private void InitializeState()
{
if (_state == null)
{
_state = new CompassSensorState();
_state.SensorPort = (NxtSensorPort)LegoNxtPort.AnySensorPort;
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
if (_state.Heading == null)
{
_state.Heading = new CompassReading();
}
else
{
_state.Heading.Degrees = 0.0;
_state.Heading.TimeStamp = DateTime.MinValue;
}
_state.Connected = false;
}
/// <summary>
/// Post Configure Sensor Connection with body and return the response port.
/// </summary>
public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(CompassSensorState state)
{
ConnectToBrick op = new ConnectToBrick();
op.Body = new CompassConfig(state.SensorPort);
op.Body.Name = state.Name;
op.Body.PollingFrequencyMs = state.PollingFrequencyMs;
this.PostUnknownType(op);
return(op.ResponsePort);
}