private void OnCommReceive(string command)
{
// System.Diagnostics.Debug.WriteLine("Recv: " + command);
// If there's no data, continue.
if (command.Length == 0)
{
return;
}
MicroBitMessageReader reader = new MicroBitMessageReader(command);
// If there's no data, continue.
char evt;
if (!reader.ReadChar(out evt))
{
return;
}
_lastMsgRecvTime = DateTime.Now;
// Process ping reply messages.
switch (evt)
{
case Protocol.EVT_PING_REPLY:
OnEvtPingReply(reader);
break;
}
// Don't read messages other than ping replies until device is ready.
if (_status != EDeviceStatus.READY)
{
return;
}
// Device is ready. Process remaining message types.
switch (evt)
{
case Protocol.EVT_SYSMSG:
OnEvtSysMsg(reader);
break;
case Protocol.EVT_ACCEL_GESTURE:
OnEvtAccelGesture(reader);
break;
case Protocol.EVT_BUTTON_STATE:
OnEvtButtonState(reader);
break;
case Protocol.EVT_DISPLAY_FREE:
OnEvtDisplayFree(reader);
break;
case Protocol.EVT_PIN_FREE:
OnEvtPinFree(reader);
break;
case Protocol.EVT_SAMPLED_STATE:
OnEvtSampledState(reader);
break;
}
}
private void OnEvtSampledState(MicroBitMessageReader reader)
{
// Copy the current state to the previous state.
_prev = _curr;
// Read the new current state.
while (true)
{
short accX, accY, accZ;
// int accPitch, accRoll;
// int heading;
int pinCount;
int buttonA; int buttonB;
PinState[] pins = new PinState[3];
// Read button states
if (!reader.Consume('b'))
{
break;
}
if (!reader.ReadU8Hex(out buttonA))
{
break;
}
if (!reader.ReadU8Hex(out buttonB))
{
break;
}
// Read accelerometer
if (!reader.Consume('a'))
{
break;
}
if (!reader.ReadSignedU16Hex(out accX))
{
break;
}
if (!reader.ReadSignedU16Hex(out accY))
{
break;
}
if (!reader.ReadSignedU16Hex(out accZ))
{
break;
}
// if (!reader.ReadU16Hex(out accPitch)) break;
// if (!reader.ReadU16Hex(out accRoll)) break;
// Read compass
// if (!reader.Consume('c')) break;
// if (!reader.ReadU16Hex(out heading)) break;
// Read input pins
if (!reader.Consume('p'))
{
break;
}
if (!reader.ReadU8Hex(out pinCount))
{
break;
}
int pinsRemaining = pinCount;
// Make sure we're in range.
if (pinsRemaining > 3)
{
break;
}
while (pinsRemaining > 0)
{
int pinId, pinValue;
char pinMode;
if (!reader.ReadU8Hex(out pinId))
{
break;
}
if (pinId > 2)
{
break;
}
if (!reader.ReadChar(out pinMode))
{
break;
}
if (pinMode != 'a' && pinMode != 'd')
{
break;
}
if (!reader.ReadU16Hex(out pinValue))
{
break;
}
pins[pinId] = new PinState(pinId);
pins[pinId].Direction = EPinDirection.Input;
pins[pinId].Mode = pinMode == 'a' ? EPinOperatingMode.Analog : EPinOperatingMode.Digital;
pins[pinId].Value = pinValue;
pinsRemaining--;
}
// If we didn't read all the pins then something is wrong with the message.
if (pinsRemaining > 0)
{
break;
}
// Apply button states
_curr.Buttons[0].State = (EButtonState)buttonA;
_curr.Buttons[1].State = (EButtonState)buttonB;
// Apply accelerometer
accX = MyMath.Clamp(accX, MinAccel, MaxAccel);
accY = MyMath.Clamp(accY, MinAccel, MaxAccel);
accZ = MyMath.Clamp(accZ, MinAccel, MaxAccel);
Vector3 acc = new Vector3(accY, accX, accZ);
acc.Normalize();
_curr.Acc = MyMath.NanProtect(acc, Vector3.Zero);
// _curr.AccPitch = accPitch;
// _curr.AccRoll = accRoll;
// Apply compass
// _curr.Heading = heading;
// Apply pins
for (int i = 0; i < pinCount; ++i)
{
_curr.Pins[pins[i].Id] = pins[i];
}
// Inc generation
_curr.Generation += 1;
break;
}
}
