void rqueryMotorPower_onValueReceived(object sender, MeasuredValuesEventArgs ev)
{
RQQueryMotorPower query = (RQQueryMotorPower)sender;
double Motor_Power_Left = query.doubleValues[0]; // "Motor_Power_Left"
double Motor_Power_Right = query.doubleValues[1]; // "Motor_Power_Right"
if (Motor_Power_Left != prev_Motor_Power_Left || Motor_Power_Right != prev_Motor_Power_Right || (DateTime.Now - lastSentMotor_Power).TotalSeconds > 5.0d) // force send every 5 sec
{
//Tracer.Trace("MotorPower=" + Motor_Power_Left + " " + Motor_Power_Right);
prev_Motor_Power_Left = Motor_Power_Left;
prev_Motor_Power_Right = Motor_Power_Right;
if (onValueReceived_MotorPower != null)
{
ev.timestamp = query.whenReceivedTicks;
ev.value1 = Motor_Power_Left;
ev.value2 = Motor_Power_Right;
onValueReceived_MotorPower(this, ev);
}
}
}
private DateTime querySetLastSent = DateTime.MinValue; // when we last sent from m_querySet
#endregion Fields
#region Constructors
public ControllerRQAX2850(string portName)
{
Tracer.Trace("ControllerRQAX2850(" + portName + ")");
m_portName = portName;
m_queues[0] = m_commandQueue = new RQInteractionQueue("command", 3); // highest priority factor
m_queues[1] = m_commandPowerLeftQueue = new RQMotorCommandQueue("commandPowerLeft"); // one-slot queue; must be "equalized" with the m_commandPowerRightQueue in terms of processing order. PriorityFactor = 2;
m_queues[2] = m_commandPowerRightQueue = new RQMotorCommandQueue("commandPowerRight");
m_queues[3] = m_queryQueue = new RQInteractionQueue("query", 1); // lowest priority factor
RQQuery rqQueryEncoderSpeed = new RQQueryEncoderSpeed(m_measuredValues);
rqQueryEncoderSpeed.onValueReceived += new OnValueReceived(rqQueryEncoderSpeed_onValueReceived);
m_querySet.Add(rqQueryEncoderSpeed);
m_querySetShort.Add(rqQueryEncoderSpeed);
RQQuery rqQueryEncoderLeftAbsolute = new RQQueryEncoderLeftAbsolute(m_measuredValues);
rqQueryEncoderLeftAbsolute.onValueReceived += new OnValueReceived(rqQueryEncoderLeftAbsolute_onValueReceived);
m_querySet.Add(rqQueryEncoderLeftAbsolute);
m_querySetShort.Add(rqQueryEncoderLeftAbsolute);
RQQuery rqQueryEncoderRightAbsolute = new RQQueryEncoderRightAbsolute(m_measuredValues);
rqQueryEncoderRightAbsolute.onValueReceived += new OnValueReceived(rqQueryEncoderRightAbsolute_onValueReceived);
m_querySet.Add(rqQueryEncoderRightAbsolute);
m_querySetShort.Add(rqQueryEncoderRightAbsolute);
RQQuery rqQueryAnalogInputs = new RQQueryAnalogInputs(m_measuredValues);
rqQueryAnalogInputs.onValueReceived += new OnValueReceived(rqQueryAnalogInputs_onValueReceived);
m_querySet.Add(rqQueryAnalogInputs);
RQQuery rqQueryDigitalInputs = new RQQueryDigitalInputs(m_measuredValues);
rqQueryDigitalInputs.onValueReceived += new OnValueReceived(rqQueryDigitalInputs_onValueReceived);
m_querySet.Add(rqQueryDigitalInputs);
m_querySetShort.Add(rqQueryDigitalInputs); // whiskers are in priority queue
RQQuery rqQueryHeatsinkTemperature = new RQQueryHeatsinkTemperature(m_measuredValues);
rqQueryHeatsinkTemperature.onValueReceived += new OnValueReceived(rqQueryHeatsinkTemperature_onValueReceived);
m_querySet.Add(rqQueryHeatsinkTemperature);
RQQuery rqQueryMotorAmps = new RQQueryMotorAmps(m_measuredValues);
rqQueryMotorAmps.onValueReceived += new OnValueReceived(rqQueryMotorAmps_onValueReceived);
m_querySet.Add(rqQueryMotorAmps);
RQQuery rqueryMotorPower = new RQQueryMotorPower(m_measuredValues);
