/*
* LEDs
*/
public IAsyncAction SetMipHeadLeds(MipRobotConstants.HEAD_LED led1, MipRobotConstants.HEAD_LED led2, MipRobotConstants.HEAD_LED led3, MipRobotConstants.HEAD_LED led4)
{
return(SendMipCommand(MipRobotConstants.COMMAND_CODE.SET_HEAD_LED, (byte)led1, (byte)led2, (byte)led3, (byte)led4).AsAsyncAction());
}
//Implement Override Functions
protected override void DidNotifyByReceiveDataCharacteristic(byte[] data)
{
switch (data[0])
{
case (byte)MipRobotConstants.COMMAND_CODE.GET_GAME_MODE:
if (data.Length == 2)
{
GameMode = BaseService.ConvertEnumFromInt <MipRobotConstants.GAME_MODE>(data[1]);
MipGameModeHandler?.Invoke(this, GameMode);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_STATUS:
if (data.Length == 3)
{
// 0x4D(4.0V) - 0x7C(6.4V)
BatteryLevel = ((data[1] - 0x4D) / (0x7C - 0x4D)) * 100;
Position = BaseService.ConvertEnumFromInt <MipRobotConstants.POSITION_VALUE>(data[2]);
MipBatteryLevelHandler?.Invoke(this, BatteryLevel);
MipPositionHandler?.Invoke(this, Position);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_HARDWARE_VERSION:
if (data.Length == 3)
{
for (byte i = 0; i < MipRobotConstants.VOICE_FIRMWARE_MAPPING.Length; i++)
{
if (data[1] > MipRobotConstants.VOICE_FIRMWARE_MAPPING[i])
{
VoiceFirmwareVersion = i;
}
}
HardwareVersion = data[2];
MipVoiceFirmwareVersionHandler?.Invoke(this, VoiceFirmwareVersion);
MipHardwareVersionHandler?.Invoke(this, HardwareVersion);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_SOFTWARE_VERSION:
if (data.Length == 5)
{
FirmwareVersionDate = new DateTime(2000 + data[1], data[2], data[3]);
FirmwareVersionId = data[4];
MipFirmwareVersionDateHandler?.Invoke(this, FirmwareVersionDate);
MipFirmwareVersionIdHandler?.Invoke(this, FirmwareVersionId);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_VOLUME_LEVEL:
if (data.Length == 2)
{
VolumeLevel = data[1];
MipVolumeLevelHandler?.Invoke(this, VolumeLevel);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_TOY_ACTIVATED_STATUS:
if (data.Length == 2)
{
ToyActivationStatus = BaseService.ConvertEnumFromInt <BluetoothRobotConstants.ACTIVATION_STATUS>(data[1]);
if (ToyActivationStatus.HasFlag(BluetoothRobotConstants.ACTIVATION_STATUS.ACTIVATE))
{
Task.Run(async() =>
{
await ActivateMipProduct();
});
}
MipToyActivationStatusHandler?.Invoke(this, ToyActivationStatus);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.RECEIVE_IR_COMMAND:
Debug.WriteLine("TODO IR Commands");
break;
case (byte)MipRobotConstants.COMMAND_CODE.GET_WEIGHT_LEVEL:
if (data.Length == 2)
{
WeightLevel = data[1];
LeaningForward = WeightLevel < 0xD3;
MipWeightLevelHandler?.Invoke(this, WeightLevel);
MipLeaningForwardHandler?.Invoke(this, LeaningForward);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.CHECK_BOOT_MODE:
if (data.Length == 2)
{
BootMode = BaseService.ConvertEnumFromInt <MipRobotConstants.PING_RESPONSE>(data[1]);
MipBootModeHandler?.Invoke(this, BootMode);
}
else if (data.Length == 1)
{
BootMode = MipRobotConstants.PING_RESPONSE.NORMAL_ROM_NO_BOOT_LOADER;
MipBootModeHandler?.Invoke(this, BootMode);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.SET_HEAD_LED:
{
HeadLight1 = BaseService.ConvertEnumFromInt <MipRobotConstants.HEAD_LED>(data[1]);
HeadLight2 = BaseService.ConvertEnumFromInt <MipRobotConstants.HEAD_LED>(data[2]);
HeadLight3 = BaseService.ConvertEnumFromInt <MipRobotConstants.HEAD_LED>(data[3]);
HeadLight4 = BaseService.ConvertEnumFromInt <MipRobotConstants.HEAD_LED>(data[4]);
MipHeadLedHandler?.Invoke(this, HeadLight1, HeadLight2, HeadLight3, HeadLight4);
}
break;
case (byte)MipRobotConstants.COMMAND_CODE.CLAPS_DETECTED:
Debug.WriteLine("TODO claps");
break;
case (byte)MipRobotConstants.COMMAND_CODE.GESTURE_DETECTED:
MipGestureDetectedHandler?.Invoke(this, BaseService.ConvertEnumFromInt <MipRobotConstants.GESTURE>(data[1]));
break;
case (byte)MipRobotConstants.COMMAND_CODE.RADAR_RESPONSE:
MipRadarResponseHandler?.Invoke(this, BaseService.ConvertEnumFromInt <MipRobotConstants.RADAR_RESPONSE>(data[1]));
break;
default:
Debug.WriteLine("Unhandled receive data {0}", data[0]);
break;
}
}