/// <summary>
/// <para>Sends a command to the NXT block to run ISMOTORREADY - query if the motor is ready.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This command is used to determine the state of a single motor: Is it currently executing a command (i.e. moving) or is it ready to accept new commands? Bi-directional communication is used. We send a request and keep asking for the reply (i.e. we poll the computer's inbox). We have to make sure that for each request we make, we also retrieve the answer (to leave MotorControl in a clean state). Please note that we can (in theory) make multiple requests concerning different motors at the same time, as long as we keep polling the incoming mailbox and collect all replies.</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port</param>
/// <returns>True (idle/ready); false (still busy).</returns>
public static bool ISMOTORREADY(NxtCommunicationProtocol commLink, MotorControlMotorPort port)
{
string messageData = string.Format("{0}{1}",
(byte)MotorControlCommandType.PROTO_ISMOTORREADY,
(byte)port
);
commLink.MessageWrite(PC_OUTBOX, messageData);
while (true)
{
System.Threading.Thread.Sleep(10);
try
{
string reply = commLink.MessageRead(PC_INBOX, NxtMailbox.Box0, true); // The "local inbox" has no function.
if (reply[0] != messageData[1])
{
continue;
}
return(reply[1] == '1');
}
catch (NxtCommunicationProtocolException ex)
{
if (ex.errorMessage != NxtErrorMessage.SpecifiedMailboxQueueIsEmpty)
{
throw;
}
}
}
}
/// <summary>
/// <para>Sends a command to the NXT brick to run RESET_ERROR_CORRECTION - to reset the NXT's internal error correction mechanism.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This command can be used to reset the NXT's internal error correction mechanism (i.e. reset the TachoCount property). The same thing can be achieved using the IO map commands (with the output module).</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port(s)</param>
public static void RESET_ERROR_CORRECTION(NxtCommunicationProtocol commLink, MotorControlMotorPort port)
{
string messageData = string.Format("{0}{1}",
(byte)MotorControlCommandType.PROTO_RESET_ERROR_CORRECTION,
(byte)port
);
commLink.MessageWrite(PC_OUTBOX, messageData);
}
/// <summary>
/// <para>Sends a command to the NXT brick to run CONTROLLED_MOTORCMD - to run the motor(s) with the given parameters.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This is the most important command. It contains a lot of parameters to tell the according motor(s) how and where to move. This is the actual reason MotorControl was developed. However, in certain situations, CLASSIC_MOTORCMD should be used instead (see below why). One of the reasons we have to decide in the high-level-client when to use CONTROLLED_MOTORCMD and when not is that in NXC, CPU-time is valuable, while on a computer we've got plenty!</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port(s)</param>
/// <param name="power">Power - 3 chars from "0" to "200". "0" to "100" = power 0 to 100; "101" to "200" = power -1 to -100.</param>
/// <param name="tachoLimit">Tacho limit - 6 chars from "0" to "999999". "0" means driving forever, no limit (better not use it, see also CLASSIC_MOTORCMD); everything else: drive to specific position.</param>
/// <param name="mode">Mode: 1 char, bitfield. Compose bits to integer (by OR or +), convert to char - Start with 0x00 (000); Set 0x01 (001) / add 1: Set for HoldBrake (keeps active brake on after end of movement); Set 0x02 (010) / add 2: Set to enable SpeedRegulation; Set 0x04 (100) / add 4: Set to enable SmoothStart.</param>
/// <seealso cref="CLASSIC_MOTORCMD"/>
public static void CONTROLLED_MOTORCMD(NxtCommunicationProtocol commLink, MotorControlMotorPort port, string power, string tachoLimit, char mode)
{
string messageData = string.Format("{0}{1}{2}{3}{4}",
(byte)MotorControlCommandType.PROTO_CONTROLLED_MOTORCMD,
(byte)port,
power,
tachoLimit,
mode
);
commLink.MessageWrite(PC_OUTBOX, messageData);
}
/// <summary>
/// <para>Queries if the MotorControl-program is on the NXT</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <returns>True if the MotorControl-program is on the NXT, false if not</returns>
public static bool IsMotorControlOnNxt(NxtCommunicationProtocol commLink)
{
// Find the first file on the NXT brick.
