public override void LoadFromXml(XmlElement element)
{
// base load first
base.LoadFromXml(element);
mSensorType = SensorType.Intermediate;
try
{
mSensorType = (SensorType)int.Parse(element.GetAttribute(TAG_PRO_NODE_TYPE));
}
catch { }
if (mSensorType == SensorType.Source)
{
initialState = true;
}
mSensorMode = SensorMode.Normal;
try
{
mSensorMode = (SensorMode)int.Parse(element.GetAttribute(TAG_PRO_NODE_MODE));
}
catch { }
try
{
_id = int.Parse(element.GetAttribute(TAG_PRO_NODE_ID));
}
catch { }
//Hashtable _pros = TransitionCondition;
//WSNUtil.LoadPNTranProperties(element, ref _pros);
}
//BME280 allows various modes. See chapter 3.5 "Recommended modes of operation" in the datasheet
public async Task SetSampling(SensorMode mode, SensorSampling tempSampling, SensorSampling pressSampling,
SensorSampling humSampling, SensorFilter filter, StandbyDuration duration)
{
Debug.WriteLine("BME280: Set sampling");
_measReg.mode = (uint)mode;
_measReg.osrs_t = (uint)tempSampling;
_measReg.osrs_p = (uint)pressSampling;
_humReg.osrs_h = (uint)humSampling;
_configReg.filter = (uint)filter;
_configReg.t_sb = (uint)duration;
// you must make sure to also set REGISTER_CONTROL after setting the
// CONTROLHUMID register, otherwise the values won't be applied (see DS 5.4.3)
byte[] WriteBuffer1 = new byte[] {
(byte)eRegisters.BME280_REGISTER_CONTROLHUMID, (byte)_humReg.Get()
};
byte[] WriteBuffer2 = new byte[] {
(byte)eRegisters.BME280_REGISTER_CONFIG, (byte)_configReg.Get()
};
byte[] WriteBuffer3 = new byte[] {
(byte)eRegisters.BME280_REGISTER_CONTROL, (byte)_measReg.Get()
};
bme280.Write(WriteBuffer1);
bme280.Write(WriteBuffer2);
bme280.Write(WriteBuffer3);
await Task.Delay(1);
}
private void EnableSkeletonRendering()
{
this.sensor.SkeletonStream.Enable();
this.sensor.SkeletonStream.AppChoosesSkeletons = true;
this.sensor.SkeletonFrameReady += new EventHandler <SkeletonFrameReadyEventArgs>(sensor_SkeletonFrameReadyForSkeletonRendering);
this.sensorMode = SensorMode.SkeletonRendering;
}
public void GetSensorState(SensorPort port, out SensorType type, out SensorMode mode, out int raw, out int normalized, out int scaled)
{
mre.Reset();
GetInputState(port);
if (!mre.WaitOne(1000, false))
{
throw new NxtTimeout();
}
if (nError > 0)
{
throw new InvalidResult();
}
if (result[4] != 1)
{
throw new InvalidResult();
}
type = (SensorType)result[6];
mode = (SensorMode)result[7];
raw = Buffer2Word(result, 8);
normalized = Buffer2Word(result, 10);
scaled = Buffer2Word(result, 12);
}
public void SetNotificationMode(SensorMode mode, byte granularity = 1)
{
if (_mode == mode)
{
LoggerHelper.Instance.Debug("TiltSensor::SetMode no mode change");
return;
}
if (_mode != SensorMode.NOT_SET)
{
if (!Subscribe((byte)_mode, granularity, false))
{
LoggerHelper.Instance.Debug("TiltSensor::SetNotifications - failed to unsubscribe from notifications exception");
throw new Exception("Failed to unsubscribe from notifications");
}
}
_mode = mode;
if (!Subscribe((byte)_mode, granularity, true))
{
LoggerHelper.Instance.Debug("TiltSensor::SetNotificationMode - failed to subscribe to notifications");
throw new Exception("Failed to subscribe to notifications");
}
LoggerHelper.Instance.Debug($"TiltSensor::SetNotificationMode mode = {mode}, granularity = {granularity}");
}
protected override void OnEnable()
{
base.OnEnable();
previousDetectedObjects = new HashSet <GameObject>();
triggerStayLag = new Dictionary <Collider2D, int>();
oldDetectionMode = DetectionMode;
oldRequiresLineOfSight = RequiresLineOfSight;
