private static void RegisterDrivers(ContainerBuilder builder, II2CAddressProvider i2CAddressProvider)
{
if (i2CAddressProvider.ServoDriverAddress.HasValue)
{
builder.Register <ServoDriver>(x => new ServoDriver(i2CAddressProvider.ServoDriverAddress.Value)).AsImplementedInterfaces().SingleInstance();
}
else
{
builder.Register <IServoDriver>(x => new Moq.Mock <IServoDriver>().Object);
}
if (i2CAddressProvider.IMUAddress.HasValue)
{
builder.Register <IMUDriver>(x => new IMUDriver(i2CAddressProvider.IMUAddress.Value, MPU6050Scale.MPU6050_SCALE_2000DPS, MPU6050Range.MPU6050_RANGE_2G)).AsImplementedInterfaces().SingleInstance();
}
else
{
builder.Register <IIMUDriver>(x => CreateIMUDriverMock().Object);
}
if (i2CAddressProvider.SodarAddress.HasValue)
{
builder.Register <SodarDriver>(x => new SodarDriver(i2CAddressProvider.SodarAddress.Value)).AsImplementedInterfaces().SingleInstance();
}
else
{
builder.Register <ISodarDriver>(x => CreateSodarDriverMock().Object);
}
}
public static void Configure(ContainerBuilder builder, IProgramAssemblyProvider programAssemblyProvider, II2CAddressProvider i2CAddressProvider)
{
RegisterDrivers(builder, i2CAddressProvider);
RegisterServices(builder);
if (programAssemblyProvider != null)
{
RegisterPrograms(builder, programAssemblyProvider);
}
RegisterVisionHandlers(builder);
RegisterRuntime(builder);
}