NxtFindFileReply?fileInfo = commLink.FindFirst("*.*");
// Continue for as long as a file was found.
while (fileInfo.HasValue && fileInfo.Value.fileFound)
{
if (fileInfo.Value.fileName == MotorControlFile)
{
return(true);
}
// Go to the next file.
fileInfo = commLink.FindNext(fileInfo.Value.handle);
}
return(false);
}
/// <summary>
/// <para>Queries if the MotorControl-program is currently running on the NXT.</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <returns>True if the MotorControl-program is running, false if not</returns>
public static bool IsMotorControlRunningOnNxt(NxtCommunicationProtocol commLink)
{
string currentProgramName;
try
{
currentProgramName = commLink.GetCurrentProgramName();
}
catch (NxtCommunicationProtocolException ex)
{
if (ex.errorMessage == NxtErrorMessage.NoActiveProgram)
{
return(false);
}
else
{
throw;
}
}
return(currentProgramName == MotorControlFile);
}
/// <summary>
/// <para>Stops the MotorControl-program.</para>
/// </summary>
/// <remarks>
/// <para>Stops any running program, even it the program is not the MotorControl-program.</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
public static void StopMotorControl(NxtCommunicationProtocol commLink)
{
commLink.StopProgram();
}
/// <summary>
/// <para>Starts the MotorControl-program.</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
public static void StartMotorControl(NxtCommunicationProtocol commLink)
{
commLink.StartProgram(MotorControlFile);
}
/// <summary>
/// <para>Not implemented yet in MotorControl.</para>
/// </summary>
/// <param name="commLink"></param>
public static void JUMBOPACKET(NxtCommunicationProtocol commLink)
{
throw new System.NotImplementedException("Not implemented in the MotorControl program yet.");
}
/// <summary>
/// <para>Stops the MotorControl-program.</para>
/// </summary>
/// <remarks>
/// <para>Stops any running program, even it the program is not the MotorControl-program.</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
public static void StopMotorControl(NxtCommunicationProtocol commLink)
{
commLink.StopProgram();
}
/// <summary>
/// <para>Sends a command to the NXT brick to run RESET_ERROR_CORRECTION - to reset the NXT's internal error correction mechanism.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This command can be used to reset the NXT's internal error correction mechanism (i.e. reset the TachoCount property). The same thing can be achieved using the IO map commands (with the output module).</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port(s)</param>
public static void RESET_ERROR_CORRECTION(NxtCommunicationProtocol commLink, MotorControlMotorPort port)
{
string messageData = string.Format("{0}{1}",
(byte)MotorControlCommandType.PROTO_RESET_ERROR_CORRECTION,
(byte)port
);
commLink.MessageWrite(PC_OUTBOX, messageData);
}
/// <summary>
/// <para>Starts the MotorControl-program.</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
public static void StartMotorControl(NxtCommunicationProtocol commLink)
{
commLink.StartProgram(MotorControlFile);
}
/// <summary>
/// <para>Not implemented yet in MotorControl.</para>
/// </summary>
/// <param name="commLink"></param>
public static void JUMBOPACKET(NxtCommunicationProtocol commLink)
{
throw new System.NotImplementedException("Not implemented in the MotorControl program yet.");
}
/// <summary>
/// <para>Sends a command to the NXT block to run ISMOTORREADY - query if the motor is ready.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This command is used to determine the state of a single motor: Is it currently executing a command (i.e. moving) or is it ready to accept new commands? Bi-directional communication is used. We send a request and keep asking for the reply (i.e. we poll the computer's inbox). We have to make sure that for each request we make, we also retrieve the answer (to leave MotorControl in a clean state). Please note that we can (in theory) make multiple requests concerning different motors at the same time, as long as we keep polling the incoming mailbox and collect all replies.</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port</param>
/// <returns>True (idle/ready); false (still busy).</returns>
public static bool ISMOTORREADY(NxtCommunicationProtocol commLink, MotorControlMotorPort port)
{
string messageData = string.Format("{0}{1}",
(byte)MotorControlCommandType.PROTO_ISMOTORREADY,
(byte)port
);
commLink.MessageWrite(PC_OUTBOX, messageData);
while (true)
{
System.Threading.Thread.Sleep(10);
try
{
string reply = commLink.MessageRead(PC_INBOX, NxtMailbox.Box0, true); // The "local inbox" has no function.