collidersToRemove = new List <Collider2D>();
collidersToIncrement = new List <Collider2D>();
if (!checkForTriggers())
{
Debug.LogWarning("Trigger Sensor cannot detect anything if there are no triggers on the same GameObject.", gameObject);
}
if (GetComponent <Rigidbody2D>() == null)
{
Debug.LogWarning("In order to detect GameObjects properly the TriggerSensor must itself have a RigidBody. Recommend adding a kinematic RigidBody.");
}
else if (GetComponent <Rigidbody2D>().sleepMode != RigidbodySleepMode2D.NeverSleep)
{
Debug.LogWarning("The rigidbody which owns the trigger collider should have its 'Sleeping Mode' parameter set to 'Never Sleep'");
}
StartCoroutine(LineOfSightRoutine());
}
// Use this for initialization
void Start()
{
validateData = new Regex("(-)*([0-9])+.([0-9])+");
framerateFilter = new CircularList <float>(60);
lastUpdate = System.DateTime.Now;
actualRotation = Quaternion.identity;
baselineRotation = Quaternion.identity;
invBaselineRotation = Quaternion.identity;
lastRotation = Quaternion.identity;
headActualRotation = Quaternion.identity;
headBaselineRotation = Quaternion.identity;
headInvBaselineRotation = Quaternion.identity;
//Icredibly enough the Unity orientation methods work OK in Japan
Input.gyro.enabled = true;
orientationFilter = new CircularList <Quaternion>(FilterSize);
headOrientationFilter = new CircularList <Quaternion>(FilterSize);
StartCoroutine(FPS());
CommToAndroid.CallAndroidMethod("setGameObject", this.name);
if (SystemInfo.deviceType == DeviceType.Handheld)
{
SensorMode currentSensor = (SensorMode)System.Enum.Parse(typeof(SensorMode), CommToAndroid.CallAndroidMethod <string>("getSensorMode"));
if (currentSensor != SourceIMU)
{
SetSourceIMU(SourceIMU);
}
}
}
protected string GetPNId(SensorType type, SensorMode mode)
{
string pnId = null;
do
{
if (type < 0 || mode < 0)
{
break;
}
switch (type)
{
case SensorType.Source:
case SensorType.Sink:
pnId = type.ToString();
break;
default:
pnId = mode.ToString();
break;
} // switch
} while (false);
return(pnId);
}
public SmartKinectSensor(KinectSensor sensor)
{
this.sensor = sensor;
this.skeletonData = new Skeleton[this.sensor.SkeletonStream.FrameSkeletonArrayLength];
this.skeletonController = new SkeletonController(this.sensor);
this.sensorMode = SensorMode.Disabled;
}
internal TiltSensor(IConnection connection, Ports port)
{
_connection = connection;
_port = port;
_mode = SensorMode.NOT_SET;
LoggerHelper.Instance.Debug("TiltSensor constructor called");
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.Sensor"/> class.
/// </summary>
/// <param name="mode">Mode to use.</param>
public Sensor(SensorMode mode)
{
this.mode = mode;
if (Connection != null && Connection.IsConnected)
{
Initialize();
}
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.Sensor"/> class.
/// </summary>
public Sensor()
{
mode = SensorMode.Mode0;
if (Connection != null && Connection.IsConnected)
{
Initialize();
}
}
void Update()
{
// If one of these properties is changed at runtime then the list of DetectedObjects will be changed immediately. This code ensures
// that the relevant sensor events are fired.
if (oldDetectionMode != DetectionMode || oldRequiresLineOfSight != RequiresLineOfSight)
{
sensorDetectionEvents();
oldDetectionMode = DetectionMode;
oldRequiresLineOfSight = RequiresLineOfSight;
}
// Increment triggerStayLag for each detected collider, if it is increased above a threshold this means its
// no longer calling OnTriggerStay and should be removed from the list of detected colliders.
