void m_controller_onValueReceived_DigitalInputF(object sender, MeasuredValuesEventArgs ev)
{
if (onValueReceived_WhiskerLeft != null)
{
onValueReceived_WhiskerLeft(this, ev);
}
}
void _brickConnection_onValueReceived_MotorAmps(object sender, MeasuredValuesEventArgs e)
{
// note: Amps behave almost like integers, no precision here and low current will read as 0
_state.PowerControllerState.Motor_Amps_Left = e.value1;
_state.PowerControllerState.Motor_Amps_Right = e.value2;
_state.TimeStamp = DateTime.Now;
}
void m_controller_onValueReceived_EncoderRightAbsolute(object sender, MeasuredValuesEventArgs ev)
{
if (onValueReceived_EncoderRightAbsolute != null)
{
onValueReceived_EncoderRightAbsolute(this, ev);
}
}
void m_controller_onValueReceived_EncoderSpeed(object sender, MeasuredValuesEventArgs ev)
{
if (onValueReceived_EncoderSpeed != null)
{
onValueReceived_EncoderSpeed(this, ev);
}
}
void _controller_onValueReceived_DigitalInputE(object sender, MeasuredValuesEventArgs ev)
{
// values are: "Digital_Input_E"
if (onValueReceived_DigitalInputE != null)
{
onValueReceived_DigitalInputE(this, ev);
}
}
void _controller_onValueReceived_AnalogInputs(object sender, MeasuredValuesEventArgs ev)
{
// values are: "Analog_Input_1", "Analog_Input_2"
if (onValueReceived_AnalogInputs != null)
{
onValueReceived_AnalogInputs(this, ev);
}
}
void _controller_onValueReceived_MotorPower(object sender, MeasuredValuesEventArgs ev)
{
// values are: "Motor_Power_Left", "Motor_Power_Right"
if (onValueReceived_MotorPower != null)
{
onValueReceived_MotorPower(this, ev);
}
}
void _controller_onValueReceived_HeatsinkTemperature(object sender, MeasuredValuesEventArgs ev)
{
// values are: "HeatsinkTemperature_Left", "HeatsinkTemperature_Right"
if (onValueReceived_HeatsinkTemperature != null)
{
onValueReceived_HeatsinkTemperature(this, ev);
}
}
void _controller_onValueReceived_Voltage(object sender, MeasuredValuesEventArgs ev)
{
// values are: "Main_Battery_Voltage", "Internal_Voltage"
if (onValueReceived_Voltage != null)
{
onValueReceived_Voltage(this, ev);
}
}
void _brickConnection_onValueReceived_Voltage(object sender, MeasuredValuesEventArgs e)
{
// the voltages come in as hex bytes 0...255, and then converted by formula:
// Measured Main Battery Volts = 55 * Read Value / 256
// Measured Internal Volts = 28.5 * Read Value / 256
// there isn't much precision here, so rounding it to 2 digits seems adequate.
_state.PowerControllerState.Main_Battery_Voltage = e.value1.HasValue ? Math.Round(e.value1.Value, 2) : (double?)null;
_state.PowerControllerState.Internal_Voltage = e.value2.HasValue ? Math.Round(e.value2.Value, 2) : (double?)null;
_state.TimeStamp = DateTime.Now;
}
void _brickConnection_onValueReceived_EncoderSpeed(object sender, MeasuredValuesEventArgs ev)
{
#if TRACEDEBUGTICKS
LogInfo("TrackRoamerBrickPowerService : received EncoderSpeed : left=" + ev.value1 + " right=" + ev.value2);
#endif // TRACEDEBUGTICKS
UpdateMotorEncoderSpeed ume = new UpdateMotorEncoderSpeed();
ume.Body.Timestamp = new DateTime(ev.timestamp);
ume.Body.LeftSpeed = ev.value1;
ume.Body.RightSpeed = ev.value2;
_state.MotorEncoderSpeed.LeftSpeed = ume.Body.LeftSpeed;
_state.MotorEncoderSpeed.RightSpeed = ume.Body.RightSpeed;
_state.MotorEncoderSpeed.Timestamp = ume.Body.Timestamp;
_state.TimeStamp = DateTime.Now;
base.SendNotification <UpdateMotorEncoderSpeed>(_subMgrPort, ume);
}
private void onWhiskerRight(object sender, MeasuredValuesEventArgs ev)
{
LogInfo("TrackRoamerBrickPowerService : WhiskerRight : " + ev.value1);
if (ev.value1 > 0 && (!_state.Whiskers.FrontWhiskerRight.HasValue || !_state.Whiskers.FrontWhiskerRight.Value))
{
// if this is a "whisker pressed" event, do emergency stop.
stopMotorsNow();
// Note: UpdateMotorSpeedHandler() will not set positive speed if whiskers are pressed.
}
_state.Whiskers.Timestamp = new DateTime(ev.timestamp);
_state.Whiskers.FrontWhiskerRight = ev.value1 > 0;
_state.TimeStamp = DateTime.Now;
UpdateWhiskers uw = new UpdateWhiskers();
uw.Body.Timestamp = _state.Whiskers.Timestamp;
uw.Body.FrontWhiskerRight = ev.value1 > 0;
base.SendNotification <UpdateWhiskers>(_subMgrPort, uw);
}
void _brickConnection_onValueReceived_AnalogInputs(object sender, MeasuredValuesEventArgs e)
{
_state.PowerControllerState.Analog_Input_1 = e.value1;
_state.PowerControllerState.Analog_Input_2 = e.value2;
_state.TimeStamp = DateTime.Now;
}
void _brickConnection_onValueReceived_MotorPower(object sender, MeasuredValuesEventArgs e)
{
_state.PowerControllerState.Motor_Power_Left = e.value1;
_state.PowerControllerState.Motor_Power_Right = e.value2;
_state.TimeStamp = DateTime.Now;
}
private void _brickConnection_onValueReceived_EncoderRightAbsolute(object sender, MeasuredValuesEventArgs ev)
{
#if TRACEDEBUGTICKS
LogInfo("TrackRoamerBrickPowerService : received EncoderRightAbsolute : " + ev.value1);
#endif // TRACEDEBUGTICKS
UpdateMotorEncoder ume = new UpdateMotorEncoder();
ume.Body.Timestamp = new DateTime(ev.timestamp);
ume.Body.RightDistance = ev.value1;
ume.Body.HardwareIdentifier = 2; // 2 = Right
_state.MotorEncoder.RightDistance = ume.Body.RightDistance;
_state.MotorEncoder.Timestamp = ume.Body.Timestamp;
_state.TimeStamp = DateTime.Now;
base.SendNotification <UpdateMotorEncoder>(_subMgrPort, ume);
}
void _brickConnection_onValueReceived_HeatsinkTemperature(object sender, MeasuredValuesEventArgs e)
{
_state.PowerControllerState.Heatsink_Temperature_Left = e.value1;
_state.PowerControllerState.Heatsink_Temperature_Right = e.value2;
_state.TimeStamp = DateTime.Now;
}
void _brickConnection_onValueReceived_DigitalInputE(object sender, MeasuredValuesEventArgs e)
{
_state.PowerControllerState.Digital_Input_E = e.value1;
_state.TimeStamp = DateTime.Now;
}
