public Controller()
{
Roomba = new Roomba();
Lidar = new Lidar();
Navigation = new Navigation();
Analysis = new LidarAnalysis();
}
public void Dispose()
{
Roomba.Close();
Lidar.Close();
IsEnabled = false;
}
/// <summary>
/// Initializes the Roomba and LIDAR
/// </summary>
/// <param name="roombaPortId">Serial device ID for the Roomba</param>
/// <param name="lidarPortId">Serial device ID for the LIDAR</param>
/// <returns></returns>
public async Task InitializeAsync(string roombaDeviceId = Roomba.DEFAULT_DEVICE_ID, string lidarDeviceId = Lidar.DEFAULT_DEVICE_ID)
{
Debug.WriteLine("Initializing Controller...");
OnControllerMessageReceived("Initializing controller...");
// Initialize the Roomba
await Roomba.InitializeAsync(roombaDeviceId, 20);
Roomba.Stopped += Roomba_Stopped;
OnControllerMessageReceived("Roomba successfully initialized.");
// Initialize the LIDAR
await Lidar.InitializeAsync(lidarDeviceId);
Lidar.ScanComplete += Lidar_ScanComplete;
Lidar.StartScan();
OnControllerMessageReceived("LIDAR successfully initialized.");
Analysis.AnalysisChanged += Analysis_AnalysisChanged;
Debug.WriteLine("Controller initialization completed.");
IsEnabled = true;
}
