/// <summary>
/// Write and read an array of bytes to the sensor
/// </summary>
/// <returns>The bytes that was read</returns>
/// <param name="register">Register to write to.</param>
/// <param name="data">Byte array to write</param>
/// <param name="rxLength">Length of the expected reply</param>
protected byte[] WriteAndRead(byte register, byte[] data, int rxLength)
{
if (rxLength > BufferSize)
{
throw new ArgumentOutOfRangeException("I2C Receive Buffer only holds " + BufferSize + " bytes");
}
if (data.Length > BufferSize)
{
throw new ArgumentOutOfRangeException("I2C Write Buffer only holds " + BufferSize + " bytes");
}
bool dataReady = false;
int replyIndex = 0;
byte[] writeData = new byte[BufferSize]; //30
Array.Copy(data, 0, writeData, 0, data.Length);
ByteArrayCreator command = new ByteArrayCreator();
command.Append((int)-1);
command.Append((byte)this.port);
command.Append((byte)1); //repeat
command.Append((short)0); //time
command.Append((byte)(data.Length + 2)); //length of write data
command.Append((byte)((byte)I2CAddress >> 1));
command.Append(register);
command.Append(writeData);
command.Append((byte)-rxLength);
replyIndex = command.Data.Length;
command.Append(new byte[BufferSize]); //make room for reply
byte[] i2cData = command.Data;
while (!dataReady)
{
unchecked {
I2CDevice.IoCtl((Int32)I2CIOSetup, i2cData);
}
int status = BitConverter.ToInt32(i2cData, 0);
if (status < 0)
{
throw new Exception("I2C I/O error");
}
if (status == 0)
{
byte[] reply = new byte[rxLength];
if (rxLength > 0)
{
Array.Copy(i2cData, replyIndex, reply, 0, rxLength);
}
return(reply);
}
}
throw new TimeoutException("I2C timeout");
}
static bool Shutdown(Lcd lcd, Buttons btns)
{
var dialog = new QuestionDialog(Font.MediumFont, lcd, btns, "Are you sure?", "Shutdown EV3");
dialog.Show();
if (dialog.IsPositiveSelected)
{
lcd.Clear();
lcd.WriteText(font, new Point(0, 0), "Shutting down...", true);
lcd.Update();
using (UnixDevice dev = new UnixDevice("/dev/lms_power"))
{
dev.IoCtl(0, new byte[0]);
}
btns.LedPattern(2);
MenuAction = () => ProcessHelper.RunAndWaitForProcess("/lejos/bin/exit");
return(true);
}
return(false);
}
/// <summary>
/// Gets the sensor info based on the mode
/// </summary>
/// <returns>Raw Sensor info data</returns>
protected byte[] GetSensorInfo()
{
ByteArrayCreator command = new ByteArrayCreator();
command.Append(new Byte[SensorInfoLength]);
/*command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Byte());
* command.Append(new Single());
* command.Append(new Single());
* command.Append(new Single());
* command.Append(new Single());
* command.Append(new Single());
* command.Append(new Single());
*
*
* command.Append(new Int16());
* command.Append(new Int16());
* command.Append(new Byte());
* command.Append (new Byte[5]);
* command.Append(new Int16());*/
command.Append((byte)this.port);
command.Append((byte)this.uartMode);
byte[] uartData = command.Data;
unchecked {
UartDevice.IoCtl((Int32)UartIOReadModeInfo, uartData);
}
return(uartData);
}