/// <summary>
/// キューブの磁気センサーの機能のモードを設定します。デフォルトでは無効化されています。
/// https://toio.github.io/toio-spec/docs/ble_configuration#磁気センサーの設定
/// </summary>
/// <param name="mode">無効・磁石状態検出のいずれかを指定</param>
/// <param name="timeOutSec">タイムアウト(秒)</param>
/// <param name="callback">終了コールバック(設定成功フラグ, キューブ)</param>
/// <param name="order">命令の優先度</param>
public override async UniTask ConfigMagneticSensor(MagneticMode mode, float timeOutSec, Action <bool, Cube> callback, ORDER_TYPE order)
{
if (this.magneticSensorRequest == null)
{
this.magneticSensorRequest = new RequestInfo(this);
}
if (!this.isConnected || !this.isInitialized)
{
callback?.Invoke(false, this); return;
}
#if !RELEASE
const float minTimeOut = 0.5f;
if (minTimeOut > timeOutSec)
{
Debug.LogWarningFormat("[CubeReal_ver2_2_0.ConfigMagneticSensor]誤作動を避けるため, タイムアウト時間は {0} 秒以上にして下さい.", minTimeOut);
}
#endif
// Assert mode
if ((byte)mode > 1)
{
Debug.LogWarningFormat("Given MagneticSensorMode {0} is not supported by BLE Protocl v2.2.0", mode.ToString());
return;
}
bool availabe = await this.magneticSensorRequest.GetAccess(Time.time + timeOutSec, callback);
if (!availabe)
{
return;
}
this.requestedMagneticMode = mode;
this.magneticSensorRequest.request = () =>
{
byte[] buff = new byte[3];
buff[0] = 0x1b;
buff[1] = 0;
buff[2] = (byte)mode;
this.Request(CHARACTERISTIC_CONFIG, buff, true, order, "ConfigMagneticSensor", mode, timeOutSec, callback, order);
};
await this.magneticSensorRequest.Run();
}
protected virtual void Recv_config(byte[] data)
{
// https://toio.github.io/toio-spec/docs/ble_configuration
int type = data[0];
if (0x9c == type) // Motoer Read
{
this.motorReadRequest.hasConfigResponse = true;
this.motorReadRequest.isConfigResponseSucceeded = (0x00 == data[2]);
if (this.motorReadRequest.isConfigResponseSucceeded)
{
this.motorReadValid = this.requestedMotorReadValid;
}
this.motorSpeedCallback.Notify(this);
}
else if (0x98 == type) // ID Notification
{
this.idNotificationRequest.hasConfigResponse = true;
this.idNotificationRequest.isConfigResponseSucceeded = (0x00 == data[2]);
}
else if (0x99 == type) // ID Missed Notification
{
this.idMissedNotificationRequest.hasConfigResponse = true;
this.idMissedNotificationRequest.isConfigResponseSucceeded = (0x00 == data[2]);
}
else if (0x9b == type) // Mag
{
this.magneticSensorRequest.hasConfigResponse = true;
this.magneticSensorRequest.isConfigResponseSucceeded = (0x00 == data[2]);
if (this.magneticSensorRequest.isConfigResponseSucceeded)
{
this.magneticMode = this.requestedMagneticMode;
}
}
}
public void MagneticMode(MagneticMode value)
{
_sensor.MagneticMode = value;
}
public void MagneticMode(MagneticMode value)
{
_sensor.MagneticMode = value;
}