internal Sensors(OI2Port port)
{
stream = new SensorStream(port.Output);
Emergency = stream.Parsers[SensorPacket.BumpsWheelDrops].DistinctUntilChanged().Select(value => SingleUnsigned(value) != 0).Where(o => o).Select(_ => Unit.Default).Share();
var ButtonsRaw = stream.Parsers[SensorPacket.Buttons].DistinctUntilChanged().Select(SingleUnsigned).Where(o => o > 0).Share();
ButtonClean = ButtonsRaw.Select(value => ParseButton(value, Buttons.Clean)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonSpot = ButtonsRaw.Select(value => ParseButton(value, Buttons.Spot)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonDock = ButtonsRaw.Select(value => ParseButton(value, Buttons.Dock)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonMinute = ButtonsRaw.Select(value => ParseButton(value, Buttons.Minute)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonHour = ButtonsRaw.Select(value => ParseButton(value, Buttons.Hour)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonDay = ButtonsRaw.Select(value => ParseButton(value, Buttons.Day)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonSchedule = ButtonsRaw.Select(value => ParseButton(value, Buttons.Schedule)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
ButtonClock = ButtonsRaw.Select(value => ParseButton(value, Buttons.Clock)).DistinctUntilChanged().Where(o => o).Select(_ => Unit.Default).Share();
RealOIMode = stream.Parsers[SensorPacket.OIMode].DistinctUntilChanged().Select(value => (Mode)SingleUnsigned(value)).Share();
RequestedRightVelocity = stream.Parsers[SensorPacket.RequestedRightVelocity].Select(HighLowSigned).Share();
RequestedLeftVelocity = stream.Parsers[SensorPacket.RequestedLeftVelocity].Select(HighLowSigned).Share();
var ProximityLeft = stream.Parsers[SensorPacket.LightBumperLeftSignal].Scan(0f, SmoothProximity);
var ProximityFrontLeft = stream.Parsers[SensorPacket.LightBumperFrontLeftSignal].Scan(0f, SmoothProximity);
var ProximityCenterLeft = stream.Parsers[SensorPacket.LightBumperCenterLeftSignal].Scan(0f, SmoothProximity);
var ProximityCenterRight = stream.Parsers[SensorPacket.LightBumperCenterRightSignal].Scan(0f, SmoothProximity);
var ProximityFrontRight = stream.Parsers[SensorPacket.LightBumperFrontRightSignal].Scan(0f, SmoothProximity);
var ProximityRight = stream.Parsers[SensorPacket.LightBumperRightSignal].Scan(0f, SmoothProximity);
var prox = ProximityLeft.And(ProximityFrontLeft).And(ProximityCenterLeft).And(ProximityCenterRight).And(ProximityFrontRight).And(ProximityRight);
Proximity = Observable.When(prox.Then((LL, FL, CL, CR, FR, RR) => new ProximitySensors(LL, FL, CL, CR, FR, RR))).Share();
}
internal Aligning(SensorStream output)
{
this._output = output;
}
internal ReadingComplete(SensorStream output)
{
this.output = output;
}