collidersToRemove.Clear();
collidersToIncrement.Clear();
var colliderStayLagEnumerator = triggerStayLag.GetEnumerator();
while (colliderStayLagEnumerator.MoveNext())
{
var c = colliderStayLagEnumerator.Current.Key;
int currentCount;
triggerStayLag.TryGetValue(c, out currentCount);
if (currentCount >= 10)
{
collidersToRemove.Add(c);
}
else
{
collidersToIncrement.Add(c);
}
}
for (int i = 0; i < collidersToRemove.Count; i++)
{
removeCollider(collidersToRemove[i]);
}
for (int i = 0; i < collidersToIncrement.Count; i++)
{
var c = collidersToIncrement[i];
int currentCount;
triggerStayLag.TryGetValue(c, out currentCount);
triggerStayLag[c] = currentCount + 1;
}
if (RequiresLineOfSight && LineOfSightUpdateMode == UpdateMode.FixedInterval)
{
timer += Time.deltaTime;
if (timer > CheckLineOfSightInterval)
{
testSensor();
timer = 0f;
}
}
else
{
timer = 0f;
}
}
public SmartKinectSensor()
{
// RBakerFlag -> Need error handling for this.
this.sensor = KinectSensor.KinectSensors[0];
this.skeletonData = new Skeleton[this.sensor.SkeletonStream.FrameSkeletonArrayLength];
this.skeletonController = new SkeletonController(this.sensor);
this.sensorMode = SensorMode.Disabled;
}
private void EnableFullImageSkeletonRendering()
{
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
this.sensor.SkeletonStream.Enable();
this.sensor.SkeletonStream.AppChoosesSkeletons = true;
this.sensor.AllFramesReady += new EventHandler <AllFramesReadyEventArgs>(sensor_AllFramesReadyForFullImageSkeletonRendering);
this.sensorMode = SensorMode.FullImageSkeletonRendering;
}
public void SetSourceIMU(SensorMode imu)
{
SourceIMU = imu;
if (SourceIMU != SensorMode.External)
{
CommToAndroid.CallAndroidMethod("setSensorMode", SourceIMU.ToString());
}
updateCount = 0;
sensorChangedSetBaseline = false;
}
private void WakeSensor()
{
SendBytes(WAKECMD);
_sensorOperationStatus = SensorOperationStatus.Active;
_sensorMode = SensorMode.Active;
if (!_listening)
{
StartListening();
}
}
public void SetInputMode(SensorPort nPort, SensorType nType, SensorMode nMode)
{
byte[] data = new byte[5];
data[0] = 0x80;
data[1] = 0x05;
data[2] = (byte)nPort;
data[3] = (byte)nType;
data[4] = (byte)nMode;
Tx(data);
}
/// <summary>
/// 设置主传感器工作模式
/// </summary>
/// <param name="longAddress"></param>
/// <param name="mode"></param>
/// <param name="sensorCode"></param>
/// <returns></returns>
public bool WritePVSensorMode(long longAddress, SensorMode mode, SensorCode sensorCode)
{
RequestPacket request = new RequestPacket()
{
LongOrShort = 1,
Address = longAddress,
Command = 0x84,
DataContent = new byte[] { (byte)mode, (byte)sensorCode },
};
ResponsePacket response = Request(request);
return(response != null);
}
/// <summary>
/// Set sensor's type and mode.
/// </summary>
///
/// <param name="sensor">Sensor to set type of.</param>
/// <param name="type">Sensor's type.</param>
/// <param name="mode">Sensor's mode.</param>
///
/// <returns>Returns <b>true</b> if command was executed successfully or <b>false</b> otherwise.</returns>
///
public bool SetSensorMode(Sensor sensor, SensorType type, SensorMode mode)
{
byte[] command = new byte[5];
// prepare message
command[0] = (byte)NXTCommandType.DirectCommand;
command[1] = (byte)NXTDirectCommand.SetInputMode;
command[2] = (byte)sensor;
command[3] = (byte)type;
command[4] = (byte)mode;
return(SendCommand(command, new byte[3]));
}
public LogicThreatSensor(Segment segment, Int64 x, Int64 y, Int64 z, UInt16 cubeType, Byte flags, UInt16 value)
: base(segment, x, y, z, cubeType, flags, value)
{
// We'll remove this once we can safely serialize data and store the mode seperately
if (TerrainData.mEntries[cubeType]?.GetValue(value)?.Key == "APlusMalware.LogicLasers.ThreatLevelSensor")
{
_mode = SensorMode.ThreatLevel;
}
else
{
_mode = SensorMode.Countdown;
}
}
private void UpdateSensor()
{
// If one of these properties is changed at runtime then the list of DetectedObjects will be changed immediately. This code ensures
// that the relevant sensor events are fired.
