public static async Task TestLPF2Device(LPF2Device device)
{
if (device == null)
{
return;
}
switch (device)
{
case ColorDistanceSensor cds:
Log.Information($"ColorDistanceSensor {cds} attached, setting up event handler...");
cds.OnColorChange += async(sensor, color) =>
{
Log.Information($"Setting color to {color}...");
await Task.Delay(TimeSpan.FromMilliseconds(1000));
await device.Hub.LED.SetColor(color);
};
cds.OnDistanceChange += async(sensor, distance) =>
{
await Task.Delay(TimeSpan.FromMilliseconds(1000));
Log.Information($"Distance is {distance}...");
};
break;
case Light light:
{
foreach (var n in Enumerable.Range(1, 9))
{
await light.SetBrightness((byte)(n * 10));
await Task.Delay(TimeSpan.FromSeconds(1));
}
await light.SetBrightness(100);
break;
}
case TachoMotor tachoMotor:
Log.Information($"Testing {device}...");
await tachoMotor.SetPower(50);
await Task.Delay(TimeSpan.FromSeconds(3));
await tachoMotor.Stop();
Log.Information("Done.");
break;
}
}
private async Task OnAttachedIo(Message msg)
{
var portId = msg.Payload[0];
var eventType = msg.Payload[1];
var deviceType = (eventType != 0) ? BitConverter.ToUInt16(msg.Payload.Slice(2)) : 0;
switch (eventType)
{
case 0:
// Device detachment
await DetachDevice(portId);
if (VirtualPortMap.ContainsKey(portId))
{
// Remove virtual port
var name = VirtualPortMap[portId];
VirtualPortMap.Remove(portId);
PortIdMap[portId] = null;
Log.Debug($"VirtualPort(name={name}, id={portId}) removed.");
}
break;
case 1:
// Device attachment
await AttachDevice(LPF2Device.CreateInstance(this, (LPF2DeviceType)deviceType, portId), portId);
break;
case 2:
// Virtual port creation
var firstPortName = PortIdMap[msg.Payload[4]];
var secondPortName = PortIdMap[msg.Payload[5]];
var virtualPortName = $"{firstPortName}+{secondPortName}";
var virtualPortId = msg.Payload[0];
PortIdMap[virtualPortId] = virtualPortName;
VirtualPortMap[virtualPortId] = virtualPortName;
Log.Debug($"VirtualPort(name={virtualPortName}, id={virtualPortId}) created.");
await AttachDevice(LPF2Device.CreateInstance(this, (LPF2DeviceType)deviceType, virtualPortId),
virtualPortId);
break;
default:
Log.Warning($"Unknown attached IO event {eventType}.");
break;
}
}
