/// <summary>
/// Get some information of sphero bluetooth identification
/// </summary>
/// <param name="bluetoothCallback">Callback used to handle the response of the CoreDevice</param>
public void GetBluetoothInformation(Action<BluetoothInformation> bluetoothCallback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.CORE, CommandIDs.Core.GET_BLUETOOTH_INFO, null);
_connection.SendCommand(command, btinfoResponse =>
{
if (bluetoothCallback != null)
{
BluetoothInformation infos = new BluetoothInformation(btinfoResponse.Data);
bluetoothCallback(infos);
}
});
}
/// <summary>
/// Send a Ping command to Sphero
/// </summary>
/// <param name="pingCallback">Callback used to handle the response of the CoreDevice</param>
public void Ping(Action<bool> pingCallback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.CORE, CommandIDs.Core.PING, null);
_connection.SendCommand(command, pingResponse =>
{
if(pingCallback != null)
{
if (pingResponse.Data == null)
pingCallback(false);
pingCallback((pingResponse.Data[0] & 0x01) == 0x01);
}
});
}
/// <summary>
/// This attempts to execute the specified macro.
/// </summary>
/// <param name="macroId">Id of the macro you want to execute</param>
public void RunMacro(int macroId, Action<MessageResponseCode> callback)
{
macroId = (int)MathHelper.Clamp(macroId, 1, 255);
// Sending command
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.RUN_MACRO, new byte[] { (byte)macroId });
_connection.SendCommand(command, response =>
{
if (callback != null)
{
callback(response.ResponseCode);
}
});
}
public void RequestUserConfigurationBlock()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.GET_CONFIGURATION_BLOCK, new byte[] { 0x01 });
_connection.SendCommand(command);
}
public void StabilizationOFF()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_STABILIZATION, new byte[] { 0x00 });
_connection.SendCommand(command);
}
/// <summary>
/// Change the name of sphero
/// </summary>
/// <param name="spheroName">Name wanted</param>
public void SetDeviceName(string spheroName, Action<bool> callback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.CORE, CommandIDs.Core.SET_DEVICE_NAME, StringHelper.StringToAscii(spheroName));
_connection.SendCommand(command, response =>
{
if (callback != null)
{
if (response.ResponseCode == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
callback(true);
}
else
callback(false);
}
});
}
/// <summary>
/// This allows the smartphone client to adjust the orientation of Sphero by commanding a new reference heading in degrees, which ranges from 0 to 359. You will see the ball respond immediately to this command if stabilization is enabled.
/// </summary>
/// <param name="headingAngle">Heading in degrees (from 0 to 359)</param>
public void SetHeading(int headingAngle)
{
headingAngle = MathHelper.Clamp(headingAngle, 0, 359);
byte[] headingAngleArray = ByteHelper.IntegerToBytes(MathHelper.Clamp(headingAngle, 0, 359));
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_HEADING, headingAngleArray);
_connection.SendCommand(command);
}
/// <summary>
/// This command aborts any executing macro and returns both its ID code and the command number currently in process.
/// An exception is a System Macro that is executing with the UNKILLABLE flag set.
/// A normal return code indicates the ID Code of the aborted macro as well as the command number at which execution was stopped.
/// A return ID code of 00h indicates that no macro was running and an ID code with FFFFh as the CmdNum that the macro was unkillable.