if (_oldDetectionMode != DetectionMode || _oldRequiresLineOfSight != RequiresLineOfSight)
{
SensorDetectionEvents();
_oldDetectionMode = DetectionMode;
_oldRequiresLineOfSight = RequiresLineOfSight;
}
// Increment triggerStayLag for each detected collider, if it is increased above a threshold this means its
// no longer calling OnTriggerStay and should be removed from the list of detected colliders.
_collidersToRemove.Clear();
_collidersToIncrement.Clear();
var colliderStayLagEnumerator = _triggerStayLag.Keys.GetEnumerator();
try {
while (colliderStayLagEnumerator.MoveNext())
{
var c = colliderStayLagEnumerator.Current;
if (c == null)
{
continue;
}
_triggerStayLag.TryGetValue(c, out var currentCount);
if (currentCount >= 10)
{
_collidersToRemove.Add(c);
}
else
{
_collidersToIncrement.Add(c);
}
}
}
finally {
colliderStayLagEnumerator.Dispose();
}
for (int i = 0; i < _collidersToRemove.Count; i++)
{
RemoveCollider(_collidersToRemove[i]);
}
for (int i = 0; i < _collidersToIncrement.Count; i++)
{
var c = _collidersToIncrement[i];
_triggerStayLag.TryGetValue(c, out var currentCount);
_triggerStayLag[c] = currentCount + 1;
}
}
void SynchSensorMode(string sensorMode)
{
SourceIMU = (SensorMode)System.Enum.Parse(typeof(SensorMode), sensorMode);;
if (SystemInfo.deviceType != DeviceType.Handheld)
{
return;
}
if (SourceIMU != SensorMode.External)
{
CommToAndroid.CallAndroidMethod("setSensorMode", SourceIMU.ToString());
}
}
/// <summary>
/// Updates the sensor type and mode.
/// </summary>
/// <param name='sensorType'>
/// Sensor type.
/// </param>
/// <param name='sensorMode'>
/// Sensor mode.
/// </param>
protected void UpdateTypeAndMode(SensorType sensorType, SensorMode sensorMode)
{
Type = sensorType;
Mode = sensorMode;
var command = new Command(CommandType.DirecCommand, CommandByte.SetInputMode, true);
command.Append((byte)port);
command.Append((byte)Type);
command.Append((byte)Mode);
connection.Send(command);
var reply = connection.Receive();
Error.CheckForError(reply, 3);
}
private void HardWakeSensor()
{
if (_sleepGPIOPin != null)
{
_sensorOperationStatus = SensorOperationStatus.Active;
_sensorMode = SensorMode.Active;
_sleepGPIOPin.Write(GpioPinValue.High);
if (!_listening)
{
StartListening();
}
}
}
/// <summary>
/// Gets the sensor type and mode.
/// </summary>
/// <param name="type">Type.</param>
/// <param name="mode">Mode.</param>
protected void GetTypeAndMode(out SensorType type, out SensorMode mode){
if(!isInitialized)
Initialize();
var command = new Command(2,0,200,true);
command.Append(ByteCodes.InputDevice);
command.Append(InputSubCodes.GetTypeMode);
command.Append(this.DaisyChainLayer);
command.Append(this.Port);
command.Append((byte)0, VariableScope.Global);
command.Append((byte)1, VariableScope.Global);
var reply = Connection.SendAndReceive(command);
Error.CheckForError(reply,200);
type = (SensorType) reply.GetByte(3);
mode = (SensorMode) reply.GetByte(4);
}
/// <summary>
/// Sets the sensor mode
/// </summary>
/// <param name="mode">Mode to use.</param>
protected virtual void SetMode(SensorMode mode)
{
isInitialized = true;
this.mode = mode;
var command = new Command(4, 0, 123, true);
command.Append(ByteCodes.InputReadSI);
command.Append(this.DaisyChainLayer);
command.Append(this.Port);
command.Append(0, ConstantParameterType.Value);
command.Append(mode);
command.Append((byte)0, VariableScope.Global);
var reply = Connection.SendAndReceive(command);
Error.CheckForError(reply, 123);
}
private static void SensorDataReceived(object sender, SerialDataReceivedEventArgs e)
{
//!If serial port is not open, do not process.
if (myPort.IsOpen == false)
{
return;
}
try
{
//! Read the received data.
