private void OnActionStop()
{
StopMeasSensor();
if (BcoreManager?.IsConnected ?? false)
{
BcoreManager.Disconnect();
}
}
public void Right(bool isStreight = false)
{
if (!isStreight)
{
CancelTimer();
}
State = EState.Right;
BcoreManager.SetMotorPwm(0, Bcore.MaxMotorPwm);
BcoreManager.SetServoPos(0, Pref.ServoPosRight);
}
public override void OnCreate()
{
base.OnCreate();
Receiver = new ServiceReceiver(this);
var filter = new IntentFilter(ActionKeyStart);
RegisterReceiver(Receiver, filter);
IsRegisteredSensor = false;
BcoreManager = new BcoreManager(this);
}
public override void OnDestroy()
{
base.OnDestroy();
UnregisterReceiver(Receiver);
StopMeasSensor();
if (BcoreManager.IsConnected)
{
BcoreManager.Disconnect();
}
}
public void Stop(bool isStreight = false)
{
if (!isStreight)
{
CancelTimer();
}
if (State == EState.Left)
{
State = EState.LStop;
}
else if (State == EState.Right)
{
State = EState.RStop;
}
BcoreManager.SetMotorPwm(0, Bcore.StopMotorPwm);
}
public void OnSensorChanged(SensorEvent e)
{
if (!BcoreManager.IsInitialized)
{
return;
}
var accz = e.Values[2];
//Android.Util.Log.Debug("ControllerService", "acc:{0}", accz);
var state = EState.Stop;
if (accz > 6.0)
{
state = EState.Left;
}
else if (accz < -6.0)
{
state = EState.Right;
}
if (state == State)
{
return;
}
var speed = 0x80;
switch (state)
{
case EState.Left:
speed = 255;
break;
case EState.Right:
speed = 0;
break;
}
BcoreManager.SetMotorPwm(0, speed);
State = state;
}
public override StartCommandResult OnStartCommand(Intent intent, StartCommandFlags flags, int startId)
{
var bcore = intent.GetStringExtra(ExtraKeyBcore);
if (string.IsNullOrEmpty(bcore))
{
return(StartCommandResult.NotSticky);
}
Android.Util.Log.Debug("ControllerService", "Conntect:" + bcore);
if (BcoreManager?.IsConnected ?? false)
{
BcoreManager.Disconnect();
}
if (BcoreManager == null)
{
BcoreManager = new BcoreManager(this);
}
BcoreManager.BcoreConnectionChanged += (s, e) =>
{
if (e.IsConnected)
{
return;
}
State = EState.Stop;
StopMeasSensor();
StopSelf();
};
BcoreManager.Connect(bcore);
StartMeasSensor();
return(base.OnStartCommand(intent, flags, startId));
}
public GaganController(Context context)
{
Context = context;
Pref = GaganPreference.Load(context);
BcoreManager = new BcoreManager(Context);
BcoreManager.BcoreConnectionChanged += (s, e) =>
{
if (e.IsConnected)
{
IsTimerRunning = false;
TimerHandler = new Handler(Looper.MainLooper);
}
else
{
IsTimerRunning = false;
TimerHandler?.RemoveCallbacks(OnTimer);
TimerHandler = null;
}
BcoreConnectionChanged?.Invoke(this, e.IsConnected);
};
}
private void OnActionStart(string bcore)
{
StartMeasSensor();
BcoreManager.Connect(bcore);
}
public void ConnectBcore(string addr)
{
BcoreManager.Connect(addr);
}
public void SetCamRightPos(int value)
{
Pref.ServoPosRight = value;
Pref.Save();
BcoreManager.SetServoPos(0, value);
}
public void DisconnectBcore()
{
BcoreManager.Disconnect();
}
