public RequestHandler(IWheel wheel, IUltrasonic ultrasonic, ILidarDistance lidar, IEncoders encoders, ExampleLogicService exampleLogicService, StudentLogicService studentLogicService)
{
_wheel = wheel;
_ultrasonic = ultrasonic;
_lidar = lidar;
_encoders = encoders;
_exampleLogic = exampleLogicService;
_studentLogicService = studentLogicService;
_lastActiveLogic = LastActiveLogicType.None;
}
private string StopAnyActiveControlLogic()
{
if (_exampleLogic.ActiveExampleLogic.RunExampleLogic)
{
_exampleLogic.ActiveExampleLogic.RunExampleLogic = false;
_lastActiveLogic = LastActiveLogicType.Demo;
return($"Stopped demo logic: \'{_exampleLogic.ActiveExampleLogic.Details.Title}\'");
}
if (_studentLogicService.ActiveStudentLogic.RunStudentLogic)
{
_studentLogicService.ActiveStudentLogic.RunStudentLogic = false;
_lastActiveLogic = LastActiveLogicType.Student;
return($"Stopped student logic: \'{_studentLogicService.ActiveStudentLogic.Details.Title}\'");
}
_wheel.SetSpeed(0, 0, false);
return("There are no running control logics that can be stopped.\nStopped wheels instead.");
}
