/// <summary>
/// Create the port
/// </summary>
/// <param name="layer">the brick layer</param>
/// <param name="port">the port name</param>
internal OutputPort(ChainLayer layer, OutputPortName port)
{
Layer = layer;
Name = port;
Status = PortStatus.Empty;
Number = port.AbsolutePortNumber(layer);
}
/// <summary>
/// This function enables specifying the output device type
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="port">Port number [0 - 3]</param>
/// <param name="type">Output device type, (0x07: Large motor, Medium motor = 0x08)</param>
/// <param name="requireReply">indicate if the brick should respond OK on method call</param>
/// <remarks>
/// Instruction opOutput_Set_Type (LAYER, NO, TYPE)
/// Opcode 0xA1
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NO – Port number [0 - 3]
/// (Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08)
/// Dispatch status Unchanged
/// Description This function enables specifying the output device type
/// </remarks>
public static async Task SetType(ISocket socket, ChainLayer layer, OutputPortName port, DeviceType type, bool requireReply = true)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_SET_TYPE);
cb.SHORT((int)layer);
cb.SHORT((int)port);
cb.PAR8((byte)type);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables the program to read the tacho count as sensor input.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <remarks>
/// Instruction opOutput_Get_Count (LAYER, NOS, *TACHO)
/// Opcode 0xB3
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data32) *TACHO – Tacho count as sensor value
/// Dispatch status Unchanged
/// Description This function enables the program to read the tacho count as sensor input.
/// </remarks>
public static async Task <int> GetTachoCount(ISocket socket, ChainLayer layer, OutputPortName port)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(CommandType.DIRECT_COMMAND_REPLY, 4, 0))
{
cb.OpCode(OP.opOUTPUT_GET_COUNT);
cb.PAR8((byte)layer);
cb.PAR8((byte)port);
cb.VARIABLE_PAR32(0, PARAMETER_VARIABLE_SCOPE.GLOBAL);
cmd = cb.ToCommand();
}
Response response = await socket.Execute(cmd);
return(BitConverter.ToInt32(response.PayLoad, 0));
}
/// <summary>
/// Read information about external device
/// </summary>
/// <param name="port"></param>
/// <param name="layer"></param>
/// <returns></returns>
public async Task <Format> GetFormat(OutputPortName port, ChainLayer layer = ChainLayer.One)
{
int portNumber = port.AbsolutePortNumber(layer);
return(await InputMethods.GetFormat(Brick.Socket, layer, portNumber));
}
public static int AbsolutePortNumber(this OutputPortName port, ChainLayer layer)
{
return((((int)layer * 4) + 16) + (int)port);
}
public static OutputPortFlag ToFlag(this OutputPortName port)
{
return((OutputPortFlag)(1 << (int)port)); //convert to bitfield e.g. 0010 equals port 2
}
public async Task Initialize()
{
Entries = new List <ConfigEntry>();
IEnumerable <PortInfo> ports = await Manager.Brick.Console.PortScan();
StringBuilder sb = new StringBuilder();
for (int i = 0; i < 4; i++)
{
sb.AppendLine($"Brick {(ChainLayer)i}");
int start = i * 4;
int end = start + 4;
IEnumerable <PortInfo> inputPorts = ports.Where(p => p.Number >= start && p.Number < end);
foreach (PortInfo portInfo in inputPorts)
{
InputPortName name = (InputPortName)portInfo.Number - start;
if (portInfo.Status == PortStatus.OK)
{
ConfigEntry entry = new ConfigEntry
{
Layer = i,
PortName = name.ToString(),
Type = portInfo.Device.Value,
};
Entries.Add(entry);
sb.AppendLine($"\tPort {name} - {portInfo.Status} - {portInfo.Device}");
}
else
{
sb.AppendLine($"\tPort {name} - {portInfo.Status}");
}
}
start += 16;
end = start + 4;
IEnumerable <PortInfo> outputPorts = ports.Where(p => p.Number >= start && p.Number < end);
foreach (PortInfo portInfo in outputPorts)
{
OutputPortName name = (OutputPortName)portInfo.Number - start;
if (portInfo.Status == PortStatus.OK)
{
ConfigEntry entry = new ConfigEntry
{
Layer = i,
PortName = name.ToString(),
Type = portInfo.Device.Value,
};
Entries.Add(entry);
sb.AppendLine($"\tPort {name} - {portInfo.Status} - {portInfo.Device}");
}
else
{
sb.AppendLine($"\tPort {name} - {portInfo.Status}");
}
}
}
textBoxDeviceList.Text = sb.ToString();
}
public static void Connect(IOPort brickPorts, List <DeviceOptions> devices)
{
foreach (DeviceOptions device in devices)
{
ChainLayer layer = device.Layer;
switch (device.Type)
{
case DeviceType.MediumMotor:
{
OutputPortName port = (OutputPortName)Enum.Parse(typeof(OutputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadMediumMotor(device.Id).Connect(brickPorts.Output.Ports[portNumber]);
break;
}
case DeviceType.LargeMotor:
{
OutputPortName port = (OutputPortName)Enum.Parse(typeof(OutputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadLargeMotor(device.Id).Connect(brickPorts.Output.Ports[portNumber]);
break;
}
case DeviceType.TouchSensor:
{
InputPortName port = (InputPortName)Enum.Parse(typeof(InputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadTouchSensor(device.Id).Connect(brickPorts.Input.Ports[portNumber]);
break;
}
case DeviceType.ColorSensor:
{
InputPortName port = (InputPortName)Enum.Parse(typeof(InputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadColorSensor(device.Id).Connect(brickPorts.Input.Ports[portNumber]);
break;
}
case DeviceType.GyroscopeSensor:
{
InputPortName port = (InputPortName)Enum.Parse(typeof(InputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadGyroscopeSensor(device.Id).Connect(brickPorts.Input.Ports[portNumber]);
break;
}
case DeviceType.InfraredSensor:
{
InputPortName port = (InputPortName)Enum.Parse(typeof(InputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadInfraredSensor(device.Id).Connect(brickPorts.Input.Ports[portNumber]);
break;
}
case DeviceType.UltrasonicSensor:
{
InputPortName port = (InputPortName)Enum.Parse(typeof(InputPortName), device.Port, true);
int portNumber = port.AbsolutePortNumber(layer);
LoadUltrasonicSensor(device.Id).Connect(brickPorts.Input.Ports[portNumber]);
break;
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="id"></param>
/// <param name="outputPort"></param>
/// <param name="polarity"></param>
/// <param name="layer"></param>
public void AddMediumMotor(string id, OutputPortName outputPort, Polarity?polarity = null, ChainLayer layer = ChainLayer.One)
{
AddDevice(id, DeviceType.MediumMotor, outputPort.ToString(), polarity?.ToString(), layer);
}