if (reply[0] != messageData[1]) continue;
return (reply[1] == '1');
}
catch (NxtCommunicationProtocolException ex)
{
if (ex.errorMessage != NxtErrorMessage.SpecifiedMailboxQueueIsEmpty) throw;
}
}
}
/// <summary>
/// <para>Queries if the MotorControl-program is currently running on the NXT.</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <returns>True if the MotorControl-program is running, false if not</returns>
public static bool IsMotorControlRunningOnNxt(NxtCommunicationProtocol commLink)
{
string currentProgramName;
try
{
currentProgramName = commLink.GetCurrentProgramName();
}
catch (NxtCommunicationProtocolException ex)
{
if (ex.errorMessage == NxtErrorMessage.NoActiveProgram)
{
return false;
}
else
throw;
}
return (currentProgramName == MotorControlFile);
}
/// <summary>
/// <para>Queries if the MotorControl-program is on the NXT</para>
/// </summary>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <returns>True if the MotorControl-program is on the NXT, false if not</returns>
public static bool IsMotorControlOnNxt(NxtCommunicationProtocol commLink)
{
// Find the first file on the NXT brick.
NxtFindFileReply? fileInfo = commLink.FindFirst("*.*");
// Continue for as long as a file was found.
while (fileInfo.HasValue && fileInfo.Value.fileFound)
{
if (fileInfo.Value.fileName == MotorControlFile) return true;
// Go to the next file.
fileInfo = commLink.FindNext(fileInfo.Value.handle);
}
return false;
}
/// <summary>
/// <para>Sends a command to the NXT brick to run CONTROLLED_MOTORCMD - to run the motor(s) with the given parameters.</para>
/// </summary>
/// <remarks>
/// <para>From the MotorControl documentation:</para>
/// <para>This is the most important command. It contains a lot of parameters to tell the according motor(s) how and where to move. This is the actual reason MotorControl was developed. However, in certain situations, CLASSIC_MOTORCMD should be used instead (see below why). One of the reasons we have to decide in the high-level-client when to use CONTROLLED_MOTORCMD and when not is that in NXC, CPU-time is valuable, while on a computer we've got plenty!</para>
/// </remarks>
/// <param name="commLink">The communication link to the NXT brick.</param>
/// <param name="port">Motor port(s)</param>
/// <param name="power">Power - 3 chars from "0" to "200". "0" to "100" = power 0 to 100; "101" to "200" = power -1 to -100.</param>
/// <param name="tachoLimit">Tacho limit - 6 chars from "0" to "999999". "0" means driving forever, no limit (better not use it, see also CLASSIC_MOTORCMD); everything else: drive to specific position.</param>
/// <param name="mode">Mode: 1 char, bitfield. Compose bits to integer (by OR or +), convert to char - Start with 0x00 (000); Set 0x01 (001) / add 1: Set for HoldBrake (keeps active brake on after end of movement); Set 0x02 (010) / add 2: Set to enable SpeedRegulation; Set 0x04 (100) / add 4: Set to enable SmoothStart.</param>
/// <seealso cref="CLASSIC_MOTORCMD"/>
public static void CONTROLLED_MOTORCMD(NxtCommunicationProtocol commLink, MotorControlMotorPort port, string power, string tachoLimit, char mode)
{
string messageData = string.Format("{0}{1}{2}{3}{4}",
(byte)MotorControlCommandType.PROTO_CONTROLLED_MOTORCMD,
(byte)port,
power,
tachoLimit,
mode
);
commLink.MessageWrite(PC_OUTBOX, messageData);
}
