public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
var Device = Brick.SensorDevice(Port);
Device.Value1 = Command.ResData[StartIndex + 2];
Device.Value2 = Command.ResData[StartIndex + 3];
Device.Value3 = Command.ResData[StartIndex + 4];
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR;
return(base.Update(Command, Brick, Port, StartIndex) + 3);
}
public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
short Distance = (short)
((ushort)Command.ResData[StartIndex + 2] +
(((ushort)Command.ResData[StartIndex + 3]) << 8));
byte IsListen = Command.ResData[StartIndex + 4];
var Device = Brick.SensorDevice(Port);
Device.Value1 = Distance;
Device.Value2 = IsListen;
Device.Value3 = 0;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC;
return(base.Update(Command, Brick, Port, StartIndex) + 3);
}
public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
short Angle = (short)
((ushort)Command.ResData[StartIndex + 2] +
(((ushort)Command.ResData[StartIndex + 3]) << 8));
short Speed = (short)
((ushort)Command.ResData[StartIndex + 4] +
(((ushort)Command.ResData[StartIndex + 5]) << 8));
var Device = Brick.SensorDevice(Port);
Device.Value1 = Angle;
Device.Value2 = Speed;
Device.Value3 = 0;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO;
return(base.Update(Command, Brick, Port, StartIndex) + 4);
}
/// <summary>
/// Update sensor device information of Ev3 Brick by GetSensors command.
/// </summary>
/// <param name="Command">GetSensors command.</param>
/// <param name="Brick">Object to set data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_0E_00)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
var Device = Brick.SensorDevice(Index);
Device.ConnectedPort = (Ev3Device.INPORT)Index;
DEVICE_TYPE DeviceType = DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE;
byte Type = Command.ResData[DataTopIndex + Index];
bool HasValue = DeviceTypeDictionary.ContainsKey(Type);
if (HasValue)
{
DeviceType = DeviceTypeDictionary[Type];
}
else
{
DeviceType = DEVICE_TYPE.SENSOR_DEVICE_UNKNOWN;
}
Device.DeviceType = DeviceType;
switch (DeviceType)
{
case DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC:
case DEVICE_TYPE.SENSOR_DEVICE_GYRO:
case DEVICE_TYPE.SENSOR_DEVICE_TOUCH:
case DEVICE_TYPE.SENSOR_DEVICE_COLOR:
case DEVICE_TYPE.SENSOR_DEVICE_HT_NXT_ACCEL:
case DEVICE_TYPE.SENSOR_DEVICE_NXT_TEMP:
Device.IsConnected = true;
break;
default:
Device.IsConnected = false;
break;
}
}
}
}
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_40_00)
{
int Index = 0;
int DataTopIndex = 4;
int DevNum = Command.ResData[DataTopIndex++];
for (Index = 0; Index < DevNum; Index++)
{
int DataIndex = DataTopIndex + (Index * 2);
byte Port = Command.ResData[DataIndex++];
byte IsTouch = Command.ResData[DataIndex];
var Device = Brick.SensorDevice(Port);
Device.ConnectedPort = (Ev3Device.INPORT)Port;
Device.IsConnected = true;
Device.Value1 = IsTouch;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_TOUCH;
}
}
}
