static void VehicleResponse(GattCharacteristic sender, GattValueChangedEventArgs args)
{
var rawBytes = readGattResult(args.CharacteristicValue);
var anki_vehicle_msg = new anki_vehicle_msg();
anki_vehicle_msg.size = rawBytes[0];
anki_vehicle_msg.msg_id = rawBytes[1];
if (rawBytes.Length > 2)
{
anki_vehicle_msg.payload = new byte[rawBytes.Length - 2];
Array.Copy(rawBytes, 2, anki_vehicle_msg.payload, 0, rawBytes.Length - 2);
}
switch (anki_vehicle_msg.msg_id)
{
case (byte)AnkiMessage.ANKI_VEHICLE_MSG_V2C_PING_RESPONSE:
{
Console.WriteLine("[read] PING_RESPONSE\n");
break;
}
case (byte)AnkiMessage.ANKI_VEHICLE_MSG_V2C_VERSION_RESPONSE:
{
Console.WriteLine("[read] VERSION_RESPONSE: {0}", BitConverter.ToUInt16(anki_vehicle_msg.payload, 0));
break;
}
case (byte)AnkiMessage.ANKI_VEHICLE_MSG_V2C_BATTERY_LEVEL_RESPONSE:
{
Console.WriteLine("[read] BATTERY_RESPONSE: {0}", BitConverter.ToUInt16(anki_vehicle_msg.payload, 0));
break;
}
default:
{
Console.WriteLine("[read] RESPONSE: {0}", GetHexStringFrom(anki_vehicle_msg.payload));
break;
}
}
}
public static async void Interact(anki_vehicle vehicle, GattCharacteristic readChar, GattCharacteristic writeChar)
{
try
{
var writer = new Windows.Storage.Streams.DataWriter();
byte[] rawBytes = null;
GattCommunicationStatus result;
readChar.ValueChanged += VehicleResponse;
if (readChar.CharacteristicProperties == (GattCharacteristicProperties.Read | GattCharacteristicProperties.Notify))
{
result = await readChar.WriteClientCharacteristicConfigurationDescriptorAsync(GattClientCharacteristicConfigurationDescriptorValue.Notify);
}
while (true)
{
Console.Write("Please enter your command: ");
string input = Console.ReadLine();
if (input == "exit")
{
return;
}
switch (input)
{
case "ping":
{
anki_vehicle_msg msg = new anki_vehicle_msg();
msg.size = ANKI_VEHICLE_MSG_BASE_SIZE;
msg.msg_id = (byte)AnkiMessage.ANKI_VEHICLE_MSG_C2V_PING_REQUEST;
rawBytes = getBytes(msg);
writer.WriteBytes(rawBytes);
result = await writeChar.WriteValueAsync(writer.DetachBuffer());
break;
}
case "get-version":
{
anki_vehicle_msg msg = new anki_vehicle_msg();
msg.size = ANKI_VEHICLE_MSG_BASE_SIZE;
msg.msg_id = (byte)AnkiMessage.ANKI_VEHICLE_MSG_C2V_VERSION_REQUEST;
rawBytes = getBytes(msg);
writer.WriteBytes(rawBytes);
result = await writeChar.WriteValueAsync(writer.DetachBuffer());
break;
}
case "get-battery":
{
anki_vehicle_msg msg = new anki_vehicle_msg();
msg.size = ANKI_VEHICLE_MSG_BASE_SIZE;
msg.msg_id = (byte)AnkiMessage.ANKI_VEHICLE_MSG_C2V_BATTERY_LEVEL_REQUEST;
rawBytes = getBytes(msg);
writer.WriteBytes(rawBytes);
result = await writeChar.WriteValueAsync(writer.DetachBuffer());
break;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
