private static void OnDeviceAdded(NXT nxt)
{
if (RobotAdded != null)
{
RobotAdded(nxt, new AvailableDevicesChangedEventArgs(nxt));
}
}
public NXTViewModel(NXT robot)
{
this.robot = robot;
robot.PropertyChanged += new PropertyChangedEventHandler(robot_PropertyChanged);
robot.Disconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Disconnected);
robot.Reconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Reconnected);
connected = false;
}
private static void OnDeviceAdded(NXT nxt)
{
if (RobotAdded != null)
RobotAdded(nxt, new AvailableDevicesChangedEventArgs(nxt));
}
public static void FindNXTDevices(object sender, DoWorkEventArgs eventArgs)
{
while (continueDeviceDiscovery)
{
if (!availableRobots.ContainsKey("USB")) // If a usb was not connected before test it now
{
NXT usbNXT = new NXT("USB", new NXTUsbConnection());
if (usbNXT.nxtConn.IsConnected)
{
availableRobots.Add("USB", usbNXT);
OnDeviceAdded(usbNXT);
}
}
var btClient = new BluetoothClient();
List<BluetoothClient> btRobots = new List<BluetoothClient>();
btClient.InquiryLength = new TimeSpan(0, 0, 4);
BluetoothDeviceInfo[] btDevices = btClient.DiscoverDevicesInRange();
foreach (BluetoothDeviceInfo btDevice in btDevices)
{
try
{
// The property InstalledServices only lists services for devices that have been paired with
// the computer already (rather than requesting it from the device). This is fine in our
// scenario since you cant get a service list off the devices unless it is already paired.
if (btDevice.InstalledServices.Contains(NXT32FeetBT.NXT_BT_SERVICE))
{
String nxtIdentifier = btDevice.DeviceAddress.ToString();
if (!availableRobots.ContainsKey(nxtIdentifier))
{
NXT foundNXT = new NXT(nxtIdentifier, new NXT32FeetBT(btDevice.DeviceAddress));
availableRobots.Add(nxtIdentifier, foundNXT);
OnDeviceAdded(foundNXT);
}
else
{
if (!availableRobots[nxtIdentifier].connected)
{
availableRobots[nxtIdentifier].Reconnect();
}
}
}
}
catch (SocketException e) { } // Socket exception occurs if the device is not an nxt
}
// Check if any previously found devices were lost
var btAddresses = from btDevice in btDevices
select btDevice.DeviceAddress.ToString();
foreach (NXT nxt in AvailableRobots.Values)
{
if (!btAddresses.Contains(nxt.uniqueID))
{
nxt.connected = false;
nxt.OnDeviceDisconnected();
}
}
// Sleep for the designated poll interval
Thread.Sleep(DEVICE_DISCOVERY_POLL_RATE);
}
}
public NXTRobot(NXT robot)
{
Name = robot.Name;
ID = robot.ID;
}
public static void FindNXTDevices(object sender, DoWorkEventArgs eventArgs)
{
while (continueDeviceDiscovery)
{
if (!availableRobots.ContainsKey("USB")) // If a usb was not connected before test it now
{
NXT usbNXT = new NXT("USB", new NXTUsbConnection());
if (usbNXT.nxtConn.IsConnected)
{
availableRobots.Add("USB", usbNXT);
OnDeviceAdded(usbNXT);
}
}
var btClient = new BluetoothClient();
List <BluetoothClient> btRobots = new List <BluetoothClient>();
btClient.InquiryLength = new TimeSpan(0, 0, 4);
BluetoothDeviceInfo[] btDevices = btClient.DiscoverDevicesInRange();
foreach (BluetoothDeviceInfo btDevice in btDevices)
{
try
{
// The property InstalledServices only lists services for devices that have been paired with
// the computer already (rather than requesting it from the device). This is fine in our
// scenario since you cant get a service list off the devices unless it is already paired.
if (btDevice.InstalledServices.Contains(NXT32FeetBT.NXT_BT_SERVICE))
{
String nxtIdentifier = btDevice.DeviceAddress.ToString();
if (!availableRobots.ContainsKey(nxtIdentifier))
{
NXT foundNXT = new NXT(nxtIdentifier, new NXT32FeetBT(btDevice.DeviceAddress));
availableRobots.Add(nxtIdentifier, foundNXT);
OnDeviceAdded(foundNXT);
}
else
{
if (!availableRobots[nxtIdentifier].connected)
{
availableRobots[nxtIdentifier].Reconnect();
}
}
}
}
catch (SocketException e) { } // Socket exception occurs if the device is not an nxt
}
// Check if any previously found devices were lost
var btAddresses = from btDevice in btDevices
select btDevice.DeviceAddress.ToString();
foreach (NXT nxt in AvailableRobots.Values)
{
if (!btAddresses.Contains(nxt.uniqueID))
{
nxt.connected = false;
nxt.OnDeviceDisconnected();
}
}
// Sleep for the designated poll interval
Thread.Sleep(DEVICE_DISCOVERY_POLL_RATE);
}
}
public AvailableDevicesChangedEventArgs(NXT nxt)
{
AffectedDevice = nxt;
}
public AvailableDevicesChangedEventArgs(NXT nxt)
{
AffectedDevice = nxt;
}
