/// <summary>
/// Connect to Lego RCX brick.
/// </summary>
///
/// <param name="towerType">Type of IR tower to use for communication with RCX brick.</param>
///
/// <returns>Returns <b>true</b> on successful connection or <b>false</b>
/// otherwise.</returns>
///
/// <remarks>If connection to RCX brick was established before the call, existing connection will be reused.
/// If it is required to force reconnection, then <see cref="Disconnect"/> method should be called before.
/// </remarks>
///
public bool Connect(IRTowerType towerType)
{
lock ( sync )
{
// check if we are already connected
if (stack != IntPtr.Zero)
{
return(true);
}
uint status;
// create stack
status = GhostAPI.GhCreateStack(
(towerType == IRTowerType.USB) ? "LEGO.Pbk.CommStack.Port.USB" : "LEGO.Pbk.CommStack.Port.RS232",
"LEGO.Pbk.CommStack.Protocol.IR",
"LEGO.Pbk.CommStack.Session",
out stack);
if (!GhostAPI.PBK_SUCCEEDED(status))
{
return(false);
}
// select first available device
StringBuilder sb = new StringBuilder(200);
status = GhostAPI.GhSelectFirstDevice(stack, sb, sb.Length);
if (!GhostAPI.PBK_SUCCEEDED(status))
{
Disconnect( );
return(false);
}
// open stack, set interleave, set wait mode and check if the brick is alive
if (
!GhostAPI.PBK_SUCCEEDED(GhostAPI.GhOpen(stack)) ||
!GhostAPI.PBK_SUCCEEDED(GhostAPI.GhSetWaitMode(stack, IntPtr.Zero)) ||
!GhostAPI.PBK_SUCCEEDED(GhostAPI.GhSetInterleave(stack, 1, 0)) ||
!IsAlive( )
)
{
Disconnect( );
return(false);
}
}
return(true);
}