/// </summary>
/// <param name="statusCallback">Callback used to handle the response of the SpheroDevice</param>
public void AbortMacro(Action<MacroStatus> statusCallback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.ABORT_MACRO, null);
_connection.SendCommand(command, response =>
{
if(statusCallback != null)
{
MacroStatus ms = new MacroStatus(response.Data);
statusCallback(ms);
}
});
}
/// <summary>
/// Protected Sphero commands require a password and this returns the seed to you
/// </summary>
/// <param name="passwordCallback">Callback used to handle the response of the SpheroDevice</param>
public void GetPassword(Action<byte[]> passwordCallback)
{
// Sending command
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.GET_PASSWORD_SEED, new byte[] { 0x00 });
_connection.SendCommand(command, response =>
{
if(passwordCallback != null)
{
_password = response.Data;
passwordCallback(response.Data);
}
});
}
/// <summary>
/// Turn off soul block related asynchronous messages
/// </summary>
public void DisableSSB()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.ENABLE_SSB, new byte[] { 0x00 });
_connection.SendCommand(command);
}
/// <summary>
/// This stop the boost macro from within the SSB
/// </summary>
public void BoostOFF()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.BOOST, new byte[] { 0x00 });
_connection.SendCommand(command);
}
/// <summary>
/// Roll along sphero in angle direction with speed velocity
/// </summary>
/// <param name="angle">Direction the sphero will roll (from 0 to 359)</param>
/// <param name="speed">Sphero speed (from 0 to 1.0f)</param>
public void Roll(int angle, float speed)
{
byte[] byteAngle = ByteHelper.IntegerToBytes((int)MathHelper.Clamp(angle, 0, 359));
speed = MathHelper.Clamp(speed, 0, 1.0f);
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.ROLL, new byte[] { (byte)MathHelper.Lerp(0, 255, speed), byteAngle[0], byteAngle[1], 1 });
_connection.SendCommand(command);
}
/// <summary>
/// Set the RGB color of the Front LED
/// </summary>
/// <param name="red">Red part of the color (from 0 to 1.0f)</param>
/// <param name="green">Green part of the color (from 0 to 1.0f)</param>
/// <param name="blue">Blue part of the color (from 0 to 1.0f)</param>
public void SetRGBLED(float red, float green, float blue)
{
red = MathHelper.Clamp(red, 0, 1.0f);
green = MathHelper.Clamp(green, 0, 1.0f);
blue = MathHelper.Clamp(blue, 0, 1.0f);
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_RBG_LED, new byte[] { (byte)MathHelper.Lerp(0, 255, red), (byte)MathHelper.Lerp(0, 255, green), (byte)MathHelper.Lerp(0, 255, blue) });
_connection.SendCommand(command);
}
/// <summary>
/// Set the RGB color of the Front LED
/// </summary>
/// <param name="red">Red part of the color (from 0 to 255)</param>
/// <param name="green">Green part of the color (from 0 to 255)</param>
/// <param name="blue">Blue part of the color (from 0 to 255)</param>
public void SetRGBLED(int red, int green, int blue)
{
red = MathHelper.Clamp(red, 0, 255);
green = MathHelper.Clamp(green, 0, 255);
blue = MathHelper.Clamp(blue, 0, 255);
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_RBG_LED, new byte[] { (byte)red, (byte)green, (byte)blue });
_connection.SendCommand(command);
}
/// <summary>
/// Set the back LED intensity
/// </summary>
/// <param name="intensity">Intensity of the back LED (from 0 to 1.0f)</param>
public void SetBackLED(float intensity)
{
intensity = MathHelper.Clamp(intensity, 0, 1.0f);
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_BACK_LED, new byte[] { (byte)MathHelper.Lerp(0, 255, intensity) });
_connection.SendCommand(command);
}
/// <summary>
/// This stores the attached macro definition into the temporary RAM buffer for later execution.
/// </summary>
/// <param name="macro">Macro to save temporary</param>
public void SaveTemporaryMacro(Macro macro, Action<MessageResponseCode> callback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.SAVE_TEMPORARY_MACRO, macro.ToArray());
_connection.SendCommand(command, response =>
{
if(callback != null)
{
callback(response.ResponseCode);
}
});
}
/// <summary>
/// This terminates any running macro and reinitializes the macro system. The table of any persistent user macros is cleared.
/// </summary>
public void ReinitMacroExecutive(Action<MessageResponseCode> callback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.REINIT_MACRO, null);
_connection.SendCommand(command, response =>
{
if(callback != null)
{
callback(response.ResponseCode);
}
});
}
/// <summary>
/// This command retrieves Sphero's Soul Block
/// </summary>
public void GetSSB()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.GET_SSB, null);
_connection.SendCommand(command);
}
/// <summary>
/// Sphero contains a powerful analysis function to filter accelerometer data in order to detect collisions.
/// Because this is a great example of a high-level concept that humans excel and – but robots do not – a number of parameters control the behavior.
/// When a collision is detected an asynchronous message is generated to the client .