// string data = myPort.ReadExisting();
var numOfBytes = myPort.BytesToRead;
byte[] sensorsData = new byte[numOfBytes];
myPort.Read(sensorsData, 0, numOfBytes);
setSensorData(sensorsData);
/*
* this.debug("Reception");
* foreach (var item in sensorsData)
* {
* this.debug(item.ToString());
* }*/
if (sensorDataHandler != null)
{
sensorDataHandler(sensorData);
}
}
catch (Exception ex)
{
debug("error");
}
flagReceive = true;
if (sensorMode == SensorMode.BumpsAndWheelDrop)
{
sensorMode = SensorMode.LightBumper;
}
else
{
sensorMode = SensorMode.BumpsAndWheelDrop;
}
}
/// <summary>
/// 设置主传感器工作模式
/// </summary>
/// <param name="longAddress"></param>
/// <param name="mode"></param>
/// <param name="sensorCode"></param>
/// <returns></returns>
public bool WritePVSensorMode(SensorMode mode, SensorCode sensorCode)
{
if (_ID == null)
{
return(false);
}
bool ret = _HartComport.WritePVSensorMode(_ID.LongAddress, mode, sensorCode);
if (ret)
{
_SensorMode = null;
_SensorCode = null;
_PVOutput = null;
_PVSensor = null;
}
return(ret);
}
protected override void OnEnable()
{
base.OnEnable();
previousDetectedObjects.Clear();
isColliderStale.Clear();
oldDetectionMode = DetectionMode;
oldRequiresLineOfSight = RequiresLineOfSight;
if (!checkForTriggers())
{
Debug.LogWarning("Trigger Sensor cannot detect anything if there are no triggers on the same GameObject.", gameObject);
}
if (DetectionMode == SensorMode.Colliders && GetComponent <Rigidbody>() == null)
{
Debug.LogWarning("In order to detect GameObjects without RigidBodies the TriggerSensor must itself have a RigidBody. Recommend adding a kinematic RigidBody.");
}
}
protected override void OnEnable()
{
base.OnEnable();
_previousDetectedObjects = new HashSet <GameObject>();
_triggerStayLag = new Dictionary <Collider, int>();
_oldDetectionMode = DetectionMode;
_oldRequiresLineOfSight = RequiresLineOfSight;
_collidersToRemove = new List <Collider>();
_collidersToIncrement = new List <Collider>();
if (!CheckForTriggers())
{
Debug.LogWarning("Trigger Sensor cannot detect anything if there are no triggers on the same GameObject.", gameObject);
}
if (DetectionMode == SensorMode.Colliders && GetComponent <Rigidbody>() == null)
{
Debug.LogWarning("In order to detect GameObjects without RigidBodies the TriggerSensor must itself have a RigidBody. Recommend adding a kinematic RigidBody.");
}
//StartCoroutine(LineOfSightRoutine());
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.NXTColorSensor"/> class as a light sensor.
/// </summary>
public NXTColorSensor(SensorMode mode) : base ((SensorType)ColorMode.Red,mode){
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.NXTColorSensor"/> class.
/// </summary>
/// <param name="colorMode">The color mode to use</param>
/// <param name="mode">The sensor mode to use</param>
public NXTColorSensor(ColorMode colorMode, SensorMode mode) : base ((SensorType)colorMode,mode){
}
public bool Set(SensorType type, SensorMode mode)
{
this.type = type;
this.mode = mode;
if (type == SensorType.Sonar)
type = SensorType.LowSpeed9V;
byte[] command = new byte[5];
command[0] = 0x00;
command[1] = (byte)DirectCommand.SetInputMode;
command[2] = port;
command[3] = (byte)type;
command[4] = (byte)mode;
return serial_port.Send(command);
}
/// <summary>
/// Sets the sensor mode
/// </summary>
/// <param name="mode">Mode to use.</param>
protected virtual void SetMode(SensorMode mode){
isInitialized = true;
this.mode = mode;
var command = new Command(4,0, 123, true);
command.Append(ByteCodes.InputReadSI);
command.Append(this.DaisyChainLayer);
command.Append(this.Port);
command.Append(0, ConstantParameterType.Value);
command.Append(mode);
command.Append((byte)0, VariableScope.Global);
var reply = Connection.SendAndReceive(command);
Error.CheckForError(reply,123);
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.Sensor"/> class.
