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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Tango.PMR;
using Tango.PMR.Diagnostics;
using Tango.Transport;
using Tango.Transport.Transporters;
using System.Reactive.Linq;
using System.Reactive.Concurrency;
using System.Reactive.Threading;
using Tango.PMR.Common;
namespace Tango.Integration.Operators
{
public class MachineOperator : BasicTransporter, IMachineOperator
{
/// <summary>
/// Occurs when there is new diagnostics data available.
/// </summary>
public event EventHandler<PushDiagnosticsResponse> DiagnosticsDataAvailable;
private bool _enableDiagnostics;
/// <summary>
/// Gets or sets a value indicating whether to enable diagnostics messages by requesting diagnostics messages.
/// </summary>
public bool EnableSensorsUpdate
{
get { return _enableDiagnostics; }
set
{
if (_enableDiagnostics != value)
{
_enableDiagnostics = value;
RaisePropertyChangedAuto();
OnEnableSensorsUpdateChanged(value);
}
}
}
/// <summary>
/// Called when the enable sensors update property has been changed
/// </summary>
/// <param name="value">if set to <c>true</c> [value].</param>
protected virtual void OnEnableSensorsUpdateChanged(bool value)
{
if (value && State == TransportComponentState.Connected)
{
SendContinuousRequest<PushDiagnosticsRequest, PushDiagnosticsResponse>(new TangoMessage<PushDiagnosticsRequest>(new PushDiagnosticsRequest()
{
PushMotors = true,
PushSensors = true,
}, MessageType.PushDiagnosticsRequest)).ObserveOn(new NewThreadScheduler()).Subscribe(
(response) =>
{
OnDiagnosticsDataAvailable(response);
},
(ex) =>
{
//Do I need separate event for each one ??
},
() =>
{
//What to do now ??
});
}
}
/// <summary>
/// Invokes the <see cref="DiagnosticsDataAvailable"/> event.
/// </summary>
/// <param name="data">The sensors data.</param>
protected virtual void OnDiagnosticsDataAvailable(PushDiagnosticsResponse data)
{
DiagnosticsDataAvailable?.Invoke(this, data);
}
/// <summary>
/// Called when the component state has changed.
/// </summary>
/// <param name="state">The state.</param>
protected override void OnStateChanged(TransportComponentState state)
{
base.OnStateChanged(state);
OnEnableSensorsUpdateChanged(EnableSensorsUpdate);
}
}
}
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