/// <summary>
/// Handle sensor update message from NXT
/// </summary>
public void SensorNotificationHandler(legoNXT.Configure notify)
{
if (notify == null)
{
throw new ArgumentNullException("notify");
}
//update time
_state.TimeStamp = DateTime.Now;
int newReading = notify.Body.MotorSensorPort[_state.HardwareIdentifier - 1];
//increment counter (and account for any missing ticks
if (Math.Abs(newReading - _state.CurrentReading) <= 3)
{
_state.TicksSinceReset += Math.Abs(newReading - _state.CurrentReading);
}
else
{
_state.TicksSinceReset++;
}
//Update angle
_state.CurrentReading = newReading;
//notify subscribers on any state change
encoder.UpdateTickCount updateHeader = new encoder.UpdateTickCount(new encoder.UpdateTickCountRequest(DateTime.Now, _state.TicksSinceReset));
SendNotification <encoder.UpdateTickCount>(_subMgrPort, updateHeader);
}
/// <summary>
/// Handle sensor update message from NXT
/// </summary>
private void SensorNotificationHandler(nxt.Configure notify)
{
//update state
foreach (bumper.ContactSensor sensor in _bumperConfigState.ContactSensorArrayState.Sensors)
{
bool newContactValue;
LegoNxtBumperConfig bumperConfig = GetBumperConfig(sensor.HardwareIdentifier);
if (bumperConfig == null)
{
// Old logic works only for touch sensor
newContactValue = (notify.Body.SensorPort[sensor.HardwareIdentifier - 1] == 1) ? true : false;
}
else
{
newContactValue = ((notify.Body.SensorPort[sensor.HardwareIdentifier - 1] >= bumperConfig.ThresholdLow) &&
(notify.Body.SensorPort[sensor.HardwareIdentifier - 1] <= bumperConfig.ThresholdHigh));
}
bool changed = (sensor.Pressed != newContactValue);
sensor.TimeStamp = DateTime.Now;
sensor.Pressed = newContactValue;
if (changed)
{
//notify subscribers on any bumper pressed or unpressed
SendNotification <bumper.Update>(_subMgrPort, sensor);
}
}
}
/// <summary>
/// Handle sensor update message from NXT
/// </summary>
public void SensorNotificationHandler(legoNXT.Configure notify)
{
if (notify == null)
{
throw new ArgumentNullException("notify");
}
//update time
_state.TimeStamp = DateTime.Now;
//Update reading
_state.SoundReading = notify.Body.SensorPort[_state.HardwareIdentifier - 1];
//notify subscribers on any state change
SendNotification <Replace>(_subMgrPort, new Replace(_state));
}
/// <summary>
/// Handle sensor update message from NXT
/// </summary>
public void SensorNotificationHandler(legoNXT.Configure notify)
{
if (notify == null)
{
throw new ArgumentNullException("notify");
}
if (beeping)
{
return;
}
if (notify.Body.MotorOutputPort[_state.Motor1Port - 1] < 0 &&
notify.Body.MotorOutputPort[_state.Motor2Port - 1] < 0)
{
SpawnIterator(ToneHandler);
}
}
