public async void WriteToRobot(DeviceMessage message)
{
RobotSession robotSession = this;
Int32 num = robotSession._seqNum;
Int32 num1 = num;
robotSession._seqNum = num + 1;
if (num1 >= 255)
{
_seqNum = 0;
}
message.setSequence((Byte)_seqNum);
Byte[] data = message.Data;
DataWriter dataWriter = new DataWriter();
try
{
dataWriter.WriteBytes(data);
await _socket.OutputStream.WriteAsync(dataWriter.DetachBuffer());
}
finally
{
if (dataWriter != null)
{
dataWriter.Dispose();
}
}
}
public void Roll(Int32 heading, Single speed)
{
Byte num = (Byte)(speed * 255f);
Byte[] numArray = Value.BytesForInt(Value.clamp(heading, 0, 359));
Byte[] numArray1 = new Byte[] { num, numArray[0], numArray[1], 1 };
DeviceMessage deviceMessage = new DeviceMessage(2, 48, numArray1, DeviceMessage.SopParameters.ResetTimeout);
deviceMessage.NoResponse();
base.WriteToRobot(deviceMessage);
}
public void SetRGBLED(Int32 red, Int32 green, Int32 blue)
{
red = Value.clamp(red, 0, 255);
green = Value.clamp(green, 0, 255);
blue = Value.clamp(blue, 0, 255);
Byte[] numArray = new Byte[] { (Byte)red, (Byte)green, (Byte)blue, 1 };
DeviceMessage deviceMessage = new DeviceMessage(2, 32, numArray, DeviceMessage.SopParameters.ResetTimeout);
deviceMessage.NoResponse();
base.WriteToRobot(deviceMessage);
}
public async void WriteToRobot(DeviceMessage message)
{
RobotSession robotSession = this;
Int32 num = robotSession._seqNum;
Int32 num1 = num;
robotSession._seqNum = num + 1;
if (num1 >= 255)
{
_seqNum = 0;
}
message.setSequence((Byte)_seqNum);
Byte[] data = message.Data;
DataWriter dataWriter = new DataWriter();
try
{
dataWriter.WriteBytes(data);
await _socket.OutputStream.WriteAsync(dataWriter.DetachBuffer());
}
finally
{
if (dataWriter != null)
{
dataWriter.Dispose();
}
}
}
public void WriteToRobot(DeviceMessage msg)
{
if (ConnectionState == ConnectionState.Connected)
{
_session.WriteToRobot(msg);
}
}