public void GPSUpdatedHandler(GPSCoordinates coordinates)
{
if (PropertyChanged != null)
{
PropertyChanged(this, new PropertyChangedEventArgs("Coordinates"));
}
}
public RoverStatus()
{
Motors = new Dictionary <Motor.Location, Motor>(6);
Motors.Add(Motor.Location.FrontLeft, new Motor(Motor.Location.FrontLeft));
Motors.Add(Motor.Location.FrontRight, new Motor(Motor.Location.FrontRight));
Motors.Add(Motor.Location.BackLeft, new Motor(Motor.Location.BackLeft));
Motors.Add(Motor.Location.BackRight, new Motor(Motor.Location.BackRight));
Motors.Add(Motor.Location.MiddleLeft, new Motor(Motor.Location.MiddleLeft));
Motors.Add(Motor.Location.MiddleRight, new Motor(Motor.Location.MiddleRight));
Battery = new Battery(2000);
GPSCoordinates = new GPSCoordinates();
IMUSensor = new IMU();
RoboArm = new RoboticArm();
}
public RoverStatus()
{
Motors = new Dictionary<Motor.Location, Motor>(6);
Motors.Add(Motor.Location.FrontLeft, new Motor(Motor.Location.FrontLeft));
Motors.Add(Motor.Location.FrontRight, new Motor(Motor.Location.FrontRight));
Motors.Add(Motor.Location.BackLeft, new Motor(Motor.Location.BackLeft));
Motors.Add(Motor.Location.BackRight, new Motor(Motor.Location.BackRight));
Motors.Add(Motor.Location.MiddleLeft, new Motor(Motor.Location.MiddleLeft));
Motors.Add(Motor.Location.MiddleRight, new Motor(Motor.Location.MiddleRight));
Battery = new Battery(2000);
GPSCoordinates = new GPSCoordinates();
IMUSensor = new IMU();
RoboArm = new RoboticArm();
}
//Updated coordinates from status update
private void UpdateGPS(GPSCoordinates gpsCoordinates)
{
roverCoordinates = gpsCoordinates;
roverCoordinateString = "Rover: " + gpsCoordinates.Location.ToString();
}
/// <summary>
/// (DEPRECATED) Binds the rover location data being sent by StatusUpdater to PushPin on the Map
/// </summary>
private void setRoverPinLocation()
{
bool messageReceived = false;
var startTime = DateTime.UtcNow;
roverCoordinates = new GPSCoordinates();
roverPin = new Pushpin();
//Wait for the StatusUpdater to send the location of the rover BEFORE the pushpin is set, or else DataBinding will not occur
while (roverCoordinates.Location == null && (DateTime.UtcNow - startTime < TimeSpan.FromSeconds(2)))
{
//loop until the rover coordinates have been received, timeout after 2 seconds
messageReceived = true;
}
//if the message was successfully received, bind the location
if (messageReceived)
{
roverPin.Location = roverCoordinates.Location;
formatRoverPin();
}
}
