private void InitGps()
{
this.gps = hardwareBrick.produceGps(GPS_SAMPLING_INTERVAL_MS);
this.gps.GpsPositionChanged += ((SensorsControllerPlucky)sensorsController).ArduinoBrickGpsChanged;
this.gps.Enabled = true;
}
private PhoneService GetWithGpsAndConnectionAndSensor(
IConnection connection,
IGps gps,
ISpeedSensor sensor)
{
return(new PhoneService(connection, gps, sensor));
}
//check if GPSID exist(in WM 5.0 and later)
public static IGps GetGpsHandler()
{
if (_gpsHandler == null)
{
if (Environment.OSVersion.Version.Major >= 5)
{
//"Version 5 or later";
_gpsHandler = new PostWm5GpsHandler();
}
else
{
//"Version before 5";
_gpsHandler = new PreWm5GpsHandler();
}
}
return _gpsHandler;
}
//check if GPSID exist(in WM 5.0 and later)
public static IGps GetGpsHandler()
{
if (_gpsHandler == null)
{
if (Environment.OSVersion.Version.Major >= 5)
{
//"Version 5 or later";
_gpsHandler = new PostWm5GpsHandler();
}
else
{
//"Version before 5";
_gpsHandler = new PreWm5GpsHandler();
}
}
return(_gpsHandler);
}
internal void ArduinoBrickGpsChanged(RobotAbstraction.IHardwareComponent sender)
{
IGps gps = (IGps)sender;
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
sensorsData.GpsLatitude = gps.Latitude;
sensorsData.GpsLongitude = gps.Longitude;
sensorsData.GpsAltitude = gps.Altitude;
sensorsData.GpsNsat = gps.GpsNsat;
sensorsData.GpsHdop = gps.GpsHdop;
sensorsData.FixAgeMs = gps.FixAgeMs;
sensorsData.GpsTimeUTC = gps.TimeUTC;
sensorsData.GpsFixType = gps.FixType;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private PhoneService GetWithGpsAndConnection(
IConnection connection,
IGps gps)
{
return(new PhoneService(connection, gps, null));
}
private void InitDrive()
{
IDifferentialMotorController dmc = hardwareBrick.produceDifferentialMotorController();
driveController = new DifferentialDrive(hardwareBrick)
{
wheelRadiusMeters = WHEEL_RADIUS_METERS,
wheelBaseMeters = WHEEL_BASE_METERS,
encoderTicksPerRevolution = ENCODER_TICKS_PER_REVOLUTION,
speedToVelocityFactor = SPEED_TO_VELOCITY_FACTOR,
turnToOmegaFactor = TURN_TO_OMEGA_FACTOR,
differentialMotorController = dmc
};
this.odometry = hardwareBrick.produceOdometry(ODOMETRY_SAMPLING_INTERVAL_MS);
this.odometry.OdometryChanged += ((SensorsControllerPlucky)sensorsController).ArduinoBrickOdometryChanged;
this.gps = hardwareBrick.produceGps(GPS_SAMPLING_INTERVAL_MS);
this.gps.GpsPositionChanged += ((SensorsControllerPlucky)sensorsController).ArduinoBrickGpsChanged;
this.gps.Enabled = true;
driveController.hardwareBrickOdometry = odometry;
driveGeometry = (IDifferentialDrive)driveController;
driveController.Init();
driveController.Enabled = true;
}
public PhoneService(IConnection connection, IGps gps, ISpeedSensor speedSensor)
{
this.connection = connection;
this.gps = gps;
this.speedSensor = speedSensor;
}
public PhoneServiceBuilder WithGps(IGps gps)
{
this.gps = gps;
return(this);
}
public Car(IGps gps) : base(gps)
{
}
public Vehicle(IGps gps)
{
_gps = gps;
UpdateLocation();
}
