/// <summary>
/// Initialize the Color Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new ColorSensorState();
// Default to Color mode if no config file
_state.SensorMode = ColorSensorMode.Color;
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
_state.TimeStamp = DateTime.MinValue;
_state.Reading = 0;
_state.Connected = false;
if (_genericState == null)
{
_genericState = new pxanalogsensor.AnalogSensorState();
}
// Analog range is 0-1023 (10-bit A/D)
_genericState.RawMeasurementRange = 1023.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
protected override void Start()
{
//configure default state
if (_state == null)
{
_state = new analog.AnalogSensorState();
_state.HardwareIdentifier = 3;
_state.RawMeasurementRange = 100;
SaveState(_state);
}
// Listen for each of my handlers
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Subscribe to NXT for light sensor notifications
if (ValidState(_state))
{
SubscribeToNXT();
}
}
/// <summary>
/// Initialize the Light Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new LightSensorState();
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
_state.TimeStamp = DateTime.MinValue;
_state.Intensity = 0;
_state.Connected = false;
if (_genericState == null)
{
_genericState = new pxanalogsensor.AnalogSensorState();
}
_genericState.RawMeasurementRange = 255.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
public virtual IEnumerator <ITask> AlternateGetHandler(analog.Get get)
{
_alternateState = new analog.AnalogSensorState();
_alternateState.RawMeasurement = _state.SoundReading;
_alternateState.TimeStamp = _state.TimeStamp;
get.ResponsePort.Post(_alternateState);
yield break;
}
private static bool ValidState(analog.AnalogSensorState state)
{
if (state != null)
{
if (state.HardwareIdentifier >= 1 && state.HardwareIdentifier <= 4)
{
return(true);
}
}
return(false);
}
IEnumerator <ITask> UpdateCompass()
{
var sensorOrFault = _simulatedCompassPort.Get();
yield return(sensorOrFault.Choice());
if (!HasError(sensorOrFault))
{
analogsensor.AnalogSensorState sensorState = (analogsensor.AnalogSensorState)sensorOrFault;
WinFormsServicePort.Post(new FormInvoke(() =>
{
_imageProcessingForm.SetCompassReadingValue(sensorState.RawMeasurement);
}));
}
}
/// <summary>
/// Configure sensors
/// </summary>
/// <returns>A CCR iterator</returns>
private IEnumerator <ITask> ConfigureSensors()
{
int i = 0;
// Get each sensor's current state
// And assign hardware identifiers
var replaceSensorState = new analogsensor.Replace();
foreach (var sensor in this.sensorPorts)
{
var getResultPort = this.sensorPorts[i].Get();
yield return(getResultPort.Choice());
analogsensor.AnalogSensorState sensorState = getResultPort;
if (sensorState != null)
{
replaceSensorState.Body = sensorState;
}
else
{
replaceSensorState.Body = new analogsensor.AnalogSensorState();
}
replaceSensorState.Body.HardwareIdentifier = i;
sensor.Post(replaceSensorState);
i++;
}
ICollection <Fault> faults = null;
yield return(replaceSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(successes, f) =>
{
faults = f;
}));
if (faults != null && faults.Count > 0)
{
LogError("Failure configuring IR sensors");
this.mainPort.Post(new DsspDefaultDrop());
}
this.StartAfterConfigure();
}
public virtual IEnumerator <ITask> AlternateGetHandler(analogarray.Get get)
{
_alternateState = new analogarray.AnalogSensorArrayState();
_alternateState.Sensors = new List <analog.AnalogSensorState>();
analog.AnalogSensorState sens = new analog.AnalogSensorState();
sens.RawMeasurement = _state.Sensors[0].value;
_alternateState.Sensors.Add(sens);
sens = new analog.AnalogSensorState();
sens.RawMeasurement = _state.Sensors[1].value;
_alternateState.Sensors.Add(sens);
sens = new analog.AnalogSensorState();
sens.RawMeasurement = _state.Sensors[2].value;
_alternateState.Sensors.Add(sens);
sens = new analog.AnalogSensorState();
sens.RawMeasurement = _state.Sensors[3].value;
_alternateState.Sensors.Add(sens);
get.ResponsePort.Post(_alternateState);
yield break;
}
public IEnumerator <ITask> ReplaceHandler(analog.Replace replace)
{
if (_subscribed)
{
throw new Exception("Already subscribed");
}
else if (ValidState(replace.Body))
{
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SubscribeToNXT();
}
else
{
throw new Exception("Invalid State");
}
yield break;
}
/// <summary>
/// Initialize State
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new SoundSensorState();
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
if (_genericState == null)
{
_genericState = new pxanalogsensor.AnalogSensorState();
}
_state.TimeStamp = DateTime.MinValue;
_state.Connected = false;
_state.Intensity = 0;
_genericState.RawMeasurementRange = 255.0;
}
public virtual IEnumerator <ITask> ReplaceHandler(pxanalogsensor.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Initialize State
/// </summary>
private void InitializeState()
{
if (_state == null)
_state = new SoundSensorState();
if (_state.PollingFrequencyMs == 0)
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
if (_genericState == null)
_genericState = new pxanalogsensor.AnalogSensorState();
_state.TimeStamp = DateTime.MinValue;
_state.Connected = false;
_state.Intensity = 0;
_genericState.RawMeasurementRange = 255.0;
}
/// <summary>
/// Initialize the Light Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
_state = new LightSensorState();
if (_state.PollingFrequencyMs == 0)
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
_state.TimeStamp = DateTime.MinValue;
_state.Intensity = 0;
_state.Connected = false;
if (_genericState == null)
_genericState = new pxanalogsensor.AnalogSensorState();
_genericState.RawMeasurementRange = 255.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
/// <summary>
/// Initialize the Color Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new ColorSensorState();
// Default to Color mode if no config file
_state.SensorMode = ColorSensorMode.Color;
}
if (_state.PollingFrequencyMs == 0)
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
_state.TimeStamp = DateTime.MinValue;
_state.Reading = 0;
_state.Connected = false;
if (_genericState == null)
_genericState = new pxanalogsensor.AnalogSensorState();
// Analog range is 0-1023 (10-bit A/D)
_genericState.RawMeasurementRange = 1023.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
