/// <summary>
/// Determine how long we should wait before reading a command response on the serial port.
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
private TimeSpan CalcMinWaitTimeSpan(LegoCommandCode code)
{
// If this command hasn't been run before, get a baseline.
if (!_state.RuntimeStatistics.ContainsKey(code))
{
return(new TimeSpan((long)1));
}
long ticks = (long)(_state.RuntimeStatistics[code].MinimumMicroseconds * 10.0);
long ms = ticks / 10000;
if (ms < 5) // min -1/2 ms
{
return(new TimeSpan(ticks - 5000));
}
if (ms < 20) // min -1 ms
{
return(new TimeSpan(ticks - 10000));
}
// min -5 ms
return(new TimeSpan(ticks - 50000));
}
/// <summary>
/// Determine how long we should wait before reading a command response on the serial port.
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
private TimeSpan CalcMinWaitTimeSpan(LegoCommandCode code)
{
// If this command hasn't been run before, get a baseline.
if (!_state.RuntimeStatistics.ContainsKey(code))
return new TimeSpan((long)1);
long ticks = (long)(_state.RuntimeStatistics[code].MinimumMicroseconds * 10.0);
long ms = ticks / 10000;
if (ms < 5) // min -1/2 ms
return new TimeSpan(ticks - 5000);
if (ms < 20) // min -1 ms
return new TimeSpan(ticks - 10000);
// min -5 ms
return new TimeSpan(ticks - 50000);
}
public CodeTimer(LegoCommandCode commandCode, double uSec)
{
CommandCode = commandCode;
USec = uSec;
}
public CodeTimer(LegoCommandCode commandCode, double uSec)
{
CommandCode = commandCode;
USec = uSec;
}
/// <summary>
/// Communication statistics by LEGO Command.
/// </summary>
/// <param name="commandCode"></param>
public LegoCommandStat(LegoCommandCode commandCode)
{
CommandCode = commandCode;
}
/// <summary>
/// Initializes the header of the command to be sent to the NXT.
/// Byte 0 will contain the command type and byte 1 the command code.
/// </summary>
/// <param name="commandCode">The command to be sent to the NXT.</param>
/// <param name="type">The type of the command.</param>
/// <param name="dataLength">The length of the complete message in bytes.</param>
/// <returns>
/// A byte array with the length of the complete message,
/// initialized with the command and command type.
/// </returns>
/// <exception cref="ArgumentOutOfRangeException">If the <paramref name="dataLength"/> is less than 2.</exception>
public static byte[] InitializeData(LegoCommandCode commandCode, CommandType type, int dataLength)
{
// Validate dataLength parameter: should be 2 or more.
if (dataLength < 2)
{
throw new ArgumentOutOfRangeException("dataLength", "Data length cannot be less than 2.");
}
// Construct a package with the specified length
var data = new byte[dataLength];
// Set byte 0 to the command type.
data[0] = (byte)type;
// Set byte 1 to the command code.
data[1] = (byte)commandCode;
return data;
}
