void GetMotorTemp()
{
Task.Run(() =>
{
bool worked = false;
double temperature = 0;
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
temperature = MotorCom.GetTemp();
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("unable to open comport for GetMotorTemp");
return;
}
}
if (worked)
{
//TODO: handle dual humidities for MotorHumidityLbl
Action <double> update_action = (t) => { MotorBoardTempLbl.Content = "MOTOR BOARD TEMP: " + t.ToString("0.00") + "C/F?"; };
Dispatcher.BeginInvoke(update_action, temperature);
}
});
}
void PingMotor()
{
//TODO: add gui for motor ping.
Task.Run(() =>
{
bool worked = false;
bool pinged = false;
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
pinged = MotorCom.Ping();
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("unable to open comport for GetMotorTemp");
return;
}
}
if (worked)
{
//if (pinged)
//Console.WriteLine("Motor ping success");
}
});
}
void GetMotorHumidity()
{
Task.Run(() =>
{
bool worked = false;
double humidity = 0;
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
humidity = MotorCom.GetHumidity();
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("unable to open comport for GetMotorHumidity");
return;
}
}
if (worked)
{
//TODO: handle dual humidities for MotorHumidityLbl
//double MotorBoardHumidity = 0;
//double BmsBoardHumidity = 0;
Action <double> update_action = (h) => { MotorBoardHumidity = h; UpdateHumidityDisplay(); };
Dispatcher.BeginInvoke(update_action, humidity);
}
});
}
void SetKey(bool key_on)
{
Task.Run(() =>
{
bool worked = false;
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
MotorCom.SetKey(key_on);
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("failed to SetKey");
}
}
if (worked)
{
Action <bool> update_action = (k) => { KeyLbl.Content = k ? "KEY ON" : "KEY OFF"; };
Dispatcher.BeginInvoke(update_action, key_on);
}
});
}
/// <summary>
/// Set motor Speed between 0 and 1.0.
/// </summary>
/// <param name="speed"></param>
void SetSpeed(double speed)
{
Task.Run(() =>
{
bool worked = false;
if (speed < 0)
{
speed = 0;
}
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
MotorCom.SetSpeed(speed);
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("failed to SetSpeed");
}
}
if (worked)
{
Action <double> update_action = (s) => { BoatSpeedLbl.Content = speed.ToString("0.00"); };
Dispatcher.BeginInvoke(update_action, speed);
}
});
}
void SetDirection(MotorControllerCom.Direction direction)
{
Task.Run(() =>
{
bool worked = false;
lock ( MotorLock )
{
if (MotorCom.Open(MotorComPort))
{
MotorCom.SetDirection(direction);
MotorCom.Close();
worked = true;
}
else
{
Console.WriteLine("failed to SetDirection");
}
}
if (worked)
{
string dir_string = "ERROR";
switch (direction)
{
case MotorControllerCom.Direction.Forward:
dir_string = "FORWARD";
break;
case MotorControllerCom.Direction.Reverse:
dir_string = "REVERSE";
break;
case MotorControllerCom.Direction.NoDirection:
dir_string = "NO DIRECTION";
break;
}
Action <MotorControllerCom.Direction> update_action = (d) => { UpdateDirection(d); };
Dispatcher.BeginInvoke(update_action, direction);
}
});
}
void MotorBeep()
{
//todo: add this.
lock (MotorLock)
{
if (MotorCom.Open(MotorComPort))
{
MotorCom.Beep();
MotorCom.Close();
}
else
{
Console.WriteLine("unable to open comport for MotorBeep");
return;
}
}
}
