private UARTMode ColorModeToSensorMode(ColorMode mode)
{
UARTMode sensorMode = UARTMode.Mode0;
switch (mode)
{
case ColorMode.Ambient:
sensorMode = UARTMode.Mode1;
break;
case ColorMode.Color:
sensorMode = UARTMode.Mode2;
break;
case ColorMode.Blue:
sensorMode = UARTMode.Mode1;
break;
case ColorMode.Green:
sensorMode = UARTMode.Mode0; //not supported by the EV3 use relection
break;
case ColorMode.Reflection:
sensorMode = UARTMode.Mode0;
break;
}
return(sensorMode);
}
protected bool SetMode(UARTMode mode)
{
SetOperatingMode(mode);
int status = WaitNonZeroStatus(WaitTimout);
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0)
{
return(true);
}
else
{
return(Initialise(mode));
}
}
protected bool Initialise(UARTMode mode)
{
for (int i = 0; i < InitRetry; i++)
{
if (SensorManager.Instance.GetConnectionType(this.port) != ConnectionType.UART)
{
return(false);
}
if (InitUart(mode))
{
return(true);
}
Reset();
}
return(false);
}
private ColorMode SensorModeToColorMode(UARTMode mode)
{
ColorMode colorMode = ColorMode.Reflection;
switch (mode)
{
case UARTMode.Mode1:
colorMode = ColorMode.Ambient;
break;
case UARTMode.Mode2:
colorMode = ColorMode.Color;
break;
case UARTMode.Mode0:
colorMode = ColorMode.Reflection;
break;
}
return(colorMode);
}
private bool InitUart(UARTMode mode)
{
for (int i = 0; i < SetUpRetry; i++)
{
byte status;
if (SensorManager.Instance.GetConnectionType(this.port) != ConnectionType.UART)
{
return(false);
}
// now try and configure as a UART
SetOperatingMode(mode);
status = WaitNonZeroStatus(WaitTimout);
while ((status & UartPortChanged) != 0)
{
//something change wait for it to become ready
if (SensorManager.Instance.GetConnectionType(this.port) != ConnectionType.UART)
{
return(false);
}
ClearPortChanged();
System.Threading.Thread.Sleep(InitDelay);
status = WaitNonZeroStatus(WaitTimout);
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0)
{
// device ready make sure it is now in the correct mode
SetOperatingMode(mode);
//status = WaitNonZeroStatus(WaitTimout);
}
}
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0)
{
return(true);
}
}
return(false);
}
private void SetOperatingMode(UARTMode mode)
{
SensorManager.Instance.SetUartOperatingMode(mode, this.port);
this.uartMode = mode;
}
private ColorMode SensorModeToColorMode (UARTMode mode)
{
ColorMode colorMode = ColorMode.Reflection;
switch (mode) {
case UARTMode.Mode1:
colorMode = ColorMode.Ambient;
break;
case UARTMode.Mode2:
colorMode = ColorMode.Color;
break;
case UARTMode.Mode0:
colorMode = ColorMode.Reflection;
break;
case UARTMode.Mode4:
colorMode = ColorMode.RGB;
break;
}
return colorMode;
}
public void SetUartOperatingMode(UARTMode mode, SensorPort port)
{
unchecked {
UartDevice.IoCtl((Int32)UartIOSetConnection, SetupCommand(port, ConnectionType.UART, SensorType.None, (byte)mode));
}
}
private bool InitUart (UARTMode mode)
{
for (int i = 0; i < SetUpRetry; i++) {
byte status;
if ( SensorManager.Instance.GetConnectionType (this.port) != ConnectionType.UART)
return false;
// now try and configure as a UART
SetOperatingMode (mode);
status = WaitNonZeroStatus (WaitTimout);
while ((status & UartPortChanged) != 0) {
//something change wait for it to become ready
if ( SensorManager.Instance.GetConnectionType (this.port) != ConnectionType.UART)
return false;
ClearPortChanged ();
System.Threading.Thread.Sleep (InitDelay);
status = WaitNonZeroStatus (WaitTimout);
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0) {
// device ready make sure it is now in the correct mode
SetOperatingMode (mode);
//status = WaitNonZeroStatus(WaitTimout);
}
}
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0)
return true;
}
return false;
}
private void SetOperatingMode (UARTMode mode)
{
SensorManager.Instance.SetUartOperatingMode(mode, this.port);
this.uartMode = mode;
}
protected bool SetMode(UARTMode mode)
{
SetOperatingMode(mode);
int status = WaitNonZeroStatus(WaitTimout);
if ((status & UartDataReady) != 0 && (status & UartPortChanged) == 0)
{
return true;
}
else
return Initialise(mode);
}
protected bool Initialise(UARTMode mode)
{
for(int i = 0; i < InitRetry; i++)
{
if (SensorManager.Instance.GetConnectionType(this.port) != ConnectionType.UART)
return false;
if (InitUart(mode))
{
return true;
}
Reset();
}
return false;
}
public void SetUartOperatingMode (UARTMode mode, SensorPort port)
{
unchecked {
UartDevice.IoCtl ((Int32)UartIOSetConnection, SetupCommand (port, ConnectionType.UART, SensorType.None,(byte) mode));
}
}
