/// <summary>
/// Constructor.
/// </summary>
/// <param name="gert">Add-on card controller.</param>
/// <param name="mc">Motor controller.</param>
public GpioController(GertbotUartController gert, MotorController mc)
{
this.gertController = gert;
this.motorController = mc;
this.semaphore = new System.Threading.SemaphoreSlim(
1, // Initial count > 0: the semaphore is initially free
1 // Max count: only one thread can enter at a time
);
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="uiSync">User interface synchronizer object.</param>
public Robot(IUiDataSync uiSync)
{
this.uiDataSync = uiSync;
// Recognizing if running on device or on PC. If run on desktop, considering the app is being run on a desktop simulator.
var analyticsInfo = Windows.System.Profile.AnalyticsInfo.VersionInfo;
this.runOnSimulator = (analyticsInfo.DeviceFamily.Trim().ToLower() == "windows.desktop");
uiSync.setSimulatorMode(this.runOnSimulator);
// Initialize hardware related objects if not run on simulator
if (!this.runOnSimulator)
{
this.gertController = new GertbotUartController();
this.sensorController = new SensorController(this.gertController);
this.motorController = new MotorController(this.gertController);
this.gertbotGeneral = new GertbotGeneral(this.gertController);
this.gpioController = new GpioController(this.gertController, this.motorController);
}
}
