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@ -3,13 +3,15 @@ using System; |
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using System.Collections.Generic; |
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using System.Diagnostics; |
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using System.Text.Json; |
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using System.Threading.Tasks; |
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namespace RobotLib.Battery |
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{ |
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public class DevBattery : DevBase |
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{ |
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private float voltage; |
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private int secondsSinceLastResponse = 0; |
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private int lastResponseS = 1000; // seconds since last response |
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private const int offlineTresholdS = 11; // treshold when to assess a robot as offline (no response for x sec) |
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private Stopwatch stopwatchLastResponse = new(); |
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private const string TOPIC_ROBO_REQ_BATTERY = "/both/cmd/battery/get_volt"; |
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@ -17,7 +19,7 @@ namespace RobotLib.Battery |
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private const string TOPIC_STAT_RESP_BATTERY = "/stationary/state/battery/voltage"; |
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public event EventHandler<BatteryEventArgs> BatteryChanged; |
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public event EventHandler<int> SecondsSinceLastResponseUpdate; |
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public event EventHandler<LastResponseUpdateEventArgs> LastResponseUpdate; |
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public float Voltage |
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{ |
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@ -36,11 +38,22 @@ namespace RobotLib.Battery |
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public int SecondsSinceLastResponse |
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{ |
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get { return secondsSinceLastResponse; } |
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get { return lastResponseS; } |
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private set |
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{ |
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secondsSinceLastResponse = value; |
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SecondsSinceLastResponseUpdate?.Invoke(this, secondsSinceLastResponse); |
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var lastVal = lastResponseS; // last stored value |
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lastResponseS = value; // update stored value |
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// new value is smaller than online time and old value is larger or equal => newly connected |
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if (value < offlineTresholdS && lastVal >= offlineTresholdS) |
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{ |
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LastResponseUpdate?.Invoke(this, new LastResponseUpdateEventArgs(true, value)); |
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} |
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// old value is larger than online time and new value is smaller => newly disconnected |
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else if(value >= offlineTresholdS && lastVal < offlineTresholdS) |
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{ |
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Task.Run(() => this.Voltage = float.NaN); // set voltage to NaN, now unknown |
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LastResponseUpdate?.Invoke(this, new LastResponseUpdateEventArgs(false, value)); |
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} |
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} |
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} |
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@ -57,22 +70,27 @@ namespace RobotLib.Battery |
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return new List<string>() { TOPIC_ROBO_RESP_BATTERY }; |
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} |
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} |
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public void RequestBatteryVoltage() |
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public void UpdateLastResponse() |
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{ |
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base.SendMessage(TOPIC_ROBO_REQ_BATTERY, true.ToString()); |
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if (this.stopwatchLastResponse.IsRunning) |
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{ |
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SecondsSinceLastResponse = this.stopwatchLastResponse.Elapsed.Seconds; |
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this.SecondsSinceLastResponse = this.stopwatchLastResponse.Elapsed.Seconds; |
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} |
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} |
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public void RequestBatteryVoltage() |
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{ |
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base.SendMessage(TOPIC_ROBO_REQ_BATTERY, true.ToString()); |
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this.UpdateLastResponse(); |
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} |
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protected override void ParseMessage(string fromTopic, string message) |
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{ |
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if (fromTopic == TOPIC_ROBO_RESP_BATTERY || fromTopic == TOPIC_STAT_RESP_BATTERY) |
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{ |
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this.stopwatchLastResponse.Stop(); |
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this.stopwatchLastResponse.Start(); |
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SecondsSinceLastResponse = 0; |
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this.stopwatchLastResponse.Restart(); |
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this.SecondsSinceLastResponse = 0; |
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var parsedString = GetValueFromMesage<string>("voltage", message); |
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if (parsedString == null) parsedString = "?"; |
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Jonas Arnold
4 years ago