internal void ArduinoBrickGpsChanged(RobotAbstraction.IHardwareComponent sender)
{
IGps gps = (IGps)sender;
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
sensorsData.GpsLatitude = gps.Latitude;
sensorsData.GpsLongitude = gps.Longitude;
sensorsData.GpsAltitude = gps.Altitude;
sensorsData.GpsNsat = gps.GpsNsat;
sensorsData.GpsHdop = gps.GpsHdop;
sensorsData.FixAgeMs = gps.FixAgeMs;
sensorsData.GpsTimeUTC = gps.TimeUTC;
sensorsData.GpsFixType = gps.FixType;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
internal void ArduinoBrickOdometryChanged(RobotAbstraction.IHardwareComponent sender)
{
IOdometry odom = (IOdometry)sender;
//odom.XMeters;
//odom.YMeters;
//odom.ThetaRadians;
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
sensorsData.WheelEncoderLeftTicks = odom.LDistanceTicks;
sensorsData.WheelEncoderRightTicks = odom.RDistanceTicks;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
