void UltrasonicSensor_OnChange(object sender, SensorEventArgs <int> e)
{
ultrasonicProgressBar.Value = e.SensorVal;
Debug.WriteLine("New ultrasound distance value: approx " + e.SensorVal + " cm");
if (checkBoxCollision.Checked &&
scorpio.MotorLeft.IsRunning && scorpio.MotorRight.IsRunning &&
e.SensorVal < COLLISION_DIST && previousUltrasonicValue < COLLISION_DIST)
{
// TODOnow! Create complex behavior to handle random turn+walk away, smooth distance changes out (moving average filter http://en.wikipedia.org/wiki/Moving_average)
// for now, just walk back
checkBoxRightReverse.Checked = checkBoxLeftReverse.Checked = true;
previousUltrasonicValue = int.MaxValue;
}
else if (previousUltrasonicValue == int.MaxValue)
{
if (e.SensorVal > COLLISION_DIST)
{
previousUltrasonicValue = e.SensorVal;
}
}
else
{
previousUltrasonicValue = e.SensorVal;
}
Debug.WriteLine("previous ultrasonic value: " + previousUltrasonicValue);
}
private void Touch_OnPressed(object sender, SensorEventArgs e)
{
motorA.Velocity = -50;
motorA.Enabled = true;
motorB.Velocity = 100;
motorB.Enabled = true;
motorD.Velocity = -100;
motorD.Enabled = true;
}
/// <summary>
/// Generic event handler for sensor.ValueChanged.
/// Here we build the new packet with some informations: priority and source topic
/// then we put the packet into a buffer.
/// </summary>
/// <param name="sender">The sensor that originated the event</param>
/// <param name="e"></param>
private static void Generic_ValueChanged(object sender, SensorEventArgs e)
{
var sensor = ((ISensor)sender);
string json = sensor.ToJson();
string topic = $"cars/AG673WK/sensors/{ sensor.Type }/{ sensor.Id}";
Console.WriteLine($"GEN {topic} > |{json}|");
buffer.Push(1, DateTime.Now, sensor.ToJson()).Topic = topic;
}
private void Touch_OnReleased(object sender, SensorEventArgs e)
{
//motorA.Velocity = 0;
//motorB.Velocity = 0;
//motorD.Velocity = 0;
motorA.Enabled = false;
motorB.Enabled = false;
motorD.Enabled = false;
}
private void Model_SensorDataReceived(object sender, SensorEventArgs e)
{
AccelX = e.X;
AccelY = e.Y;
AccelZ = e.Z;
TempC = e.tempC;
TempF = e.tempF;
Light = e.light;
Sound = e.sound;
}
void LightSensor_OnChange(object sender, SensorEventArgs <ushort> e)
{
lightProgressBar.Value = e.SensorVal;
//Debug.WriteLine("New light level value: " + e.SensorVal);
if (e.SensorVal < MIN_LIGHT_LEVEL && checkBoxLight.Checked)
{
button1_Click(sender, e);
MessageBox.Show("Good night!");
}
}
void TouchSensor_OnChange(object sender, SensorEventArgs <bool> e)
{
touchCheckBox.Checked = e.SensorVal;
//Debug.WriteLine("New touch sensor value: pressed=" + e.SensorVal);
if (checkBoxTouch.Checked && e.SensorVal)
{
// Stop all possible motors
checkBoxLeftMotor.Checked =
checkBoxRightMotor.Checked =
checkBoxTailMotor.Checked =
checkBoxWalk.Checked = false;
}
}
private static void Generic_ValueChanged <Tin, Tout>(object sender, SensorEventArgs <Tin, Tout> e)
{
var sensor = (GenericSensor <Tin, Tout>)sender;
try {
var json = sensor.ToJson();
ICommDriver CommDriver = new MqttCommDriver();
CommDriver.Send(json, "cars/AG673WK/sensors/" + sensor.Name + "/" + sensor.Id);
}
catch
{
Console.WriteLine("Errore nela generazione del json");
}
}
private void NewValue(object o)
{
int period = rnd.Next(0, 10);
int value = rnd.Next(30);
var args = new SensorEventArgs
{
SensorIndex = this.Index,
SensorValue = value
};
Console.WriteLine();
Console.WriteLine("Sensor{0} at port {1} new value : {2}", this.Index, this.Port, value);
this.Event?.Invoke(this, value);
timer.Change(period * 1000, period * 1000);
}
private static void Generic_ValueChanged(object sender, SensorEventArgs e)
{
try
{
var sensor = ((ISensor)sender);
var json = sensor.ToJson();
Console.WriteLine($"id: {Util.iUID.NewId()}");
Console.WriteLine($"cars/AG673WK/sensors/{ sensor.Type }/{ sensor.Id} > |{json}|");
//ICommDriver CommDriver = new HttpCommDriver();
//ICommDriver CommDriver = new MqttCommDriver();
//CommDriver.Send(json, "cars/AG673WK/sensors/" + sensor.Name + "/" + sensor.Id);
}
catch
{
Console.WriteLine("Errore nella generazione del json");
}
}
private void Touch_OnChanged(object sender, SensorEventArgs e)
{
// ledPin.Write(touch.IsPressed() ? GpioPinValue.High : GpioPinValue.Low);
Debug.WriteLine(string.Format("NXT US, Distance: {0}, ", ultrasonic.Distance));
#if COLOR
Debug.WriteLine(string.Format("NXT Color: {0}, RGB: {1}", color.ColorName, color.ColorData.ToString()));
#else
Debug.WriteLine(string.Format("NXT Color, Raw: {0}, RGB: {1}", color.RawValue, color.ColorData.ToString()));
#endif
if ((e as TouchSensorEventArgs).Pressed)
{
