/// <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;
var 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(),
};
}
}
/// <summary>
/// Connect to the EV3 brick with a specified polling time.
/// </summary>
/// <param name="pollingTime">The period to poll the device status. Set to TimeSpan.Zero to disable polling.</param>
/// <returns></returns>
public async Task ConnectAsync(TimeSpan pollingTime)
{
_tokenSource = new CancellationTokenSource();
await _comm.ConnectAsync();
await DirectCommand.StopMotorAsync(OutputPort.All, false);
if (pollingTime != TimeSpan.Zero)
{
var t = Task.Factory.StartNew(async() =>
{
while (!_tokenSource.IsCancellationRequested)
{
await PollSensorsAsync();
await Task.Delay(pollingTime, _tokenSource.Token);
}
await DirectCommand.StopMotorAsync(OutputPort.All, false);
}, _tokenSource.Token, TaskCreationOptions.LongRunning, TaskScheduler.Current);
}
}