/// <summary>
/// Post Configure Sensor Connection with body and return the response port.
/// </summary>
public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(SonarSensorState state)
{
ConnectToBrick op = new ConnectToBrick();
op.Body = new SonarSensorConfig(state.SensorPort);
op.Body.Name = state.Name;
op.Body.PollingFrequencyMs = state.PollingFrequencyMs;
this.PostUnknownType(op);
return(op.ResponsePort);
}
/// <summary>
/// Initialize State
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new SonarSensorState();
// I2C devices can autodetect which port they are on.
_state.SensorPort = NxtSensorPort.AnySensorPort;
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
_state.TimeStamp = DateTime.MinValue;
_state.Distance = 0;
_state.Connected = false;
}
