/// <summary>
/// LEGO Read Sensor Type
/// </summary>
/// <param name="port"></param>
public I2CReadSensorType(NxtSensorPort port)
{
TXData = new byte[] { NxtCommon.DefaultI2CBusAddress, 0x08 };
ExpectedI2CResponseSize = 16;
Port = port;
base.RequireResponse = true;
}
/// <summary>
/// HiTechnic Read Compass Sensor Data
/// </summary>
/// <param name="port"></param>
/// <param name="ultraSonicVariable"></param>
public I2CReadSonarSensor(NxtSensorPort port, UltraSonicPacket ultraSonicVariable)
: base()
{
TXData = new byte[] { NxtCommon.DefaultI2CBusAddress, (byte)ultraSonicVariable };
ExpectedI2CResponseSize = 1;
Port = port;
}
/// <summary>
/// LegoLSWrite
/// </summary>
/// <param name="port"></param>
/// <param name="txData"></param>
/// <param name="rxDataLength"></param>
public LegoLSWrite(NxtSensorPort port, byte[] txData, byte rxDataLength)
: base(3, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.LSWrite, 0x00, 0x00, 0x00)
{
this.Port = port;
this.TXData = txData;
this.ExpectedI2CResponseSize = rxDataLength;
}
/// <summary>
/// MindSensors Read Compass Sensor Data
/// </summary>
/// <param name="port"></param>
public I2CInitializeMindSensorsCompass(NxtSensorPort port)
: base()
{
TXData = new byte[] { NxtCommon.DefaultI2CBusAddress, 0x41, 0x49 };
ExpectedI2CResponseSize = 0;
Port = port;
}
/// <summary>
/// MindSensors Read Accelerometer Sensor Data
/// </summary>
/// <param name="port"></param>
public I2CReadMindSensorsAccelerationSensor(NxtSensorPort port)
: base()
{
TXData = new byte[] { NxtCommon.DefaultI2CBusAddress, 0x42 };
ExpectedI2CResponseSize = 9;
Port = port;
}
/// <summary>
/// <para>GETINPUTVALUES</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 8.</para>
/// <para>Used with passive sensors like the Touch, Light and Sound sensors.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
/// <returns>Returns a NxtGetInputValues with the parsed reply</returns>
public NxtGetInputValuesReply?GetInputValues(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte)NxtCommand.GetInputValues,
(byte)sensorPort
};
byte[] reply = Send(request);
if (reply == null)
{
return(null);
}
byte sensorPortOut = reply[3];
if (sensorPortOut != (byte)sensorPort)
{
throw new NxtException(string.Format("Output sensor port, {0}, was different from input sensor port, {1}.", sensorPortOut, sensorPort));
}
NxtGetInputValuesReply result;
result.valid = (reply[4] != 0x00);
result.calibrated = (reply[5] != 0x00);
result.sensorType = (NxtSensorType)reply[6];
result.sensorMode = (NxtSensorMode)reply[7];
result.rawAdValue = Util.GetUInt16(reply, 8);
result.normalizedAdValue = Util.GetUInt16(reply, 10);
result.scaledValue = Util.GetInt16(reply, 12);
result.calibratedValue = Util.GetInt16(reply, 14);
return(result);
}
/// <summary>
/// <para>LSWRITE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Writes data to the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">Sensor port</param>
/// <param name="txData">Tx Data</param>
/// <param name="rxDataLength">Rx Data Length</param>
/// <seealso cref="LsRead"/>
/// <seealso cref="LsGetStatus"/>
public void LsWrite(NxtSensorPort sensorPort, byte[] txData, byte rxDataLength)
{
byte txDataLength = (byte)txData.Length;
if (txDataLength == 0)
{
throw new ArgumentException("No data to send.");
}
if (txDataLength > 16)
{
throw new ArgumentException("Tx data may not exceed 16 bytes.");
}
if (rxDataLength < 0 || 16 < rxDataLength)
{
throw new ArgumentException("Rx data length should be in the interval 0-16.");
}
byte[] request = new byte[5 + txDataLength];
request[0] = (byte)(ReplyRequired ? 0x00 : 0x80);
request[1] = (byte)NxtCommand.LsWrite;
request[2] = (byte)sensorPort;
request[3] = txDataLength;
request[4] = rxDataLength;
txData.CopyTo(request, 5);
Send(request);
}
/// <summary>
/// Post Configure Sensor Connection with body and return the response port.
