/// <summary>
/// Gets the value depending on the current mode
/// </summary>
/// <returns>value</returns>
public async Task <ColorSensorValue> GetValue()
{
int raw = await InputMethods.GetReadyRaw(Brick.Socket, PortNumber, 0, (int)Mode);
ColorSensorValue value = ConvertToSensorValue(raw);
Value = value;
return(value);
}
/// <summary>
/// Override to set the value from EventMonitor
/// </summary>
protected sealed override bool SetValue(object value)
{
ColorSensorValue newValue = ConvertToSensorValue(value);
bool hasChanged = (Value != newValue);
if (hasChanged)
{
Value = newValue;
if (InputChanged != null && MonitorEvents)
{
if (Brick.Socket.SynchronizationContext == SynchronizationContext.Current)
{
InputChanged(this, Value);
}
else
{
Brick.Socket.SynchronizationContext.Post(delegate { InputChanged(this, Value); }, null);
}
}
}
return(hasChanged);
}
private ColorSensorValue ConvertToSensorValue(object value)
{
if (value == null)
{
return(null);
}
ColorSensorValue colorSensorValue;
switch (Mode)
{
case ColorSensorMode.Color:
{
colorSensorValue = new ColorSensorValue(((ColorSensorColor)(int)value), Mode);
break;
}
default: //TODO test other colormodes!!
{
colorSensorValue = new ColorSensorValue((int)value, Mode);
break;
}
}
return(colorSensorValue);
}
/// <summary>
/// constructs a LEGO® MINDSTORMS® EV3 Color Sensor
/// </summary>
public ColorSensor(ColorSensorMode mode)
: base(DeviceType.ColorSensor)
{
Mode = mode;
Value = new ColorSensorValue(ColorSensorColor.None, Mode);
}
