ADIS_Projects/ADIS_Csharp/RobotLib/Robot.cs

using RobotLib.Communication;
using RobotLib.SplitFlap;
using RobotLib.Movement;
using RobotLib.Battery;
using System.Timers;
using RobotLib.Status;

namespace RobotLib
{
    public class Robot
    {
        public IPublisherSubscriber Com { get; }
        public RobotMode Mode { get; }

        //public DevBuzzer Buzzer { get; }
        public DevBattery Battery { get; }
        public DevSplitFlap SplitFlap { get; }
        public DevMovement Movement { get; }
        public DevLineSensor LineSensor { get; }
        public DevStatus Status { get; }

        public Robot(IPublisherSubscriber com, RobotMode mode)
        {
            Com = com;
            Mode = mode;
            if(mode == RobotMode.Undefined)
            {
                throw new System.ArgumentException("Undefined robot mode, must define mode!");
            }

            // battery is applicable for both modes
            Battery = new DevBattery(Com, mode);

            if(mode == RobotMode.Mobile)
            {
                //Buzzer = new DevBuzzer(Com);
                LineSensor = new DevLineSensor(com);
                Movement = new DevMovement(com);
                Status = new DevStatus(com);
            }
            else if(mode == RobotMode.Stationary)
            {
                SplitFlap = new DevSplitFlap(com);
            }

            Timer timer = new Timer
            {
                Interval = 1000
            };
            timer.Enabled= true;
            timer.Elapsed += Timer_Elapsed;
        }

        private void Timer_Elapsed(object sender, ElapsedEventArgs e)
        {
            if (Com.IsConnected)
            {
                Battery?.UpdateLastResponse();
                //Battery?.RequestBatteryVoltage();  // is automatically sent by robot
            }
        }
    }
}