/// <summary>
/// Update motor device information of Ev3 Brick by GetMotorPower command,
/// especially motor output power.
/// </summary>
/// <param name="Command"></param>
/// <param name="Brick"></param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_10_01)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
int DataIndex = DataTopIndex + Index * 2;
byte Connection = Command.ResData[DataIndex++];
int Power = (int)((sbyte)(Command.ResData[DataIndex]));
var Device = Brick.MotorDevice(Index);
Device.ConnectedPort = (Ev3Device.OUTPORT)Index;
if (0x00 == Connection)
{
Device.IsConnected = false;
Device.Power = 0;
}
else
{
Device.IsConnected = true;
Device.Power = Power;
}
}
}
}
/// <summary>
/// Update motor device information of Ev3 Brick by GetMotors command.
/// </summary>
/// <param name="Command">GetMotors command.</param>
/// <param name="Brick">Object to set data.</param>
public override void Update(ACommand Command, Ev3Brick Brick)
{
Debug.Assert(Command != null);
Debug.Assert(Brick != null);
if (Command is Command_0C_00)
{
int Index = 0;
int DataTopIndex = 4;
for (Index = 0; Index < 4; Index++)
{
var Device = Brick.MotorDevice(Index);
Device.ConnectedPort = (Ev3Device.OUTPORT)Index;
DEVICE_TYPE DeviceType = DEVICE_TYPE.MOTOR_DEVICE_NO_DEVICE;
byte Type = Command.ResData[DataTopIndex + Index];
bool HasValue = DeviceTypeDictionary.ContainsKey(Type);
if (HasValue)
{
DeviceType = DeviceTypeDictionary[Type];
}
else
{
DeviceType = DEVICE_TYPE.MOTOR_DEVICE_UNKNOWN;
}
Device.DeviceType = DeviceType;
switch (DeviceType)
{
case DEVICE_TYPE.MOTOR_DEVICE_MEDIUM_MOTOR:
case DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR:
case DEVICE_TYPE.MOTOR_DEVICE_UNADJUSTED:
Device.IsConnected = true;
break;
default:
Device.IsConnected = false;
break;
}
}
}
}
