public Dictionary <byte, short> SetGyroRegisters(Dictionary <byte, short> registers)
{
Dictionary <byte, short> dictionary = new Dictionary <byte, short>();
foreach (var reg in registers)
{
GyroRegisterList list = new GyroRegisterList();
list.RegisterList.Add(new GyroRegisterData()
{
Register = reg.Key, Value = reg.Value
});
var result = _client.GetGyroRegisters(list);
dictionary.Add(reg.Key, (short)result.RegisterList[0].Value);
}
return(dictionary);
}
public Dictionary <byte, short> GetGyroRegisters(List <byte> registers)
{
GyroRegisterList list = new GyroRegisterList();
foreach (var reg in registers)
{
list.RegisterList.Add(new GyroRegisterData()
{
Register = reg
});
}
var result = _client.GetGyroRegisters(list);
Dictionary <byte, short> dictionary = new Dictionary <byte, short>();
foreach (var data in result.RegisterList)
{
dictionary.Add((byte)data.Register, (short)data.Value);
}
return(dictionary);
}
/// <summary>
/// Cycles through the list of registers, returning registers successfully read with their values
/// </summary>
/// <param name="request"></param>
/// <param name="context"></param>
/// <returns></returns>
public override Task <GyroRegisterList> GetGyroRegisters(GyroRegisterList request, ServerCallContext context)
{
var response = new GyroRegisterList();
foreach (var register in request.RegisterList)
{
try
{
response.RegisterList.Add(new GyroRegisterData()
{
Register = register.Register,
Value = _dataService.GetGyroRegister((byte)register.Register)
});
}
catch (Exception ex)
{
_logger.LogError($"Cannot read register {register.Register}.");
_logger.LogError(ex.Message);
_logger.LogError(ex.StackTrace);
}
}
return(Task.FromResult(response));
}