Debug.WriteLine("Motor A Encoder: {0} Motor B Encoder: {1} Motor D Encoder: {2}", motorA.Encoder, motorB.Encoder, motorD.Encoder);
brick.Arduino2Led.Light = true;
brick.Arduino1Led.Toggle();
//motorA.EncoderOffset = motorA.Encoder;
}
else
{
brick.Arduino2Led.Light = false;
}
}
void _accelerometer_ReadingChanged(Accelerometer sender, AccelerometerReadingChangedEventArgs args)
{
try
{
AccelerometerReading reading = args.Reading;
if (reading != null)
{
SensorEventArgs sensorArgs = new SensorEventArgs(reading.AccelerationX);
if (SensorReadingChanged != null)
{
SensorReadingChanged(sender, sensorArgs);
}
}
}
catch (Exception ex)
{
_accelerometerEnabled = false;
}
_accelerometerChecked = true;
}
// the values in the sensorArgs are currently not used by the FormulaEditorViewModel,
// because the FormulaEvaluator uses the Get-Functions to get the current readings
void _compass_ReadingChanged(Compass sender, CompassReadingChangedEventArgs args)
{
try
{
CompassReading reading = args.Reading;
if (reading != null)
{
SensorEventArgs sensorArgs = new SensorEventArgs(reading.HeadingMagneticNorth);
if (SensorReadingChanged != null)
{
SensorReadingChanged(sender, sensorArgs);
}
}
}
catch (Exception)
{
_compassEnabled = false;
}
_compassChecked = true;
}
void _inclinometer_ReadingChanged(Inclinometer sender, InclinometerReadingChangedEventArgs args)
{
try
{
InclinometerReading reading = args.Reading;
if (reading != null)
{
SensorEventArgs sensorArgs = new SensorEventArgs(reading.RollDegrees);
if (SensorReadingChanged != null)
{
SensorReadingChanged(sender, sensorArgs);
}
}
}
catch (Exception)
{
_inclinometerEnabled = false;
}
_inclinometerChecked = true;
}
void LightSensor_OnChange(object sender, SensorEventArgs<ushort> e)
{
lightProgressBar.Value = e.SensorVal;
//Debug.WriteLine("New light level value: " + e.SensorVal);
if (e.SensorVal < MIN_LIGHT_LEVEL && checkBoxLight.Checked)
{
button1_Click(sender, e);
MessageBox.Show("Good night!");
}
}
private static void Pir_SensorNotification(object sender, SensorEventArgs e)
{
}
private static void EventThrownBad(object source, SensorEventArgs e)
{
Assert.Fail("Car was detected!");
}
void SoundRatioSensor_OnChange(object sender, SensorEventArgs <double> e)
{
soundRatioProgressBar.Value = (int)(e.SensorVal * 100.0);
//Debug.WriteLine("New sound level value: " + e.SensorVal);
}
void SoundLevelSensor_OnChange(object sender, SensorEventArgs <ushort> e)
{
soundLevelProgressBar.Value = e.SensorVal;
//Debug.WriteLine("New sound level value: " + e.SensorVal);
}
/// <summary>
/// Callback for new sensor detail
/// </summary>
/// <param name="sender">Sender</param>
/// <param name="e">Sensor event args</param>
public void onNewSensor(object sender, SensorEventArgs e)
{
addSensorDetail(e.Address, e.Detail);
}
private static void EventThrownGood(object source, SensorEventArgs e)
{
Assert.Pass();
}
void SoundRatioSensor_OnChange(object sender, SensorEventArgs<double> e)
{
soundRatioProgressBar.Value = (int)(e.SensorVal * 100.0);
//Debug.WriteLine("New sound level value: " + e.SensorVal);
}
void TouchSensor_OnChange(object sender, SensorEventArgs<bool> e)
{
touchCheckBox.Checked = e.SensorVal;
//Debug.WriteLine("New touch sensor value: pressed=" + e.SensorVal);
if (checkBoxTouch.Checked && e.SensorVal)
{
// Stop all possible motors
checkBoxLeftMotor.Checked =
checkBoxRightMotor.Checked =
checkBoxTailMotor.Checked =
checkBoxWalk.Checked = false;
}
}
void UltrasonicSensor_OnChange(object sender, SensorEventArgs<int> e)
{
ultrasonicProgressBar.Value = e.SensorVal;
Debug.WriteLine("New ultrasound distance value: approx " + e.SensorVal + " cm");
if (checkBoxCollision.Checked
&& scorpio.MotorLeft.IsRunning && scorpio.MotorRight.IsRunning
&& e.SensorVal < COLLISION_DIST && previousUltrasonicValue < COLLISION_DIST)
{
// TODOnow! Create complex behavior to handle random turn+walk away, smooth distance changes out (moving average filter http://en.wikipedia.org/wiki/Moving_average)
// for now, just walk back
checkBoxRightReverse.Checked = checkBoxLeftReverse.Checked = true;
previousUltrasonicValue = int.MaxValue;
}
else if (previousUltrasonicValue == int.MaxValue)
{
if (e.SensorVal > COLLISION_DIST)
previousUltrasonicValue = e.SensorVal;
}
else
previousUltrasonicValue = e.SensorVal;
Debug.WriteLine("previous ultrasonic value: " + previousUltrasonicValue);
}
void SoundLevelSensor_OnChange(object sender, SensorEventArgs<ushort> e)
{
soundLevelProgressBar.Value = e.SensorVal;
//Debug.WriteLine("New sound level value: " + e.SensorVal);
}
protected virtual void OnChangedEventHandler(SensorEventArgs eventArgs)
{
OnChanged?.Invoke(this, eventArgs ?? new SensorEventArgs());
}
