internal Sound(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <SoundPlayNotesResponse>(PlayNotesResponse);
_runner.RegisterForResponse <SoundStatusResponse>(StatusResponse);
}
internal Knob(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <KnobPositionChangedResponse>(PositionChangedResponse);
_runner.RegisterForResponse <KnobPositionResponse>(PositionResponse);
_runner.RegisterForResponse <KnobRangeResponse>(RangeResponse);
}
internal Button(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <ButtonDownResponse>(DownResponse);
_runner.RegisterForResponse <ButtonUpResponse>(UpResponse);
_runner.RegisterForResponse <ButtonStatusResponse>(StatusResponse);
}
public Arm(ICommunication comm, int servoCount = 5)
{
//set fields
Communication = comm;
Behaviors = new BehaviorManager(this);
_runner = new CommandRunner(comm);
Led = new Led(_runner, this);
Button = new Button(_runner, this);
Knob = new Knob(_runner, this);
Sound = new Sound(_runner, this);
Servos = new Servos(_runner, this, servoCount);
//register responses
_runner.RegisterForResponse <ErrorResponse>(ErrorResponse);
_runner.RegisterForResponse <InfoResponse>(InfoResponse);
_runner.RegisterForResponse <SoftResetResponse>(SoftResetResponse);
}
internal Led(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <LedStatusResponse>(StatusResponse);
}
internal Servos(CommandRunner runner, Arm arm, int servoCount)
{
//set fields
_runner = runner;
_arm = arm;
_servoCount = servoCount;
//add servos
for (int i = 1; i <= servoCount; i++)
{
Add(new Servo(_runner, _arm, i));
}
//register responses
_runner.RegisterForResponse <ServoPositionChangedResponse>(PositionChangedResponse);
_runner.RegisterForResponse <ServoStatusResponse>(StatusResponse);
_runner.RegisterForResponse <MoveResponse>(MoveResponse);
_runner.RegisterForResponse <ServoOnResponse>(OnResponse);
_runner.RegisterForResponse <ServoOffResponse>(OffResponse);
}