ADIS_Projects/ADIS_Csharp/RobotLib/Movement/DevLineSensor.cs

using RobotLib.Communication;
using RobotLib.SplitFlap;
using System;
using System.Collections.Generic;
using System.Text.Json;

namespace RobotLib.Movement
{
    public class DevLineSensor : DevBase
    {
        private const string TOPIC_ROBO_CALIB_CMD = "/mobile/cmd/line_sens/calib";
        private const string TOPIC_ROBO_GET_CALIB = "/mobile/cmd/line_sens/get_calib";
        private const string TOPIC_ROBO_CALIB_STATE = "/mobile/state/line_sens/calib_data";

        public event EventHandler<LineSensorCalibrationDataEventArgs> NewCalibrationDataArrived;

        public DevLineSensor(IPublisherSubscriber com) : base(com, new List<string>() { TOPIC_ROBO_CALIB_STATE }) { }

        public void GetCalibrationData()
        {
            base.SendMessage(TOPIC_ROBO_GET_CALIB, true.ToString());
        }

        public void StartCalibration(bool start)
        {
            string payload = JsonSerializer.Serialize(new Dictionary<string, bool>() { { "start", start } });
            base.SendMessage(TOPIC_ROBO_CALIB_CMD, payload);
        }

        protected override void ParseMessage(string fromTopic, string message)
        {
            if (fromTopic == TOPIC_ROBO_CALIB_STATE)
            {
                var parsedState = GetValueFromMesage<string>("state", message);
                var parsedValues = GetValueFromMesage<string>("data", message);

                if (parsedState == null) parsedState = "?";
                if (parsedValues == null) parsedValues = "?";

                LineSensorCalibrationDataEventArgs eventArgs = new(parsedState, parsedValues);
                NewCalibrationDataArrived?.Invoke(this, eventArgs);
            }
        }

        private T GetValueFromMesage<T>(string parameter, string message)
        {
            var data = JsonSerializer.Deserialize<Dictionary<string, T>>(message);
            data.TryGetValue(parameter, out T value);
            return value;
        }
    }
}