rqueryMotorPower.onValueReceived += new OnValueReceived(rqueryMotorPower_onValueReceived);
m_querySet.Add(rqueryMotorPower);
RQQuery rqQueryVoltage = new RQQueryVoltage(m_measuredValues);
rqQueryVoltage.onValueReceived += new OnValueReceived(rqQueryVoltage_onValueReceived);
m_querySet.Add(rqQueryVoltage);
foreach (RQQuery query in m_querySet)
{
foreach(string vName in query.ValueNames)
{
m_loggedValueNames.Add(vName);
}
}
isUnknownState = true;
isInError = false;
//startMonitoringThread();
}
public ControllerRQAX2850(string portName)
{
Tracer.Trace("ControllerRQAX2850(" + portName + ")");
m_portName = portName;
m_queues[0] = m_commandQueue = new RQInteractionQueue("command", 3); // highest priority factor
m_queues[1] = m_commandPowerLeftQueue = new RQMotorCommandQueue("commandPowerLeft"); // one-slot queue; must be "equalized" with the m_commandPowerRightQueue in terms of processing order. PriorityFactor = 2;
m_queues[2] = m_commandPowerRightQueue = new RQMotorCommandQueue("commandPowerRight");
m_queues[3] = m_queryQueue = new RQInteractionQueue("query", 1); // lowest priority factor
RQQuery rqQueryEncoderSpeed = new RQQueryEncoderSpeed(m_measuredValues);
rqQueryEncoderSpeed.onValueReceived += new OnValueReceived(rqQueryEncoderSpeed_onValueReceived);
m_querySet.Add(rqQueryEncoderSpeed);
m_querySetShort.Add(rqQueryEncoderSpeed);
RQQuery rqQueryEncoderLeftAbsolute = new RQQueryEncoderLeftAbsolute(m_measuredValues);
rqQueryEncoderLeftAbsolute.onValueReceived += new OnValueReceived(rqQueryEncoderLeftAbsolute_onValueReceived);
m_querySet.Add(rqQueryEncoderLeftAbsolute);
m_querySetShort.Add(rqQueryEncoderLeftAbsolute);
RQQuery rqQueryEncoderRightAbsolute = new RQQueryEncoderRightAbsolute(m_measuredValues);
rqQueryEncoderRightAbsolute.onValueReceived += new OnValueReceived(rqQueryEncoderRightAbsolute_onValueReceived);
m_querySet.Add(rqQueryEncoderRightAbsolute);
m_querySetShort.Add(rqQueryEncoderRightAbsolute);
RQQuery rqQueryAnalogInputs = new RQQueryAnalogInputs(m_measuredValues);
rqQueryAnalogInputs.onValueReceived += new OnValueReceived(rqQueryAnalogInputs_onValueReceived);
m_querySet.Add(rqQueryAnalogInputs);
RQQuery rqQueryDigitalInputs = new RQQueryDigitalInputs(m_measuredValues);
rqQueryDigitalInputs.onValueReceived += new OnValueReceived(rqQueryDigitalInputs_onValueReceived);
m_querySet.Add(rqQueryDigitalInputs);
m_querySetShort.Add(rqQueryDigitalInputs); // whiskers are in priority queue
RQQuery rqQueryHeatsinkTemperature = new RQQueryHeatsinkTemperature(m_measuredValues);
rqQueryHeatsinkTemperature.onValueReceived += new OnValueReceived(rqQueryHeatsinkTemperature_onValueReceived);
m_querySet.Add(rqQueryHeatsinkTemperature);
RQQuery rqQueryMotorAmps = new RQQueryMotorAmps(m_measuredValues);
rqQueryMotorAmps.onValueReceived += new OnValueReceived(rqQueryMotorAmps_onValueReceived);
m_querySet.Add(rqQueryMotorAmps);
RQQuery rqueryMotorPower = new RQQueryMotorPower(m_measuredValues);
rqueryMotorPower.onValueReceived += new OnValueReceived(rqueryMotorPower_onValueReceived);
m_querySet.Add(rqueryMotorPower);
RQQuery rqQueryVoltage = new RQQueryVoltage(m_measuredValues);
rqQueryVoltage.onValueReceived += new OnValueReceived(rqQueryVoltage_onValueReceived);
m_querySet.Add(rqQueryVoltage);
foreach (RQQuery query in m_querySet)
{
foreach (string vName in query.ValueNames)
{
m_loggedValueNames.Add(vName);
}
}
isUnknownState = true;
isInError = false;
//startMonitoringThread();
}