/// </summary>
/// <param name="sensorPort"></param>
/// <returns></returns>
public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(NxtSensorPort sensorPort)
{
ConnectToBrick op = new ConnectToBrick(sensorPort);
this.PostUnknownType(op);
return(op.ResponsePort);
}
/// <summary>
/// HiTechnic Read Compass Sensor Data
/// </summary>
/// <param name="port"></param>
public I2CReadHiTechnicCompassSensor(NxtSensorPort port)
: base()
{
TXData = new byte[] { NxtCommon.DefaultI2CBusAddress, 0x41 };
this.ExpectedI2CResponseSize = 5;
Port = port;
}
/// <summary>
/// Send an I2C command to the specified address
/// </summary>
/// <param name="port"></param>
/// <param name="address"></param>
/// <param name="i2CBusAddress"></param>
public I2CSendCommand(NxtSensorPort port, int address, int i2CBusAddress)
: base()
{
TXData = new byte[] { (byte)i2CBusAddress, (byte)address };
ExpectedI2CResponseSize = 0;
Port = port;
RequireResponse = true;
}
/// <summary>
/// <para>Attaches a sensor to the NXT brick.</para>
/// </summary>
/// <param name="sensor">The sensor</param>
/// <param name="port">The port to attach the sensor to</param>
private void AttachSensor(NxtSensor sensor, NxtSensorPort port)
{
if (sensor != null)
{
sensor.Brick = this;
sensor.Port = port;
sensorArr[port] = sensor;
}
}
/// <summary>
/// <para>RESETINPUTSCALEDVALUE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 8.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
public void ResetInputScaledValue(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
(byte)(ReplyRequired ? 0x00 : 0x80),
(byte)NxtCommand.ResetInputScaledValue,
(byte)sensorPort
};
Send(request);
}
/// <summary>
/// <para>SETINPUTMODE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 7.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
/// <param name="sensorType">Sensor Type</param>
/// <param name="sensorMode">Sensor Mode</param>
public void SetInputMode(NxtSensorPort sensorPort, NxtSensorType sensorType, NxtSensorMode sensorMode)
{
byte[] request = new byte[] {
(byte)(ReplyRequired ? 0x00 : 0x80),
(byte)NxtCommand.SetInputMode,
(byte)sensorPort,
(byte)sensorType,
(byte)sensorMode
};
Send(request);
}
/// <summary>
/// <para>LSGETSTATUS</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Returns the number of bytes ready in the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">Sensor port</param>
/// <returns>Bytes Ready (count of available bytes to read)</returns>
/// <seealso cref="LsRead"/>
/// <seealso cref="LsWrite"/>
public byte?LsGetStatus(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte)NxtCommand.LsGetStatus,
(byte)sensorPort
};
byte[] reply = Send(request);
if (reply == null)
{
return(null);
}
byte bytesReady = reply[3];
return(bytesReady);
}
/// <summary>
/// <para>LSREAD</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Reads data from the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">The sensor port</param>
/// <returns>The data read from the port</returns>
/// <seealso cref="LsGetStatus"/>
/// <seealso cref="LsWrite"/>
public byte[] LsRead(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte)NxtCommand.LsRead,
(byte)sensorPort
};
byte[] reply = Send(request);
if (reply == null)
{
return(null);
}
byte bytesRead = reply[3];
byte[] rxData = new byte[bytesRead];
Array.Copy(reply, 4, rxData, 0, bytesRead);
return(rxData);
}
/// <summary>
/// MindSensors Accelerometer Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public AccelerometerConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// Configure Device Connection
/// </summary>
/// <param name="sensorPort"></param>
public ConnectToBrick(NxtSensorPort sensorPort)
: base(new AccelerometerConfig(sensorPort))
{
}
/// <summary>
/// Get the HardwareIdentifier representation of a NxtSensorPort (1-4).
