private void ConnectEvents(wclWeDoIo Device)
{
switch (Device.DeviceType)
{
case wclWeDoIoDeviceType.iodCurrentSensor:
(Device as wclWeDoCurrentSensor).OnCurrentChanged += FmMain_OnCurrentChanged;
break;
case wclWeDoIoDeviceType.iodVoltageSensor:
(Device as wclWeDoVoltageSensor).OnVoltageChanged += FmMain_OnVoltageChanged;
break;
case wclWeDoIoDeviceType.iodRgb:
wclWeDoRgbLight Rgb = (Device as wclWeDoRgbLight);
Rgb.OnColorChanged += FmMain_OnColorChanged;
Rgb.OnModeChanged += FmMain_OnModeChanged;
break;
case wclWeDoIoDeviceType.iodMotionSensor:
wclWeDoMotionSensor Motion = (Device as wclWeDoMotionSensor);
Motion.OnCountChanged += FmMain_OnCountChanged;
Motion.OnDistanceChanged += FmMain_OnDistanceChanged;
Motion.OnModeChanged += FmMain_OnMotionModeChanged;
break;
case wclWeDoIoDeviceType.iodTiltSensor:
wclWeDoTiltSensor Tilt = (Device as wclWeDoTiltSensor);
Tilt.OnModeChanged += Tilt_OnModeChanged;
Tilt.OnDirectionChanged += Tilt_OnDirectionChanged;
Tilt.OnCrashChanged += Tilt_OnCrashChanged;
Tilt.OnAngleChanged += Tilt_OnAngleChanged;
break;
}
}
private void FHub_OnDeviceDetached(Object Sender, wclWeDoIo Device)
{
if (Device.DeviceType == wclWeDoIoDeviceType.iodTiltSensor && FTilt != null && Device.ConnectionId == FTilt.ConnectionId)
{
FTilt = null;
EnableControl(false);
}
}
private void Tilt_OnModeChanged(object sender, EventArgs e)
{
wclWeDoHub Hub = GetHub();
wclWeDoTiltSensor Sensor = (sender as wclWeDoTiltSensor);
if (Hub != null && Hub.Address == Sensor.Hub.Address)
{
UpdateTiltMode(Sensor);
}
}
private void ResetTilt(Byte Port)
{
wclWeDoTiltSensor Tilt = GetTiltSensor(Port);
if (Tilt != null)
{
Int32 Res = Tilt.Reset();
if (Res != wclErrors.WCL_E_SUCCESS)
{
MessageBox.Show("Reset failed; 0x" + Res.ToString("X8"));
}
}
}
private void UpdateTiltMode(wclWeDoTiltSensor Sensor)
{
switch (Sensor.Mode)
{
case wclWeDoTiltSensorMode.tmAngle:
if (Sensor.PortId == 0)
{
cbTiltMode1.SelectedIndex = 0;
}
else
{
cbTiltMode2.SelectedIndex = 0;
}
break;
case wclWeDoTiltSensorMode.tmTilt:
if (Sensor.PortId == 0)
{
cbTiltMode1.SelectedIndex = 1;
}
else
{
cbTiltMode2.SelectedIndex = 1;
}
break;
case wclWeDoTiltSensorMode.tmCrash:
if (Sensor.PortId == 0)
{
cbTiltMode1.SelectedIndex = 2;
}
else
{
cbTiltMode2.SelectedIndex = 2;
}
break;
default:
if (Sensor.PortId == 0)
{
cbTiltMode1.SelectedIndex = -1;
}
else
{
cbTiltMode2.SelectedIndex = -1;
}
break;
}
}
private void FHub_OnDeviceAttached(Object Sender, wclWeDoIo Device)
{
if (FTilt == null)
{
if (Device.DeviceType == wclWeDoIoDeviceType.iodTiltSensor)
{
FTilt = (wclWeDoTiltSensor)Device;
FTilt.OnAngleChanged += FTilt_OnAngleChanged;
FTilt.OnCrashChanged += FTilt_OnCrashChanged;
FTilt.OnDirectionChanged += FTilt_OnDirectionChanged;
FTilt.OnModeChanged += FTilt_OnModeChanged;
EnableControl(true);
}
}
}
private void UpdateTilt(wclWeDoTiltSensor Sensor)
{
if (Sensor.PortId == 0)
{
UpdateDeviceInfo(laTiltVersion1, laTiltDeviceType1, laTiltConnectionId1, Sensor);
}
else
{
UpdateDeviceInfo(laTiltVersion2, laTiltDeviceType2, laTiltConnectionId2, Sensor);
}
UpdateTiltMode(Sensor);
UpdateDirection(Sensor);
UpdateCrash(Sensor);
UpdateAngle(Sensor);
}
private void ChangeTiltMode(Byte Port)
{
wclWeDoTiltSensor Tilt = GetTiltSensor(Port);
if (Tilt != null)
{
wclWeDoTiltSensorMode Mode;
Int32 Index;
if (Port == 0)
{
Index = cbTiltMode1.SelectedIndex;
}
else
{
Index = cbTiltMode2.SelectedIndex;
}
switch (Index)
{
case 0:
Mode = wclWeDoTiltSensorMode.tmAngle;
break;
case 1:
Mode = wclWeDoTiltSensorMode.tmTilt;
break;
case 2:
Mode = wclWeDoTiltSensorMode.tmCrash;
break;
default:
Mode = wclWeDoTiltSensorMode.tmUnknown;
break;
}
if (Mode == wclWeDoTiltSensorMode.tmUnknown)
{
MessageBox.Show("Invalid mode.");
}
else
{
Int32 Res = Tilt.SetMode(Mode);
if (Res != wclErrors.WCL_E_SUCCESS)
