/// <summary>
/// Set sensor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSensorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.SensorViewModelArray[index];
try
{
var Device = Brick.SensorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.IsConnected = true;
DeviceViewModel.SensorValue1 = Device.Value1;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = Device.Value2;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = Device.Value3;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.SensorValue1 = 0;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = 0;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = 0;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning restore
}
}
/// <summary>
/// Set motor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateMotorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.MotorViewModelArray[index];
try
{
var Device = Brick.MotorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.CurrentOutput = Device.Power;
DeviceViewModel.IsConnected = Device.IsConnected;
DeviceViewModel.CurrentOutputUnit = @"%";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.TargetOutput = 0;
DeviceViewModel.TargetOutputUnit = "";
DeviceViewModel.CurrentOutput = 0;
DeviceViewModel.CurrentOutputUnit = "";
}
#pragma warning restore
}
}
/// <summary>
/// Set safe state.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSafeStateViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
ViewModel.SafeStateViewModel.IsConnected = true;
ViewModel.SafeStateViewModel.SafetyState = Brick.State.StateName;
ViewModel.SafeStateViewModel.ImageSource = Brick.State.StateImage;
}
/// <summary>
/// Set target motor and steering value to Ev3Brick instance.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateTargetMotor(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
Brick.Output.MotorOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
Brick.Output.Steering = ViewModel.MotorSteerViewModel.TargetSteer;
foreach (Ev3MotorDeviceViewModel MotorDeviceViewModel in
ViewModel.MotorViewModelArray)
{
if (MotorDeviceViewModel.IsConnected)
{
MotorDeviceViewModel.TargetOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
}
}
}