/// </summary>
/// <param name="mode">Mode to use.</param>
public Sensor (SensorMode mode)
{
this.mode = mode;
if(Connection != null && Connection.IsConnected)
Initialize();
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.CustomSensor"/> class.
/// </summary>
/// <param name='type'>
/// Sensor type
/// </param>
/// <param name='mode'>
/// Sensor mode
/// </param>
public CustomSensor(SensorType type, SensorMode mode): base (type, mode) {
}
internal async Task SetInputModeAsyncInternal(SensorPort sensorPort, SensorType sensorType, SensorMode sensorMode)
{
await brick.SendCommandAsyncInternal(RequestTelegram.SetInputMode(sensorPort, sensorType, sensorMode));
}
/// <summary>
/// Set sensor's mode.
/// </summary>
///
/// <param name="sensor">Sensor to set mode of.</param>
/// <param name="mode">Sensor mode to set.</param>
///
/// <returns>Returns <b>true</b> if command was executed successfully or <b>false</b> otherwise.</returns>
///
public bool SetSensorMode( Sensor sensor, SensorMode mode )
{
return SendCommand( new byte[] { (byte) RCXCommand.SetSensorMore,
(byte) sensor, (byte) ( (byte) mode << 5 ) }, new byte[1], 1 );
}
/// <summary>
/// Append a sensor mode value
/// </summary>
/// <param name="mode">Sensor mode to append</param>
public void Append (SensorMode mode)
{
Append((byte) mode, ParameterFormat.Short);
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.RCXLightSensor"/> class.
/// </summary>
/// <param name='sensorMode'>
/// Sensor mode. Raw, bool, percent...
/// </param>
public RCXLightSensor(SensorMode sensorMode) : base(SensorType.Reflection, sensorMode) {}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.NXTLightSensor"/> class.
/// </summary>
/// <param name='lightMode'>
/// Light sensor mode
/// </param>
/// <param name='sensorMode'>
/// Sensor mode. Raw, bool, percent...
/// </param>
public NXTLightSensor(LightMode lightMode, SensorMode sensorMode) : base ((SensorType)lightMode, sensorMode){
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.TouchSensor"/> class.
/// </summary>
/// <param name='sensorMode'>
/// Sensor mode. Raw, bool, percent...
/// </param>
public TouchSensor(SensorMode sensorMode) : base(SensorType.Touch, sensorMode) { }
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.Sensor"/> class.
/// </summary>
/// <param name='sensorType'>
/// Sensor type
/// </param>
/// <param name='sensorMode'>
/// Sensor mode
/// </param>
public Sensor(SensorType sensorType, SensorMode sensorMode)
{
Mode = sensorMode;
Type = sensorType;
}
/// <summary>
/// Get device mode name
/// </summary>
/// <returns>The device mode name.</returns>
/// <param name="mode">Mode to get name of.</param>
protected string GetModeName (SensorMode mode)
{
if(!isInitialized)
Initialize();
var command = new Command(Command.ShortValueMax,0,201,true);
command.Append(ByteCodes.InputDevice);
command.Append(InputSubCodes.GetModeName);
command.Append(this.DaisyChainLayer);
command.Append(this.Port);
command.Append((byte) mode, ConstantParameterType.Value);
command.Append(Command.ShortValueMax, ConstantParameterType.Value);
command.Append((byte)0, VariableScope.Global);
var reply = Connection.SendAndReceive(command);
Error.CheckForError(reply,201);
return reply.GetString(3,(byte) Command.ShortValueMax);
}
public void GetSensorState(SensorPort port, out SensorType type, out SensorMode mode, out int raw, out int normalized, out int scaled)
{
mre.Reset();
GetInputState(port);
if (!mre.WaitOne(1000, false))
throw new NxtTimeout();
if (nError > 0)
throw new InvalidResult();
if (result[4] != 1)
throw new InvalidResult();
type = (SensorType)result[6];
mode = (SensorMode)result[7];
raw = Buffer2Word(result, 8);
normalized = Buffer2Word(result, 10);
scaled = Buffer2Word(result, 12);
}
/// <summary>
/// Set sensor's type and mode.
