public PositionControllerDeviceModel(IPositionController positionController)
{
this.positionController = positionController ?? throw new ArgumentNullException(nameof(positionController));
ConnectDisconnectTitle = TITLE_CONNECT;
StatusDisplayName = STATUS_DISPLAY_NAME_NOT_AVAILABLE;
DisconnectCommand = new PositionControllerDisconnectCommand(this.positionController);
EmergencyStopCommand = new PositionControllerEmergencyStopCommand(this.positionController);
ResetPositionControllerCommand = new PositionControllerResetCommand(this.positionController);
CalibratePositionControllerCommand = new PositionControllerCalibrateCommand(this.positionController);
}
public void TestScenario3()
{
const string commands = "MLMLMLMRMRMRMRM";
_expectedPosition = new Position(2, 2, Direction.North);
_initialPosition = new Position(2, 2, Direction.West);
_positionController = new PositionController(_initialPosition);
_report = new Report();
_robot = new Robot(_positionController, _report);
_actualPosition = _robot.ExecuteCommands(commands);
PerformCheck();
}
public void TestScenario4()
{
const string commands = "MMLMMLMMMMM";
_expectedPosition = new Position(0, 0, Direction.South, 3);
_initialPosition = new Position(1, 3, Direction.North);
_positionController = new PositionController(_initialPosition);
_report = new Report();
_robot = new Robot(_positionController, _report);
_actualPosition = _robot.ExecuteCommands(commands);
PerformCheck();
}
public void TestScenario2()
{
const string commands = "LMLLMMLMMMRMM";
_expectedPosition = new Position(0, 1, Direction.West, 1);
_initialPosition = new Position(4, 4, Direction.South);
_positionController = new PositionController(_initialPosition);
_report = new Report();
_robot = new Robot(_positionController, _report);
_actualPosition = _robot.ExecuteCommands(commands);
PerformCheck();
}
protected override void Awake()
{
base.Awake();
// Cache
m_PositionController = GetComponent <IPositionController> ();
// Buffers
m_IsMoving = false;
m_LastPos = Vector3.zero;
m_PosBuffer = Vector3.zero;
}
/// <inheritdoc />
public bool TryGetController(string portfolioName, out IPositionController controller)
{
return(_portfolios.TryGetValue(portfolioName, out controller));
}
public Robot(IPositionController positionController, IReport report)
{
_positionController = positionController;
_report = report;
InitializeCommandFunctionDictionary();
}
public PositionControllerResetCommand(IPositionController positionController)
{
this.positionController = positionController ?? throw new ArgumentNullException(nameof(positionController));
}
public DataCollector(IPositionController positionController, IWirelessLineSensor wirelessLineSensor, ILogger logger)
{
this.logger = logger ?? throw new ArgumentNullException(nameof(logger));
this.positionController = positionController ?? throw new ArgumentNullException(nameof(positionController));
this.wirelessLineSensor = wirelessLineSensor ?? throw new ArgumentNullException(nameof(wirelessLineSensor));
}
public SerialDeviceToggleConnectionCommand(IPositionController positionController)
{
this.positionController = positionController ?? throw new ArgumentNullException(nameof(positionController));
}
public AnchoredPositionController(IPositionController controller, ISceneNode anchor)
{
_controller = controller;
Anchor = anchor;
}
