public InertiaDetector(string url, ushort port,
string speedInlet, string xinputInlet,
string accXOutlet, string accYOutlet)
{
commonPublisher = new Publisher(url, port);
speedSubscriber = new Subscriber(url, port);
inputSubscriber = new Subscriber(url, port);
state = new StateObject(commonPublisher);
state.speedInlet = speedInlet;
state.xinputInlet = xinputInlet;
state.accXOutlet = accXOutlet;
state.accYOutlet = accYOutlet;
speedSubscriber.SubscribeTo(speedInlet);
inputSubscriber.SubscribeTo(xinputInlet);
speedSubscriber.msgQueue.OnMessage(msg => InertiaFunctions.Router(msg.Channel, msg.Message, ref state));
inputSubscriber.msgQueue.OnMessage(msg => InertiaFunctions.Router(msg.Channel, msg.Message, ref state));
}
/// <summary>
/// Initialize an inertia detector
/// </summary>
/// <param name = "url" > URL of Redis server</param>
/// <param name = "port" > Port number of Redis server</param>
/// <param name = "ioChannels" > Channel names of IO: 0->speedInlet, 1->accYOutlet, 2->xInputInlet (Optional), 3->accXOutlet (Optional)</param>
public InertiaDetector(string url, ushort port, params string[] ioChannels)
{
commonPublisher = new Publisher(url, port);
state = new StateObject(commonPublisher);
if (ioChannels.Length >= 2)
{
speedSubscriber = new Subscriber(url, port);
state.speedInlet = ioChannels[0];
state.accYOutlet = ioChannels[1];
speedSubscriber.SubscribeTo(ioChannels[0]);
// Register the router as a callback to the message queue.
speedSubscriber.msgQueue.OnMessage(msg => InertiaFunctions.Router(msg.Channel, msg.Message, ref state));
}
if (ioChannels.Length == 4)
{
inputSubscriber = new Subscriber(url, port);
state.xinputInlet = ioChannels[2];
state.accXOutlet = ioChannels[3];
inputSubscriber.SubscribeTo(ioChannels[2]);
inputSubscriber.msgQueue.OnMessage(msg => InertiaFunctions.Router(msg.Channel, msg.Message, ref state));
}
}
