public virtual int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
Brick.SensorDevice(Port).ConnectedPort = (Ev3Device.INPORT)Port;
Brick.SensorDevice(Port).IsConnected = true;
return(2);
}
/// <summary>
/// Set sensor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSensorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.SensorViewModelArray[index];
try
{
var Device = Brick.SensorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.IsConnected = true;
DeviceViewModel.SensorValue1 = Device.Value1;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = Device.Value2;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = Device.Value3;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.SensorValue1 = 0;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = 0;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = 0;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning restore
}
}
/// <summary>
/// Updater sensor data, especially gyro sensor, device information of Ev3Brick sent
/// by GetGyroSensor command.
/// </summary>
/// <param name="Command">GetGyroSensor command data.</param>
/// <param name="Brick">Ev3Brick object to set received data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_50_01)
{
int Index = 0;
int DataTopIndex = 4;
int DevNum = Command.ResData[DataTopIndex++];
for (Index = 0; Index < DevNum; Index++)
{
int DataIndex = DataTopIndex + (Index * 3);
byte Port = Command.ResData[DataIndex++];
short Velocity = (short)
((ushort)Command.ResData[DataIndex] +
(((ushort)Command.ResData[DataIndex + 1]) << 8));
var Device = Brick.SensorDevice(Port);
Device.ConnectedPort = (Ev3Device.INPORT)Port;
Device.IsConnected = true;
Device.Value2 = Velocity;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO;
}
}
}
/// <summary>
/// Update motor device information of Ev3 Brick by GetMotorPower command,
/// especially motor output power.
/// </summary>
/// <param name="Command"></param>
/// <param name="Brick"></param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_10_01)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
int DataIndex = DataTopIndex + Index * 2;
byte Connection = Command.ResData[DataIndex++];
int Power = (int)((sbyte)(Command.ResData[DataIndex]));
var Device = Brick.MotorDevice(Index);
Device.ConnectedPort = (Ev3Device.OUTPORT)Index;
if (0x00 == Connection)
{
Device.IsConnected = false;
Device.Power = 0;
}
else
{
Device.IsConnected = true;
Device.Power = Power;
}
}
}
}
/// <summary>
/// Set motor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateMotorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.MotorViewModelArray[index];
try
{
var Device = Brick.MotorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.CurrentOutput = Device.Power;
DeviceViewModel.IsConnected = Device.IsConnected;
DeviceViewModel.CurrentOutputUnit = @"%";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.TargetOutput = 0;
DeviceViewModel.TargetOutputUnit = "";
DeviceViewModel.CurrentOutput = 0;
DeviceViewModel.CurrentOutputUnit = "";
}
#pragma warning restore
}
}
/// <summary>
/// Reset Ev3Brick instance.
/// </summary>
public static void ResetInstance()
{
if (null != _Instance)
{
_Instance._Battery = null;
_Instance._Led = null;
_Instance._State = null;
_Instance._Version = null;
if (null != _Instance._SensorDevice)
{
for (int index = 0; index < 4; index++)
{
_Instance._SensorDevice[index] = null;
}
_Instance._SensorDevice = null;
}
if (null != _Instance._MotorDevice)
{
for (int index = 0; index < 4; index++)
{
_Instance._MotorDevice[index] = null;
}
_Instance._MotorDevice = null;
}
_Instance = null;
}
}
/// <summary>
/// Update safe state of Ev3 Brick sent by GetSafeState command.
/// </summary>
/// <param name="Command">GetSafeState command data.</param>
/// <param name="Brick">Ev3Brick object to received data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_A0_00)
{
int DataTopIndex = 4;
byte SafeState = Command.ResData[DataTopIndex];
switch (SafeState)
{
case 0x00:
Brick.State.State = Model.SafeState.SAFE_STATE.SAFE_STATE_SAFE;
break;
case 0x01:
Brick.State.State = Model.SafeState.SAFE_STATE.SAFE_STATE_ATTN;
break;
case 0x02:
Brick.State.State = Model.SafeState.SAFE_STATE.SAFE_STATE_WARN;
break;
case 0x03:
Brick.State.State = Model.SafeState.SAFE_STATE.SAFE_STATE_STOP;
break;
default:
Brick.State.State = Model.SafeState.SAFE_STATE.SAFE_STATE_UNKNOWN;
break;
}
}
}
/// <summary>
/// Returns Ev3Brick instance, singleton object.
