private void TryToConnect(object sender, RoutedEventArgs e)
{
Overlay.Show("Connecting");
ConnControl.Visibility = Visibility.Visible;
var conType = CreateConnection();
Dispatcher.Invoke(new Action(async () =>
{
if (conType != null)
{
_brick = new Brick(conType, true);
_brick.BrickChanged += _brick_BrickChanged;
try
{
await _brick.ConnectAsync();
ConnControl.Visibility = Visibility.Collapsed;
ConnTypeRun.Text = ConnControl.GetConnectionType().ToString();
}
catch (Exception)
{
MessageBox.Show("Could not connect", "Error", MessageBoxButton.OK);
}
}
else
{
MessageBox.Show("Invalid connection type for this device", "Error", MessageBoxButton.OK);
}
Overlay.Hide();
}));
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.Main);
_output = FindViewById<TextView>(Resource.Id.output);
_ports = FindViewById<TextView>(Resource.Id.ports);
FindViewById<Button>(Resource.Id.connect).Click += connect_Click;
FindViewById<Button>(Resource.Id.disconnect).Click += disconnect_Click;
FindViewById<Button>(Resource.Id.playTone).Click += playTone_Click;
FindViewById<Button>(Resource.Id.getFwVersion).Click += getFwVersion_Click;
FindViewById<Button>(Resource.Id.turnMotorAtPower).Click += turnMotorAtPower_Click;
FindViewById<Button>(Resource.Id.turnMotorAtSpeed).Click += turnMotorAtSpeed_Click;
FindViewById<Button>(Resource.Id.stepMotorAtPower).Click += stepMotorAtPower_Click;
FindViewById<Button>(Resource.Id.stepMotorAtSpeed).Click += stepMotorAtSpeed_Click;
FindViewById<Button>(Resource.Id.timeMotorAtPower).Click += timeMotorAtPower_Click;
FindViewById<Button>(Resource.Id.timeMotorAtSpeed).Click += timeMotorAtSpeed_Click;
FindViewById<Button>(Resource.Id.stopMotor).Click += stopMotor_Click;
FindViewById<Button>(Resource.Id.setLed).Click += setLed_Click;
FindViewById<Button>(Resource.Id.playSound).Click += playSound_Click;
FindViewById<Button>(Resource.Id.draw).Click += draw_Click;
FindViewById<Button>(Resource.Id.batchNoReply).Click += batchNoReply_Click;
FindViewById<Button>(Resource.Id.batchReply).Click += batchReply_Click;
_brick = new Brick(new BluetoothCommunication());
//_brick = new Brick(new NetworkCommunication("192.168.2.237"));
_brick.BrickChanged += brick_BrickChanged;
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
_brick = new Brick(new BluetoothCommunication("COM6"));
_brick.BrickChanged += _brick_BrickChanged;
await _brick.ConnectAsync();
await _brick.DirectCommand.PlayToneAsync(100, 3, 300);
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
// TODO: Update port value with the connected port on your machine
_brick = new Brick(new BluetoothCommunication("COM6"));
_brick.BrickChanged += _brick_BrickChanged;
await _brick.ConnectAsync();
await _brick.DirectCommand.SetMotorPolarity(OutputPort.B | OutputPort.C, Polarity.Backward);
await _brick.DirectCommand.StopMotorAsync(OutputPort.All, false);
}
// Stuff that happens when the program is loaded
private async void Grid_Loaded(object sender, RoutedEventArgs e)
{
//connect to brick via bluetooth
_brick = new Brick(new BluetoothCommunication("COM3"));
_brick.BrickChanged += _brick_BrickChanged;
await _brick.ConnectAsync();
await _brick.DirectCommand.PlayToneAsync(50, 1000, 300);
// Add comma seperated titles to list
LogList.Add("buttonpressed,xcoordinate,ycoordinate");
}
public void Update(Brick brick)
{
_sensorType = brick.Ports[BrickInputPort].Type;
SensorDataStackPanel.Visibility = IsInvalidSensorOrWrongPort() ? Visibility.Collapsed : Visibility.Visible;
RawRun.Text = brick.Ports[BrickInputPort].RawValue.ToString(CultureInfo.InvariantCulture);
SiRun.Text = brick.Ports[BrickInputPort].SIValue.ToString(CultureInfo.InvariantCulture);
PercentageRun.Text = brick.Ports[BrickInputPort].PercentValue.ToString(CultureInfo.InvariantCulture);
UpdateUx();
}
private async void Connect_Click(object sender, RoutedEventArgs e)