/// </summary>
/// <param name="method">Detection method type to use</param>
/// <param name="xThreshold">Threshold for the X (left/right) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="xSpeed">Speed value for the X axe. This setting is ranged by the speed, then added to Xt to generate the final threshold value.</param>
/// <param name="yThreshold">Threshold for the Y (front/back) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="ySpeed">Speed value for the YX axe. This setting is ranged by the speed, then added to Yt to generate the final threshold value.</param>
/// <param name="dead">Post-collision dead time to prevent retriggering; specified in 10ms increments.</param>
public void ConfigureCollisionDetection(CollisionMethod method, byte xThreshold, byte xSpeed, byte yThreshold, byte ySpeed, byte dead)
{
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.CONFIGURE_COLLISION_DETECTION, new byte[] { (byte)method, xThreshold, xSpeed, yThreshold, ySpeed, dead });
_connection.SendCommand(command);
}
/// <summary>
/// Assigns the user hack mode of Sphero
/// </summary>
public void UserHackMode()
{
// Sending command
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_DEVICE_MODE, new byte[] { (byte)DeviceMode.UserHackMode });
_connection.SendCommand(command);
}
/// <summary>
/// When this method is call, CoreDevice will stop firing OnPowerStateNotification
/// </summary>
public void SetPowerStateNotificationOFF()
{
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.CORE, CommandIDs.Core.SET_POWER_NOTIFICATION, new byte[] { 0x00 });
_connection.SendCommand(command);
}
/// <summary>
/// Add some minutes experience
/// </summary>
/// <param name="minutes">minutes to add</param>
/// <param name="toNextLevelCallback">Callback used to handle the response of the SpheroDevice</param>
public void AddXP(int minutes, Action<byte[]> toNextLevelCallback)
{
if (_password == null)
return;
if (_password.Length != 4)
return;
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.ADD_XP, new byte[] { _password[0], _password[1], _password[2], _password[3], (byte)minutes });
_connection.SendCommand(command, response =>
{
// TODO : handle response
Debug.WriteLine("XP : ", BitConverter.ToString(response.ToArray()));
});
}
/// <summary>
/// Define data streaming notifications
/// </summary>
public void SetDataStreaming(int N, int M, uint mask, uint mask2)
{
if (M > 1)
throw new NotImplementedException("Not implemented for M > 1");
byte[] nArray = ByteHelper.IntegerToBytes(N);
byte[] mArray = ByteHelper.IntegerToBytes(M);
_mask = mask;
_mask2 = mask2;
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_DATA_STREAMING, new byte[] { nArray[0], nArray[1], // N
mArray[0], mArray[1], // M
(byte)(_mask >> 24), (byte)(_mask >> 16), (byte)(_mask >> 8), (byte)_mask, // MASK
0x00,
(byte)(_mask2 >> 24), (byte)(_mask2 >> 16), (byte)(_mask2 >> 8), (byte)_mask2});
_connection.SendCommand(command);
}
/// <summary>
/// Stop data streaming notifications
/// </summary>
public void StopDataStreaming()
{
byte[] N = ByteHelper.IntegerToBytes(20);
byte[] M = ByteHelper.IntegerToBytes(1);
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.SET_DATA_STREAMING, new byte[] { 0x00, 0x00, // N
0x00, 0x00, // M
0x00, 0x00, 0x00, 0x00, // MASK
0x00,
0x00, 0x00, 0x00, 0x00});
_connection.SendCommand(command);
}
/// <summary>
/// Get different informaitons about versions of Sphero, like Hardware version, soft version ...
/// </summary>
/// <param name="SpheroVersion">Callback used to handle the response of the CoreDevice</param>
public void GetVersioning(Action<SpheroVersion> spheroVersionCallback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.CORE, CommandIDs.Core.GET_VERSIONING, null);
_connection.SendCommand(command, response =>
{
SpheroVersion versionInformations = new SpheroVersion(response.Data);
if (spheroVersionCallback != null)
spheroVersionCallback(versionInformations);
});
}
/// <summary>
/// Send a CommandPacket object to the sphero device
/// </summary>
/// <param name="packet">Command to send to sphero device</param>
/// <param name="responseCallback">If a response is needed, the responseCallback will be call with response data</param>
public async void SendCommand(CommandPacket packet, Action<ResponsePacket> responseCallback = null)
{
DataWriter dataWriter = new DataWriter();
try
{
if (packet.NeedResponse)
{
// Create async lock
await _syncLock.WaitAsync();
packet.SetSequenceNumber(_currentSeq);
_responseDictionnary.Add(_currentSeq, responseCallback);
_currentSeq++;
// Reinit sequence Number
if (_currentSeq == 0xFE)
_currentSeq = 0x01;
// Show message in output window
if (Verbose)
Debug.WriteLine(BitConverter.ToString(packet.ToArray()));
// Release async lock
_syncLock.Release();
}
else
packet.SetSequenceNumber(0);
// Write de commandpacket array on the socket
await _socket.OutputStream.WriteAsync(packet.ToArray().AsBuffer());
await _socket.OutputStream.FlushAsync();
}
catch (Exception ex)
{
if (Verbose)
Debug.WriteLine("Error while sending command : " + ex.Message);
}
}
