/// <summary>
/// Constructor
/// </summary>
/// <param name="comm">Object implementing the <see cref="ICommunication"/> interface for talking to the brick</param>
/// <param name="alwaysSendEvents">Send events when data changes, or at every poll</param>
public Brick(ICommunication comm, bool alwaysSendEvents)
{
_directCommand = new DirectCommand(this);
_systemCommand = new SystemCommand(this);
_batchCommand = new Command(this);
Buttons = new BrickButtons();
_alwaysSendEvents = alwaysSendEvents;
int index = 0;
_comm = comm;
_comm.ReportReceived += ReportReceived;
Ports = new Dictionary<InputPort,Port>();
foreach(InputPort i in Enum.GetValues(typeof(InputPort)))
{
Ports[i] = new Port
{
InputPort = i,
Index = index++,
Name = i.ToString(),
};
}
}
internal async Task ClearAllDevicesAsyncInternal()
{
Command c = new Command(CommandType.DirectNoReply);
c.ClearAllDevices();
await _brick.SendCommandAsyncInternal(c);
}
internal async Task SetMotorPolarityAsyncInternal(OutputPort ports, Polarity polarity)
{
Command c = new Command(CommandType.DirectNoReply);
c.SetMotorPolarity(ports, polarity);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task StepMotorAtSpeedAsyncInternal(OutputPort ports, int speed, uint rampUpSteps, uint constantSteps, uint rampDownSteps, bool brake)
{
Command c = new Command(CommandType.DirectNoReply);
c.StepMotorAtSpeed(ports, speed, rampUpSteps, constantSteps, rampDownSteps, brake);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task OutputReadyAsyncInternal(OutputPort ports)
{
Command c = new Command(CommandType.DirectNoReply);
c.OutputReady(ports);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task<int> ReadyPercentAsyncInternal(InputPort port, int mode)
{
Command c = new Command(CommandType.DirectReply, 1, 0);
c.ReadyRaw(port, mode, 0);
await _brick.SendCommandAsyncInternal(c);
return c.Response.Data[0];
}
internal async Task<byte[]> GetTypeModeAsyncInternal(InputPort port)
{
Command c = new Command(CommandType.DirectReply, 2, 0);
c.GetTypeMode(port, 0, 1);
await _brick.SendCommandAsyncInternal(c);
return c.Response.Data;
}
internal async Task DrawDottedLineAsyncInternal(Color color, ushort x0, ushort y0, ushort x1, ushort y1, ushort onPixels, ushort offPixels)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawDottedLine(color, x0, y0, x1, y1, onPixels, offPixels);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawLineAsyncInternal(Color color, ushort x0, ushort y0, ushort x1, ushort y1)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawLine(color, x0, y0, x1, y1);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task SetLedPatternAsyncInternal(LedPattern ledPattern)
{
Command c = new Command(CommandType.DirectNoReply);
c.SetLedPattern(ledPattern);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task<bool> IsBrickButtonPressedAsyncInternal(BrickButton button)
{
Command c = new Command(CommandType.DirectReply, 1, 0);
c.IsBrickButtonPressed(button, 0);
await _brick.SendCommandAsyncInternal(c);
return false;
}
internal async Task<string> GetFirmwareVersionAsyncInternal()
{
Command c = new Command(CommandType.DirectReply, 0x10, 0);
c.GetFirwmareVersion(0x10, 0);
await _brick.SendCommandAsyncInternal(c);
if(c.Response.Data == null)
return null;
int index = Array.IndexOf(c.Response.Data, (byte)0);
return Encoding.UTF8.GetString(c.Response.Data, 0, index);
}
internal async Task PlaySoundAsyncInternal(int volume, string filename)
{
Command c = new Command(CommandType.DirectNoReply);
c.PlaySound(volume, filename);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task PlayToneAsyncInternal(int volume, ushort frequency, ushort duration)
{
Command c = new Command(CommandType.DirectNoReply);
c.PlayTone(volume, frequency, duration);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task ClearChangesAsyncInternal(InputPort port)
{
Command c = new Command(CommandType.DirectNoReply);
c.ClearChanges(port);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task SelectFontAsyncInternal(FontType fontType)
{
Command c = new Command(CommandType.DirectNoReply);
c.SelectFont(fontType);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task EnableTopLineAsyncInternal(bool enabled)
{
Command c = new Command(CommandType.DirectNoReply);
c.EnableTopLine(enabled);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawPixelAsyncInternal(Color color, ushort x, ushort y)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawPixel(color, x, y);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task UpdateUIAsyncInternal()
{
Command c = new Command(CommandType.DirectNoReply);
c.UpdateUI();
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawRectangleAsyncInternal(Color color, ushort x, ushort y, ushort width, ushort height, bool filled)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawRectangle(color, x, y, width, height, filled);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task<int> ReadyRawAsyncInternal(InputPort port, int mode)
{
Command c = new Command(CommandType.DirectReply, 4, 0);
c.ReadyRaw(port, mode, 0);
await _brick.SendCommandAsyncInternal(c);
return BitConverter.ToInt32(c.Response.Data, 0);
}
internal async Task DrawInverseRectangleAsyncInternal(ushort x, ushort y, ushort width, ushort height)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawInverseRectangle(x, y, width, height);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task<string> GetModeNameAsyncInternal(InputPort port, int mode)
{
Command c = new Command(CommandType.DirectReply, 0x7f, 0);
c.GetModeName(port, mode, 0x7f, 0);
await _brick.SendCommandAsyncInternal(c);
int index = Array.IndexOf(c.Response.Data, (byte)0);
return Encoding.UTF8.GetString(c.Response.Data, 0, index);
}
internal async Task DrawCircleAsyncInternal(Color color, ushort x, ushort y, ushort radius, bool filled)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawCircle(color, x, y, radius, filled);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task TurnMotorAtSpeedAsyncInternal(OutputPort ports, int speed)
{
Command c = new Command(CommandType.DirectNoReply);
c.TurnMotorAtSpeed(ports, speed);
c.StartMotor(ports);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawTextAsyncInternal(Color color, ushort x, ushort y, string text)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawText(color, x, y, text);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task TurnMotorAtSpeedForTimeAsyncInternal(OutputPort ports, int speed, uint msRampUp, uint msConstant, uint msRampDown, bool brake)
{
Command c = new Command(CommandType.DirectNoReply);
c.TurnMotorAtSpeedForTime(ports, speed, msRampUp, msConstant, msRampDown, brake);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawFillWindowAsyncInternal(Color color, ushort y0, ushort y1)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawFillWindow(color, y0, y1);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task StartMotorAsyncInternal(OutputPort ports)
{
Command c = new Command(CommandType.DirectNoReply);
c.StartMotor(ports);
await _brick.SendCommandAsyncInternal(c);
}
internal async Task DrawImageAsyncInternal(Color color, ushort x, ushort y, string devicePath)
{
Command c = new Command(CommandType.DirectNoReply);
c.DrawImage(color, x ,y, devicePath);
await _brick.SendCommandAsyncInternal(c);
}