/// </summary>
/// <param name="port"></param>
/// <returns></returns>
public static int HardwareIdentifier(NxtSensorPort port)
{
return ((int)(PortNumber(port) + 1));
}
/// <summary>
/// Get the integer representation of a NxtSensorPort (zero based).
/// </summary>
/// <param name="port"></param>
/// <returns></returns>
public static byte PortNumber(NxtSensorPort port)
{
switch (port)
{
case NxtSensorPort.Sensor1:
return 0;
case NxtSensorPort.Sensor2:
return 1;
case NxtSensorPort.Sensor3:
return 2;
case NxtSensorPort.Sensor4:
return 3;
default:
return 0;
}
}
/// <summary>
/// LEGO NXT Command: Set Input Mode
/// </summary>
/// <param name="sensorPort"></param>
/// <param name="sensorType"></param>
/// <param name="sensorMode"></param>
public LegoSetInputMode(NxtSensorPort sensorPort, LegoSensorType sensorType, LegoSensorMode sensorMode)
: base(3, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.SetInputMode, 0x00, 0x00, 0x00)
{
InputPort = sensorPort;
SensorType = sensorType;
SensorMode = sensorMode;
}
/// <summary>
/// LEGO NXT Color Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public ColorSensorConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// <para>LSGETSTATUS</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Returns the number of bytes ready in the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">Sensor port</param>
/// <returns>Bytes Ready (count of available bytes to read)</returns>
/// <seealso cref="LsRead"/>
/// <seealso cref="LsWrite"/>
public byte? LsGetStatus(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte) NxtCommand.LsGetStatus,
(byte) sensorPort
};
byte[] reply = Send(request);
if (reply == null) return null;
byte bytesReady = reply[3];
return bytesReady;
}
/// <summary>
/// <para>Attaches a sensor to the NXT brick.</para>
/// </summary>
/// <param name="sensor">The sensor</param>
/// <param name="port">The port to attach the sensor to</param>
private void AttachSensor(NxtSensor sensor, NxtSensorPort port)
{
if (sensor != null)
{
sensor.Brick = this;
sensor.Port = port;
sensorArr[port] = sensor;
}
}
/// <summary>
/// <para>SETINPUTMODE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 7.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
/// <param name="sensorType">Sensor Type</param>
/// <param name="sensorMode">Sensor Mode</param>
public void SetInputMode(NxtSensorPort sensorPort, NxtSensorType sensorType, NxtSensorMode sensorMode)
{
byte[] request = new byte[] {
(byte) (ReplyRequired ? 0x00 : 0x80),
(byte) NxtCommand.SetInputMode,
(byte) sensorPort,
(byte) sensorType,
(byte) sensorMode
};
Send(request);
}
/// <summary>
/// <para>GETINPUTVALUES</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 8.</para>
/// <para>Used with passive sensors like the Touch, Light and Sound sensors.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
/// <returns>Returns a NxtGetInputValues with the parsed reply</returns>
public NxtGetInputValuesReply? GetInputValues(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte) NxtCommand.GetInputValues,
(byte) sensorPort
};
byte[] reply = Send(request);
if (reply == null) return null;
byte sensorPortOut = reply[3];
if (sensorPortOut != (byte)sensorPort)
throw new NxtException(string.Format("Output sensor port, {0}, was different from input sensor port, {1}.", sensorPortOut, sensorPort));
NxtGetInputValuesReply result;
result.valid = (reply[4] != 0x00);
result.calibrated = (reply[5] != 0x00);
result.sensorType = (NxtSensorType)reply[6];
result.sensorMode = (NxtSensorMode)reply[7];
result.rawAdValue = Util.GetUInt16(reply, 8);
result.normalizedAdValue = Util.GetUInt16(reply, 10);
result.scaledValue = Util.GetInt16(reply, 12);
result.calibratedValue = Util.GetInt16(reply, 14);
return result;
}
/// <summary>
/// LEGO NXT Touch Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public TouchSensorConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// Configure Device Connection
/// </summary>
/// <param name="sensorPort"></param>