/// </summary>
/// <returns></returns>
public static Ev3Brick GetInstance()
{
if (null == Ev3Brick._Instance)
{
_Instance = new Ev3Brick();
}
return(_Instance);
}
/// <summary>
/// Set safe state.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSafeStateViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
ViewModel.SafeStateViewModel.IsConnected = true;
ViewModel.SafeStateViewModel.SafetyState = Brick.State.StateName;
ViewModel.SafeStateViewModel.ImageSource = Brick.State.StateImage;
}
/// <summary>
/// Update AppVersion property in Brick, Ev3Brick object.
/// </summary>
/// <param name="Command"></param>
/// <param name="Brick"></param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_02_00)
{
Brick.Version.Major = Command.ResData[4];
Brick.Version.Minor = Command.ResData[5];
}
}
public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
var Device = Brick.SensorDevice(Port);
Device.Value1 = Command.ResData[StartIndex + 2];
Device.Value2 = Command.ResData[StartIndex + 3];
Device.Value3 = Command.ResData[StartIndex + 4];
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR;
return(base.Update(Command, Brick, Port, StartIndex) + 3);
}
/// <summary>
/// Update sensor data by connected device data included in response data.
/// </summary>
/// <param name="Command">GetSonicSensor command data.</param>
/// <param name="Brick">Ev3Brick object to set received data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_F0_00)
{
int Index = 0;
int DataTopIndex = 4;
int DataOffset = 0;
BrickUpdater_F0_00_DevBase Updater = null;
for (Index = 0; Index < 4; Index++)
{
byte DeviceType = Command.ResData[DataTopIndex];
switch (DeviceType)
{
case 0x20:
Updater = new BrickUpdater_F0_00_Ultrasonic();
break;
case 0x30:
Updater = new BrickUpdater_F0_00_Color();
break;
case 0x40:
Updater = new BrickUpdater_F0_00_Touch();
break;
case 0x50:
Updater = new BrickUpdater_F0_00_Gyro();
break;
default:
Updater = null;
break;
}
try
{
DataOffset = Updater.Update(Command, Brick, Index, DataTopIndex);
}
catch (NullReferenceException ex)
{
Console.WriteLine(ex.Message);
DataOffset = 2;
}
DataTopIndex += DataOffset;
}
}
}
public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
short Distance = (short)
((ushort)Command.ResData[StartIndex + 2] +
(((ushort)Command.ResData[StartIndex + 3]) << 8));
byte IsListen = Command.ResData[StartIndex + 4];
var Device = Brick.SensorDevice(Port);
Device.Value1 = Distance;
Device.Value2 = IsListen;
Device.Value3 = 0;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC;
return(base.Update(Command, Brick, Port, StartIndex) + 3);
}
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_04_00)
{
short Voltage = (short)(ushort)
((ushort)Command.ResData[4] + ((ushort)Command.ResData[5] << 8));
short Current = (short)(ushort)
((ushort)Command.ResData[6] + ((ushort)Command.ResData[7] << 8));
Brick.Battery.Voltage = Voltage;
Brick.Battery.Current = Current;
}
}
/// <summary>
/// Set target motor and steering value to Ev3Brick instance.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateTargetMotor(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
Brick.Output.MotorOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
Brick.Output.Steering = ViewModel.MotorSteerViewModel.TargetSteer;
foreach (Ev3MotorDeviceViewModel MotorDeviceViewModel in
ViewModel.MotorViewModelArray)
{
if (MotorDeviceViewModel.IsConnected)
{
MotorDeviceViewModel.TargetOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
}
}
}
public override int Update(ACommand Command, Ev3Brick Brick, int Port, int StartIndex)
{
short Angle = (short)
((ushort)Command.ResData[StartIndex + 2] +
(((ushort)Command.ResData[StartIndex + 3]) << 8));
short Speed = (short)
((ushort)Command.ResData[StartIndex + 4] +
(((ushort)Command.ResData[StartIndex + 5]) << 8));
var Device = Brick.SensorDevice(Port);
Device.Value1 = Angle;
Device.Value2 = Speed;
Device.Value3 = 0;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO;
return(base.Update(Command, Brick, Port, StartIndex) + 4);
}
/// <summary>
/// Update sensor device information of Ev3 Brick by GetSensors command.
