static async Task Main(string[] args)
{
using var loggerFactory = LoggerFactory.Create(opts => opts.AddConsole().SetMinimumLevel(LogLevel.Information));
var portName = SerialPort.GetPortNames().FirstOrDefault();
using var port = new SerialPort(portName, 115200);
port.Open();
using var dispatcher = new OIDispatcher(port, loggerFactory.CreateLogger <OIDispatcher>());
var sensorReader = new SensorReader(dispatcher, loggerFactory.CreateLogger <SensorReader>());
var ioSensor = new OISensor(sensorReader);
var robot = new Robot(dispatcher, ioSensor, loggerFactory.CreateLogger <Robot>());
await robot.Reset();
Console.WriteLine($"IO Mode: {robot.CurrentMode}");
await robot.Start();
Console.WriteLine($"IO Mode: {robot.CurrentMode}");
await robot.Activate();
Console.WriteLine($"IO Mode: {robot.CurrentMode}");
await robot.Stop();
}
public Driver(OIDispatcher dispatcher, OISensor oiSensor, ILogger <Driver> logger)
{
this.oiSensor = oiSensor;
this.dispatcher = dispatcher;
this.logger = logger;
}
public Cleaner(OIDispatcher dispatcher, OISensor oiSensor)
{
this.dispatcher = dispatcher;
this.oiSensor = oiSensor;
}
