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27 lines
921 B
27 lines
921 B
using RobotLib.Communication;
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using System;
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using System.Collections.Generic;
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using System.Text.Json;
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namespace RobotLib.Movement
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{
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public class DevLineSensor : DevBase
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{
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private const string TOPIC_ROBO_CALIB_CMD = "/mobile/cmd/line_sens/calib";
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private const string TOPIC_ROBO_GET_CALIB = "/mobile/cmd/line_sens/get_calib";
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private const string TOPIC_ROBO_CALIB_STATE = "/mobile/state/line_sens/calib_data";
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public DevLineSensor(IPublisherSubscriber com) : base(com, new List<string>() { }) { }
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public void GetCalibrationData()
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{
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base.SendMessage(TOPIC_ROBO_GET_CALIB, true.ToString());
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}
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public void StartCalibration(bool start)
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{
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string payload = JsonSerializer.Serialize(new Dictionary<string, bool>() { { "start", start } });
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base.SendMessage(TOPIC_ROBO_CALIB_CMD, payload);
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}
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}
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}
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