public ConnectToBrick(NxtSensorPort sensorPort)
: base(new LightSensorConfig(sensorPort))
{
}
/// <summary>
/// Configure Device Connection
/// </summary>
/// <param name="sensorPort"></param>
public ConnectToBrick(NxtSensorPort sensorPort)
: base(new CompassConfig(sensorPort))
{
}
/// <summary>
/// LEGO NXT Low Speed (I2C) Read
/// </summary>
/// <param name="port"></param>
public LegoLSRead(NxtSensorPort port)
: base(20, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.LSRead, 0x00)
{
base.RequireResponse = true;
Port = port;
}
/// <summary>
/// <para>LSREAD</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Reads data from the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">The sensor port</param>
/// <returns>The data read from the port</returns>
/// <seealso cref="LsGetStatus"/>
/// <seealso cref="LsWrite"/>
public byte[] LsRead(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
0x00,
(byte) NxtCommand.LsRead,
(byte) sensorPort
};
byte[] reply = Send(request);
if (reply == null) return null;
byte bytesRead = reply[3];
byte[] rxData = new byte[bytesRead];
Array.Copy(reply, 4, rxData, 0, bytesRead);
return rxData;
}
/// <summary>
/// LEGO NXT Sonar Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public SonarSensorConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// <para>LSWRITE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 10.</para>
/// <para>Writes data to the LowSpeed port. Used with digital sensors like the Ultrasonic sensor.</para>
/// </remarks>
/// <param name="sensorPort">Sensor port</param>
/// <param name="txData">Tx Data</param>
/// <param name="rxDataLength">Rx Data Length</param>
/// <seealso cref="LsRead"/>
/// <seealso cref="LsGetStatus"/>
public void LsWrite(NxtSensorPort sensorPort, byte[] txData, byte rxDataLength)
{
byte txDataLength = (byte)txData.Length;
if (txDataLength == 0)
throw new ArgumentException("No data to send.");
if (txDataLength > 16)
throw new ArgumentException("Tx data may not exceed 16 bytes.");
if (rxDataLength < 0 || 16 < rxDataLength)
throw new ArgumentException("Rx data length should be in the interval 0-16.");
byte[] request = new byte[5 + txDataLength];
request[0] = (byte)(ReplyRequired ? 0x00 : 0x80);
request[1] = (byte)NxtCommand.LsWrite;
request[2] = (byte)sensorPort;
request[3] = txDataLength;
request[4] = rxDataLength;
txData.CopyTo(request, 5);
Send(request);
}
/// <summary>
/// LEGO NXT Command: GetInputValues
/// </summary>
/// <param name="inputPort"></param>
public LegoGetInputValues(NxtSensorPort inputPort)
: base(16, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.GetInputValues, 0x00)
{
base.RequireResponse = true;
InputPort = inputPort;
}
/// <summary>
/// LEGO NXT Light Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public LightSensorConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// HiTechnic Compass Sensor Configuration.
/// </summary>
/// <param name="sensorPort"></param>
public CompassConfig(NxtSensorPort sensorPort)
{
this.SensorPort = sensorPort;
}
/// <summary>
/// LEGO NXT Command: Low Speed (I2C) Get Status
/// </summary>
/// <param name="port"></param>
public LegoLSGetStatus(NxtSensorPort port)
: base(4, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.LSGetStatus, 0x00)
{
base.RequireResponse = true;
Port = port;
}
/// <summary>
/// <para>RESETINPUTSCALEDVALUE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 8.</para>
/// </remarks>
/// <param name="sensorPort">Input Port</param>
public void ResetInputScaledValue(NxtSensorPort sensorPort)
{
byte[] request = new byte[] {
(byte) (ReplyRequired ? 0x00 : 0x80),
(byte) NxtCommand.ResetInputScaledValue,
(byte) sensorPort
};
Send(request);
}
/// <summary>
/// LEGO Command: ResetInputScaledValue.
/// </summary>
/// <param name="inputPort"></param>
public LegoResetInputScaledValue(NxtSensorPort inputPort)
: base(LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.ResetInputScaledValue, 0x00)
{
this.InputPort = inputPort;
}