster);
break;
case (RoombaBumpers)99: // wheels stalled
bump = ((int)(sensors.MotorOvercurrents & (roomba.MotorOvercurrents.DriveLeft | roomba.MotorOvercurrents.DriveRight)) != 0);
break;
}
if (bumper.Pressed != bump)
{
bumper.Pressed = bump;
this.SendNotification <bumper.Update>(_subMgrPort, new bumper.Update(bumper));
}
}
}