{
MessageBox.Show("Mode change failed: 0x" + Res.ToString("X8"));
}
}
}
}
private void FmMain_Load(Object Sender, EventArgs e)
{
cbMode.SelectedIndex = 0;
FManager = new wclBluetoothManager();
FWatcher = new wclWeDoWatcher();
FWatcher.OnHubFound += FWatcher_OnHubFound;
FHub = new wclWeDoHub();
FHub.OnConnected += FHub_OnConnected;
FHub.OnDisconnected += FHub_OnDisconnected;
FHub.OnDeviceAttached += FHub_OnDeviceAttached;
FHub.OnDeviceDetached += FHub_OnDeviceDetached;
FTilt = null;
}
private void UpdateCrash(wclWeDoTiltSensor Sensor)
{
wclWeDoTiltSensorCrash Crash = Sensor.Crash;
if (Sensor.PortId == 0)
{
laX1.Text = Crash.X.ToString();
laY1.Text = Crash.Y.ToString();
laZ1.Text = Crash.Z.ToString();
laDirection1.Text = "Unknown";
}
else
{
laX2.Text = Crash.X.ToString();
laY2.Text = Crash.Y.ToString();
laZ2.Text = Crash.Z.ToString();
laDirection2.Text = "Unknown";
}
}
private void UpdateAngle(wclWeDoTiltSensor Sensor)
{
wclWeDoTiltSensorAngle Angle = Sensor.Angle;
if (Sensor.PortId == 0)
{
laX1.Text = Angle.X.ToString();
laY1.Text = Angle.Y.ToString();
laZ1.Text = "0";
laDirection1.Text = "Unknown";
}
else
{
laX2.Text = Angle.X.ToString();
laY2.Text = Angle.Y.ToString();
laZ2.Text = "0";
laDirection2.Text = "Unknown";
}
}
private void UpdateDirection(wclWeDoTiltSensor Sensor)
{
if (Sensor.PortId == 0)
{
switch (Sensor.Direction)
{
case wclWeDoTiltSensorDirection.tdBackward:
laDirection1.Text = "Backward";
break;
case wclWeDoTiltSensorDirection.tdForward:
laDirection1.Text = "Forward";
break;
case wclWeDoTiltSensorDirection.tdLeft:
laDirection1.Text = "Left";
break;
case wclWeDoTiltSensorDirection.tdNeutral:
laDirection1.Text = "Neutral";
break;
case wclWeDoTiltSensorDirection.tdRight:
laDirection1.Text = "Right";
break;
default:
laDirection1.Text = "Unknown";
break;
}
laX1.Text = "0";
laY1.Text = "0";
laZ1.Text = "0";
}
else
{
switch (Sensor.Direction)
{
case wclWeDoTiltSensorDirection.tdBackward:
laDirection2.Text = "Backward";
break;
case wclWeDoTiltSensorDirection.tdForward:
laDirection2.Text = "Forward";
break;
case wclWeDoTiltSensorDirection.tdLeft:
laDirection2.Text = "Left";
break;
case wclWeDoTiltSensorDirection.tdNeutral:
laDirection2.Text = "Neutral";
break;
case wclWeDoTiltSensorDirection.tdRight:
laDirection2.Text = "Right";
break;
default:
laDirection2.Text = "Unknown";
break;
}
laX2.Text = "0";
laY2.Text = "0";
laZ2.Text = "0";
}
}
private void UpdateTabs()
{
wclWeDoHub Hub = GetHub();
if (Hub == null)
{
RemoveTabs();
}
else
{
AddPage(tsHubInfo);
UpdateHubInfo(Hub);
wclWeDoCurrentSensor Current = FRobot.GetCurrentSensor(Hub);
if (Current != null && Current.Attached)
{
AddPage(tsCurrent);
UpdateCurrent(Current);
}
wclWeDoVoltageSensor Voltage = FRobot.GetVoltageSensor(Hub);
if (Voltage != null && Voltage.Attached)
{
AddPage(tsVoltage);
UpdateVoltage(Voltage);
}
wclWeDoRgbLight Rgb = FRobot.GetRgbDevice(Hub);
if (Rgb != null && Rgb.Attached)
{
AddPage(tsRgb);
UpdateRgb(Rgb);
}
wclWeDoPiezo Piezo = FRobot.GetPiezoDevice(Hub);
if (Piezo != null && Piezo.Attached)
{
AddPage(tsPiezo);
UpdatePiezo(Piezo);
}
wclWeDoMotionSensor Motion = GetMotionSensor(0);
if (Motion != null && Motion.Attached)
{
AddPage(tsMotion1);
UpdateMotion(Motion);
}
Motion = GetMotionSensor(1);
if (Motion != null && Motion.Attached)
{
AddPage(tsMotion2);
UpdateMotion(Motion);
}
wclWeDoTiltSensor Tilt = GetTiltSensor(0);
if (Tilt != null && Tilt.Attached)
{
AddPage(tsTilt1);
UpdateTilt(Tilt);
}
Tilt = GetTiltSensor(1);
if (Tilt != null && Tilt.Attached)
{
AddPage(tsTilt2);
UpdateTilt(Tilt);
}
wclWeDoMotor Motor = GetMotor(0);
if (Motor != null && Motor.Attached)
{
AddPage(tsMotor1);
UpdateMotor(Motor);
}
Motor = GetMotor(1);
if (Motor != null && Motor.Attached)
{
AddPage(tsMotor2);
UpdateMotor(Motor);
}
}
}