/// </summary>
/// <param name="Command">GetSensors command.</param>
/// <param name="Brick">Object to set data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_0E_00)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
var Device = Brick.SensorDevice(Index);
Device.ConnectedPort = (Ev3Device.INPORT)Index;
DEVICE_TYPE DeviceType = DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE;
byte Type = Command.ResData[DataTopIndex + Index];
bool HasValue = DeviceTypeDictionary.ContainsKey(Type);
if (HasValue)
{
DeviceType = DeviceTypeDictionary[Type];
}
else
{
DeviceType = DEVICE_TYPE.SENSOR_DEVICE_UNKNOWN;
}
Device.DeviceType = DeviceType;
switch (DeviceType)
{
case DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC:
case DEVICE_TYPE.SENSOR_DEVICE_GYRO:
case DEVICE_TYPE.SENSOR_DEVICE_TOUCH:
case DEVICE_TYPE.SENSOR_DEVICE_COLOR:
case DEVICE_TYPE.SENSOR_DEVICE_HT_NXT_ACCEL:
case DEVICE_TYPE.SENSOR_DEVICE_NXT_TEMP:
Device.IsConnected = true;
break;
default:
Device.IsConnected = false;
break;
}
}
}
}
/// <summary>
/// Update motor device information of Ev3 Brick by GetMotors command.
/// </summary>
/// <param name="Command">GetMotors command.</param>
/// <param name="Brick">Object to set data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_0C_00)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
var Device = Brick.MotorDevice(Index);
Device.ConnectedPort = (Ev3Device.OUTPORT)Index;
DEVICE_TYPE DeviceType = DEVICE_TYPE.MOTOR_DEVICE_NO_DEVICE;
byte Type = Command.ResData[DataTopIndex + Index];
bool HasValue = DeviceTypeDictionary.ContainsKey(Type);
if (HasValue)
{
DeviceType = DeviceTypeDictionary[Type];
}
else
{
DeviceType = DEVICE_TYPE.MOTOR_DEVICE_UNKNOWN;
}
Device.DeviceType = DeviceType;
switch (DeviceType)
{
case DEVICE_TYPE.MOTOR_DEVICE_MEDIUM_MOTOR:
case DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR:
case DEVICE_TYPE.MOTOR_DEVICE_UNADJUSTED:
Device.IsConnected = true;
break;
default:
Device.IsConnected = false;
break;
}
}
}
}
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_40_00)
{
int Index = 0;
int DataTopIndex = 4;
int DevNum = Command.ResData[DataTopIndex++];
for (Index = 0; Index < DevNum; Index++)
{
int DataIndex = DataTopIndex + (Index * 2);
byte Port = Command.ResData[DataIndex++];
byte IsTouch = Command.ResData[DataIndex];
var Device = Brick.SensorDevice(Port);
Device.ConnectedPort = (Ev3Device.INPORT)Port;
Device.IsConnected = true;
Device.Value1 = IsTouch;
Device.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_TOUCH;
}
}
}
public abstract void Update(ACommand Command, Ev3Brick Brick);
/// <summary>
/// Update motor device information of Ev3 Brick by GetMotorPower command,
/// especially motor output power.
/// </summary>
/// <param name="Command"></param>
/// <param name="Brick"></param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
//Nothing to check in this response data.
}
public override void Update(ACommand Command, Ev3Brick Brick)
{
//Nothing to update in this function.
}
/// <summary>
/// Update Brick data by command data, Command.
/// </summary>
/// <param name="Command"></param>
/// <param name="Brick"></param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Console.WriteLine(
string.Format("Nothing to do when {0} command received.", Command.Name));
}
