/// <summary>
/// Analog Sensor Notification Handler
/// </summary>
/// <param name="notification"></param>
private void AnalogSensorNotificationHandler(analog.Replace notification)
{
LogVerbose(LogGroups.Console, string.Format("Sensor Notification: {0} {1}", notification.Body.HardwareIdentifier, notification.Body.RawMeasurement));
foreach (SensorRange key in _state.RuntimeConfiguration.Keys)
{
if (key.HardwareIdentifier != notification.Body.HardwareIdentifier)
{
continue;
}
PortConfiguration sensorConfig = _state.RuntimeConfiguration[key];
string contactSensorName = key.ContactSensorName;
int priorIx = _contactSensorArrayState.Sensors.FindIndex(
delegate(bumper.ContactSensor gencs)
{
return(gencs.HardwareIdentifier == notification.Body.HardwareIdentifier &&
gencs.Name == contactSensorName);
});
bool priorPressed = (priorIx < 0) ? false : _contactSensorArrayState.Sensors[priorIx].Pressed;
// Send a ContactSensor notification here.
bumper.ContactSensor cs = new bumper.ContactSensor(sensorConfig.HardwareIdentifier, contactSensorName);
cs.Pressed = sensorConfig.Pressed(notification.Body.RawMeasurement);
sensorConfig.Contact = cs.Pressed;
if (priorIx < 0)
{
_contactSensorArrayState.Sensors.Add(cs);
}
if (priorIx < 0 || priorPressed != cs.Pressed)
{
if (priorIx >= 0)
{
_contactSensorArrayState.Sensors[priorIx].Pressed = cs.Pressed;
}
SendNotification <bumper.Update>(_subMgrPort, new bumper.Update(cs));
}
}
}