{
try
{
_brick = new Brick(new BluetoothCommunication());
//_brick = new Brick(new NetworkCommunication("192.168.2.237"));
_brick.BrickChanged += brick_BrickChanged;
await _brick.ConnectAsync();
Output.Text = "Connected";
}
catch(Exception ex)
{
MessageBox.Show("Failed to connect: " + ex);
}
}
static async Task Test()
{
_brick = new Brick(new UsbCommunication());
//_brick = new Brick(new BluetoothCommunication("COM5"));
//_brick = new Brick(new NetworkCommunication("192.168.2.237"));
_brick.BrickChanged += _brick_BrickChanged;
System.Console.WriteLine("Connecting...");
await _brick.ConnectAsync();
System.Console.WriteLine("Connected...Turning motor...");
await _brick.DirectCommand.TurnMotorAtSpeedForTimeAsync(OutputPort.A, 0x50, 1000, false);
System.Console.WriteLine("Motor turned...beeping...");
await _brick.DirectCommand.PlayToneAsync(0x50, 5000, 500);
System.Console.WriteLine("Beeped...done!");
}
private async void TryToConnect(object sender, RoutedEventArgs e)
{
Overlay.Show("Connecting");
//ApplicationBar.IsVisible = false;
ConnControl.Visibility = Visibility.Visible;
var conType = CreateConnection();
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, async () =>
{
if (conType != null)
{
_brick = new Brick(conType, true);
_brick.BrickChanged += _brick_BrickChanged;
try
{
await _brick.ConnectAsync();
ConnControl.Visibility = Visibility.Collapsed;
ConnTypeRun.Text = ConnControl.GetConnectionType().ToString();
//ApplicationBar.IsVisible = true;
}
catch (Exception)
{
new MessageDialog("Could not connect", "Error").ShowAsync();
}
}
else
{
MessageDialog dialog = new MessageDialog("Invalid connection type for this device", "Error");
await dialog.ShowAsync();
}
Overlay.Hide();
});
}
internal Command(Brick brick) : this(CommandType.DirectNoReply)
{
_brick = brick;
}
internal DirectCommand(Brick brick)
{
_brick = brick;
}
public void Update(Brick brick)
{
_motorType = brick.Ports[BrickInputPort].Type;
UpdateUx();
}
public RobotController(RobotData data)
{
_data = data;
_brick = new Brick(new BluetoothCommunication());
_brick.BrickChanged += _brick_BrickChanged;
}
/*************************
* METHODS
*************************/
/*
* SetUpBrick prepares the Lego brick to send and reveive signals.
*/
private async void SetUpBrick()
{
//System.Console.WriteLine("\nIn SetUpBrick()");
_brick = new Brick(new BluetoothCommunication("COM4"));
_brick.BrickChanged += _brick_BrickChanged;
await _brick.ConnectAsync();
await _brick.DirectCommand.PlayToneAsync(100, 1000, 300);
await _brick.DirectCommand.SetMotorPolarity(OutputPort.B | OutputPort.C, Polarity.Forward);
await _brick.DirectCommand.StopMotorAsync(OutputPort.All, false);
_brick.Ports[InputPort.One].SetMode(ColorMode.Reflective);
//System.Console.WriteLine("Leaving SetUpBrick()\n");
}
private async void ConnectClick(object sender, RoutedEventArgs e)
{
if (!_connected)
{
_brick = new Brick(new BluetoothCommunication("COM3"));
_brick.BrickChanged += _brick_BrickChanged;
try
{
await _brick.ConnectAsync();
await _brick.DirectCommand.PlayToneAsync(5, 1000, 300);
buttonConnect.Background = Brushes.LightGreen;
_connected = true;
stackControls.Visibility = Visibility.Visible;
buttonConnect.Content = "Disconnect";
//setmode
}
catch (Exception)
{
buttonConnect.Background = Brushes.OrangeRed;
MessageBox.Show("No connection :(");
_connected = false;
stackControls.Visibility = Visibility.Hidden;
}
}
else
{
_brick.DirectCommand.PlayToneAsync(7, 200, 300);
_brick.Disconnect();
buttonConnect.Background = Brushes.OrangeRed;
buttonConnect.Content = "Reconnect";
_connected = false;
stackControls.Visibility = Visibility.Hidden;
}
}
internal SystemCommand(Brick brick)
{
_brick = brick;
}
internal SystemCommand(Brick brick)
{
_brick = brick;
}
internal Command(Brick brick) : this(CommandType.DirectReply)
{
_brick = brick;
}
