public static TelemetryData Initialize(int udpPort, Dispatcher dispatcher)
{
if (_instance != null) throw new TelemetryAlreadyInitializedException();
_instance = new TelemetryData(udpPort, dispatcher);
Task.Run(() => _instance.Receiver());
return _instance;
}
public RobotViewModel(TelemetryData telemetryData)
{
SideViewLeft = 200;
SideViewBottom = 900;
ShoulderAngle = 90;
ElbowAngle = 0;
WristAngle = 90;
SideViewScale = 0.5;
LeftGetterViewModel = new GetterViewModel();
RightGetterViewModel = new GetterViewModel();
_telemetryData = telemetryData;
_propertyObserver = new PropertyObserver<TelemetryData>(_telemetryData)
.RegisterHandler(t => t.ShoulderAngle,
() => ShoulderAngle = _telemetryData.ShoulderAngle)
.RegisterHandler(t => t.ElbowAngle,
() => ElbowAngle = _telemetryData.ElbowAngle)
.RegisterHandler(t => t.WristAngle,
() => WristAngle = _telemetryData.WristAngle);
}