/// <summary>
/// Receives data from the TRobot's Sharp sensors. Range for Sharp sensor is (200 - 1500 mm).
/// </summary>
/// <returns>Distance in mm from the TRobot's Sharp sensors. The key for measured distance is "distance1", "distance2", "distance3" for three Sharp sensors.</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Sharp;
try
{
String[] distances = arduino.GetSharpsData();
for (int i = 1; i <= distances.Length; i++)
{
Int16 hexToDecimal = Convert.ToInt16(distances[i - 1], 16);
double distance = (60.495 * Math.Pow(hexToDecimal * 0.0049, -1.1904) * 10);
if (distance >= 200 && distance <= 1500)
{
data.Dictionary.Add(key + i, distance);
}
else
{
data.Dictionary.Add(key + i, 0);
}
}
}
catch (Exception e)
{
Logger.Log(e);
}
return data;
}
/// <summary>
/// Receives data from the TRobot's batteries.
/// </summary>
/// <returns>Charge of Trobot's batteries in percents. The key for charge value is "charge".</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Battery;
try
{
String response = roboteQ.GetBatteryVoltage();
int chargeInPercets = (int)(Double.Parse(response)-uMin)*100/(uMax-uMin);
if (chargeInPercets < 0)
{
data.Dictionary.Add(key, 0);
}
else if (chargeInPercets > 100)
{
data.Dictionary.Add(key, 100);
}
else
{
data.Dictionary.Add(key, chargeInPercets);
}
}
catch (Exception e)
{
Logger.Log(e);
}
return data;
}
public Data ReceiveData()
{
Data response = new Data();
response.SelectedDeviceType = SelectedDevice.Null;
return response;
}
/// <summary>
/// Loads data for selected device.
/// </summary>
/// <param name="request">Request with selected device type.</param>
/// <returns>Data with received values for selected device type.</returns>
public Data LoadData(Data request)
{
IDataReceiver dataReceiver = dataReceiverFactory.GetDataReceiver(request.SelectedDeviceType);
Data response = dataReceiver.ReceiveData();
return response;
}
/// <summary>
/// Receives data from the TRobot's Mobot sensor. Range for Mobot sensor is (50 - 3500 mm).
/// </summary>
/// <returns>Distance in mm from the TRobot's Mobot sensors. The key for measured distance is "distance"</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Mobot;
try
{
String distance = arduino.GetMobotData();
data.Dictionary.Add(key, double.Parse(distance));
}
catch (Exception e)
{
Logger.Log(e);
}
return data;
}
/// <summary>
/// Receives chipset's temperature from the TRobot's thermometer.
/// </summary>
/// <returns>Temperature of chipset in degrees C. The key for temperature value is "temperature".</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Temperature;
try
{
int degreesC = int.Parse(roboteQ.GetTemperature());
data.Dictionary.Add(key, degreesC);
}
catch (Exception e)
{
Logger.Log(e);
}
return data;
}
/// <summary>
/// Receives data from the TRobot's encoders. Range for encoders is around (0 - 3.06 km/h).
/// </summary>
/// <returns>Velocity of Trobot in km/h. The key for measured velocity is "speed".</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Encoder;
try
{
String[] response = roboteQ.GetSpeed();
double velocity = ((double.Parse(response[0]) + Double.Parse(response[1])) / 2) * (wheelCircuitInKm / hoursInMinute);
data.Dictionary.Add(key, velocity);
}
catch (Exception e)
{
//Logger.Log(e);
}
return data;
}
/// <summary>
/// Receives data from the TRobot's Hokuyo sensor. Range for Hokuyo sensor is around (20 - 4000 mm).
/// Scan area is 240 degrees semicircle. Sensor outputs the distace measured at 682 points.
/// </summary>
/// <returns>Distance in 682 points in mm from the TRobot's Hokuyo sensor. The key for measured distance is "distance0", "distance1", ..., "distance681".</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Hokuyo;
try
{
int[] distanceValuesFromHokuyo = hokuyo.GetData();
int numberOfDistanceValues = distanceValuesFromHokuyo.Count();
String currentKey;
for (int i = 0; i < numberOfDistanceValues; i++)
{
currentKey = key + i;
data.Dictionary.Add(currentKey, distanceValuesFromHokuyo[i]);
}
}
catch (Exception e)
{
Logger.Log(e);
}
return data;
}
/// <summary>
/// Sends data to selected device.
/// </summary>
/// <param name="data">Data with selected device type and values to send to selected device.</param>
public void SendData(Data data)
{
IDataProvider dataProvider = new EncoderDataProvider(data, devicesManager.RoboteQ);
dataProvider.ProvideData();
}
/// <summary>
/// Constructs a EncoderDataProvider instance.
/// </summary>
/// <param name="driversData">Data object with information about left and right wheel power. It must be in the Dictionary wiht keys: "leftWheelPower" and "rightWheelPower".</param>
/// <param name="roboteQ">Singleton istance of RoboteQ supporter.</param>
public EncoderDataProvider(Data driversData, Roboteq roboteQ)
{
this.driversData = driversData;
this.roboteQ = roboteQ;
}