public float getIR(int position)
{
ArrayList list = new ArrayList();
if (!SensorsDictionary.TryGetValue(SensorTypes.IRSensor, out list))
{
throw new NoInstanceException();
}
if (list.Count <= position)
{
throw new IndexOutOfRangeException();
}
ListEntry le = (ListEntry)list[position];
float value = Defines.INVALID_FLOAT;
if (le.Adapter.AdapterType == AdapterTypes.AnalogSensorAdapter)
{
AnalogSensorAdapter adapter = (AnalogSensorAdapter)le.Adapter;
value = adapter.get();
}
else if (le.Adapter.AdapterType == AdapterTypes.AnalogSensorArrayAdapter)
{
AnalogSensorArrayAdapter adapter = (AnalogSensorArrayAdapter)le.Adapter;
value = adapter.get(le.BeginOffset);
}
if (value == Defines.INVALID_FLOAT)
{
throw new InvalidValueException("Cannot get true value.");
}
return(value);
}
public float getSonar(int position)
{
ArrayList list = new ArrayList();
if (!SensorsDictionary.TryGetValue(SensorTypes.UltraSonicSonar, out list))
{
throw new NoInstanceException();
}
if (list.Count <= position)
{
throw new IndexOutOfRangeException();
}
ListEntry le = (ListEntry)list[position];
float value = Defines.INVALID_FLOAT;
SonarAdapter adapter = (SonarAdapter)le.Adapter;
value = adapter.get();
if (value == Defines.INVALID_FLOAT)
{
throw new InvalidValueException("Cannot get true value.");
}
return(value);
}
public float getContact(int index)
{
ArrayList list = new ArrayList();
if (!SensorsDictionary.TryGetValue(SensorTypes.ContactSensorArray, out list))
{
throw new NoInstanceException();
}
if (list.Count == 0 || list.Count < index + 1)
{
throw new IndexOutOfRangeException();
}
ListEntry le = (ListEntry)list[index];
float value = Defines.INVALID_FLOAT;
if (le.Adapter.AdapterType == AdapterTypes.ContactSensorArrayAdapter)
{
ContactSensorArrayAdapter adapter = (ContactSensorArrayAdapter)le.Adapter;
if (adapter.get(le.BeginOffset))
{
value = 1;
}
else
{
value = 0;
}
}
if (value == Defines.INVALID_FLOAT)
{
throw new InvalidValueException("Cannot get true value.");
}
return(value);
}
public float[] getContact()
{
ArrayList list = new ArrayList();
if (!SensorsDictionary.TryGetValue(SensorTypes.ContactSensorArray, out list))
{
throw new NoInstanceException();
}
float[] ret = new float[list.Count];
for (int index = 0; index < list.Count; index++)
{
ListEntry le = (ListEntry)list[index];
ret[index] = Defines.INVALID_FLOAT;
if (le.Adapter.AdapterType == AdapterTypes.ContactSensorArrayAdapter)
{
ContactSensorArrayAdapter adapter = (ContactSensorArrayAdapter)le.Adapter;
if (adapter.get(le.BeginOffset))
{
ret[index] = 1;
}
else
{
ret[index] = 0;
}
}
if (ret[index] == Defines.INVALID_FLOAT)
{
throw new InvalidValueException("Cannot get true value.");
}
}
return(ret);
}
