/// <summary>
/// Sets the LED <see cref="INavioLedDevice.Red"/>, <see cref="INavioLedDevice.Green"/> and
/// <see cref="INavioLedDevice.Blue"/> values together (in one operation).
/// </summary>
/// <param name="red">Red value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
/// <param name="green">Green value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
/// <param name="blue">Blue value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
void INavioLedDevice.SetRgb(int red, int green, int blue)
{
// Thread-safe lock
lock (_lock)
{
// Validate
if (red < 0 || red > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(red));
}
if (green < 0 || green > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(green));
}
if (blue < 0 || blue > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(blue));
}
// Invert values
var inverseRed = ~red & 0x0fff;
var inverseGreen = ~green & 0x0fff;
var inverseBlue = ~blue & 0x0fff;
// Set all three LED channels together (BGR order)
var values = new Pca9685ChannelValue[]
{
Pca9685ChannelValue.FromWidth(inverseBlue),
Pca9685ChannelValue.FromWidth(inverseGreen),
Pca9685ChannelValue.FromWidth(inverseRed)
};
_device.WriteChannels(0, values);
// Update cached values
_ledBlue = blue;
_ledGreen = green;
_ledRed = red;
}
}