/// </summary>
///
/// <param name="sensor">Sensor to set type of.</param>
/// <param name="type">Sensor's type.</param>
/// <param name="mode">Sensor's mode.</param>
/// <param name="waitReply">Wait reply from NXT (safer option) or not (faster option).</param>
///
/// <returns>Returns <b>true</b> if command was executed successfully or <b>false</b> otherwise.</returns>
///
public bool SetSensorMode( Sensor sensor, SensorType type, SensorMode mode, bool waitReply )
{
byte[] command = new byte[5];
// prepare message
command[0] = (byte) ( ( waitReply ) ? NXTCommandType.DirectCommand : NXTCommandType.DirectCommandWithoutReply );
command[1] = (byte) NXTDirectCommand.SetInputMode;
command[2] = (byte) sensor;
command[3] = (byte) type;
command[4] = (byte) mode;
return SendCommand( command, new byte[3] );
}
public void SetInputMode(SensorPort nPort, SensorType nType, SensorMode nMode)
{
byte[] data = new byte[5];
data[0] = 0x80;
data[1] = 0x05;
data[2] = (byte)nPort;
data[3] = (byte)nType;
data[4] = (byte)nMode;
Tx(data);
}
internal SensorBase(SensorType sensorType, SensorMode sensorMode)
{
this.sensorMode = sensorMode;
this.sensorType = sensorType;
}
/// <summary>
/// Updates the sensor type and mode.
/// </summary>
/// <param name='sensorType'>
/// Sensor type.
/// </param>
/// <param name='sensorMode'>
/// Sensor mode.
/// </param>
protected void UpdateTypeAndMode(SensorType sensorType, SensorMode sensorMode){
Type = sensorType;
Mode = sensorMode;
var command = new Command(CommandType.DirecCommand, CommandByte.SetInputMode, true);
command.Append((byte)port);
command.Append((byte)Type);
command.Append((byte)Mode);
connection.Send(command);
var reply = connection.Receive();
Error.CheckForError(reply, 3);
}
/// <summary>
/// [Native] Set a sensor's state. This is REQUIRED
/// to read realistic values through GetSensorValues().
/// </summary>
/// <param name="port">The port of the attached sensor.</param>
/// <param name="type">The type of the attached sensor.</param>
/// <param name="mode">The mode of the attached sensor.</param>
public void SetSensorMode(SensorPort port,
SensorType type, SensorMode mode)
{
byte[] request = new byte[] {
(byte) (0x00),
(byte) (DirectCommand.SetInputMode),
(byte) port,
(byte) type,
(byte) mode
};
CompleteRequest(request);
return;
}
/// <summary>
/// Set sensor's type and mode.
/// </summary>
///
/// <param name="sensor">Sensor to set type of.</param>
/// <param name="type">Sensor's type.</param>
/// <param name="mode">Sensor's mode.</param>
///
/// <returns>Returns <b>true</b> if command was executed successfully or <b>false</b> otherwise.</returns>
///
public bool SetSensorMode( Sensor sensor, SensorType type, SensorMode mode )
{
return SetSensorMode( sensor, type, mode, true );
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.Sensor"/> class.
/// </summary>
public Sensor ()
{
mode = SensorMode.Mode0;
if(Connection != null && Connection.IsConnected)
Initialize();
}
/// <summary>
/// Set the sensor to be used as a light sensor
/// </summary>
public void UseAsLightSensor(SensorMode mode = SensorMode.Percent){
UpdateTypeAndMode(SensorType.ColorRed,mode);
}
SetInputModeAsync(SensorPort sensorPort, SensorType sensorType, SensorMode sensorMode)
{
return SetInputModeAsyncInternal(sensorPort, sensorType, sensorMode)
#if WINRT
.AsAsyncAction()
#endif
;
}
