HBLConsole/HBLConsole.Communication/LebaiHelper.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Lebai.SDK;
using Lebai.SDK.Dtos;
using Robotc;

namespace HBLConsole.Communication
{
    public class LebaiHelper
    {

        private volatile static LebaiHelper _Instance;
        public static LebaiHelper GetInstance => _Instance ?? (_Instance = new LebaiHelper());
        private LebaiHelper() { }
        private LebaiRobotClient client;
        public void Connect(string ip)
        {
            client = new LebaiRobotClient(ip);
        }

        /// <summary>
        /// 获取信号量
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public SignalResult GetValueAsync(int index = 0)
        {
            SignalValue signalValue = new SignalValue();
            signalValue.Index = index;
            return client?.GetSignal(signalValue).Result;
        }

        /// <summary>
        /// 设置信号量
        /// </summary>
        /// <param name="index"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public SignalResult SetValue(int value, int index = 0)
        {
            SignalValue signalValue = new SignalValue();
            signalValue.Index = index;
            signalValue.Value = value;
            return client.SetSignal(signalValue).Result;
        }

        /// <summary>
        /// 运行指定的场景
        /// </summary>
        /// <param name="id"></param>
        public void Scene(int id)
        {
            client?.RunScene(id);
        }
    }
}