public Motor(string motorType, LegoPort port, Dictionary <string, string> attributes = null)
{
if (attributes == null)
{
attributes = new Dictionary <string, string>();
}
if (attributes.ContainsKey("deviceroot_startswith"))
{
Console.WriteLine("WARNING: The 'deviceroot_startswith' attribute is automatically included when using the Motor class and it should not be defined manually. Overriding...");
attributes["deviceroot_startswith"] = "motor";
}
else
{
attributes.Add("deviceroot_startswith", "motor");
}
if (attributes.ContainsKey("driver_name"))
{
Console.WriteLine("WARNING: The 'driver_name' attribute is automatically included when using the Motor class and it should not be defined manually. If you wish to use a custom motor type, please modify the 'motorType' argument in the Motor class constructor accordingly. Overriding...");
attributes["driver_name"] = motorType;
}
else
{
attributes["driver_name"] = motorType;
}
InitDevice("tacho-motor", port, attributes);
Command = "stop";
_motorType = motorType;
_commands = GetAttributeString("commands").Split(' ');
_countPerRot = GetAttributeInt("count_per_rot");
_maxSpeed = GetAttributeInt("max_speed");
}
public void InitDevice(string classDir, LegoPort port, Dictionary <string, string> attributes)
{
bool device_found = false;
foreach (string dir in IOError_Workaround.GetDirectories(Path.Combine(ROOT, "class", classDir)))
{
path = dir;
if (Utils.String2LegoPort(GetAttributeString("address")) != port)
{
continue;
}
bool attributes_match = true;
foreach (KeyValuePair <string, string> attribute in attributes)
{
if (attribute.Key == "deviceroot_startswith")
{
if (!Path.GetFileName(dir).StartsWith(attributes["deviceroot_startswith"]))
{
attributes_match = false;
break;
}
}
else if (GetAttributeString(attribute.Key) != attribute.Value)
{
attributes_match = false;
break;
}
}
if (!attributes_match)
{
continue;
}
// Found the desired device
Class = classDir;
Address = port;
DriverName = GetAttributeString("driver_name");
device_found = true;
break;
}
if (!device_found)
{
path = null;
StringBuilder sb = new StringBuilder();
sb.AppendLine("No devices matching the attributes below:");
sb.AppendLine($"Class: {classDir}");
sb.AppendLine($"Port: {port.ToString()} ({Utils.LegoPort2String(port)}");
sb.AppendLine("Attributes:");
foreach (KeyValuePair <string, string> kvp in attributes)
{
sb.AppendLine($" '{kvp.Key}'='{kvp.Value}'");
}
throw new Exception(sb.ToString());
}
}
public LargeMotor(LegoPort port, Dictionary <string, string> attributes = null)
: base("lego-ev3-l-motor", port, attributes)
{
}
public Device(string classDir, LegoPort port, Dictionary <string, string> attributes)
{
InitDevice(classDir, port, attributes);
}
public MediumMotor(LegoPort port, Dictionary <string, string> attributes = null)
: base("lego-ev3-m-motor", port, attributes)
{
}
public static string LegoPort2String(LegoPort port)
{
return(LegoPortMap[port]);
}
