/// <summary>
/// Handle periodic sensor readings from the brick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(brick.LegoSensorUpdate update)
{
nxtcmd.I2CResponseSonarSensor inputValues = new nxtcmd.I2CResponseSonarSensor(update.Body.CommandData);
if (inputValues.Success)
{
bool firstTime = (_state.TimeStamp == DateTime.MinValue);
_state.TimeStamp = inputValues.TimeStamp;
if (_state.Distance != inputValues.UltraSonicVariable || firstTime)
{
_state.Distance = inputValues.UltraSonicVariable;
SendNotification <SonarSensorUpdate>(_subMgrPort, _state);
SendNotification <pxanalogsensor.Replace>(_genericSubMgrPort, SyncGenericState());
}
}
}
/// <summary>
/// Handle sensor notifications from the brick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(brick.LegoSensorUpdate update)
{
nxtcmd.LegoResponseGetInputValues inputValues = new nxtcmd.LegoResponseGetInputValues(update.Body.CommandData);
if (inputValues != null && inputValues.Success)
{
bool firstNotification = (_state.TimeStamp == DateTime.MinValue);
_state.TimeStamp = inputValues.TimeStamp;
if (_state.Intensity != inputValues.ScaledValue || firstNotification)
{
_state.Intensity = inputValues.ScaledValue;
SendNotification <SoundSensorUpdate>(_subMgrPort, _state);
SendNotification <pxanalogsensor.Replace>(_genericSubMgrPort, SyncGenericState());
}
}
}
/// <summary>
/// Handle sensor notifications from the brick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(brick.LegoSensorUpdate update)
{
LegoResponseGetInputValues inputValues = new LegoResponseGetInputValues(update.Body.CommandData);
if (inputValues != null && inputValues.Success)
{
bool firstTime = (_state.TimeStamp == DateTime.MinValue);
_state.TimeStamp = inputValues.TimeStamp;
if (_state.Intensity != inputValues.ScaledValue || firstTime)
{
_state.Intensity = inputValues.ScaledValue;
// Send notifications to both the generic and native subscribers
SendNotification <pxanalogsensor.Replace>(_genericSubMgrPort, SyncGenericState());
SendNotification <Replace>(_subMgrPort, _state);
}
}
}
private void NotificationHandler(brick.LegoSensorUpdate update)
{
nxtcmd.LegoResponseGetInputValues inputValues = new nxtcmd.LegoResponseGetInputValues(update.Body.CommandData);
if (inputValues != null && inputValues.Success)
{
bool touch = (inputValues.ScaledValue == 1);
if (_state.TouchSensorOn != touch || _state.TimeStamp == DateTime.MinValue)
{
_state.TouchSensorOn = touch;
_state.TimeStamp = inputValues.TimeStamp;
// Send Touch Sensor notification
SendNotification <TouchSensorUpdate>(_subMgrPort, _state);
// Send contact sensor notification
SyncGenericContactState();
SendNotification <contactsensor.Update>(_genericSubMgrPort, _genericSensor);
}
}
}
/// <summary>
/// Receive Battery Notifications
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(brick.LegoSensorUpdate update)
{
nxtcmd.LegoResponseGetBatteryLevel batteryLevel = new nxtcmd.LegoResponseGetBatteryLevel(update.Body.CommandData);
if (batteryLevel != null && batteryLevel.Success)
{
if (_state.MaxVoltage < batteryLevel.Voltage)
{
_state.TimeStamp = update.Body.TimeStamp;
_state.MaxVoltage = batteryLevel.Voltage;
SaveState(_state);
}
if (batteryLevel.Voltage != 0 &&
_state.MinVoltage > batteryLevel.Voltage)
{
_state.TimeStamp = update.Body.TimeStamp;
_state.MinVoltage = batteryLevel.Voltage;
SaveState(_state);
}
double percentBatteryPower = batteryLevel.Voltage / _state.MaxVoltage;
if (_state.PercentBatteryPower != percentBatteryPower ||
_state.CurrentBatteryVoltage != batteryLevel.Voltage)
{
_state.TimeStamp = update.Body.TimeStamp;
_state.CurrentBatteryVoltage = batteryLevel.Voltage;
_state.PercentBatteryPower = percentBatteryPower;
SendNotification <pxbattery.Replace>(_subMgrPort, _state.SyncGenericState(ref _genericState));
}
if (_state.CurrentBatteryVoltage < _state.CriticalBatteryVoltage)
{
pxbattery.UpdateCriticalBattery criticalBattery = new pxbattery.UpdateCriticalBattery();
criticalBattery.PercentCriticalBattery = _state.PercentBatteryPower;
SendNotification <pxbattery.SetCriticalLevel>(_subMgrPort, criticalBattery);
}
}
}
/// <summary>
/// Receive Buttons Notifications
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(brick.LegoSensorUpdate update)
{
// Receive Button notifications from the NXT Brick
LegoResponseGetButtonState buttonsUpdate = new LegoResponseGetButtonState(update.Body.CommandData);
if (buttonsUpdate != null && buttonsUpdate.Success)
{
if (_state.Buttons.PressedLeft != buttonsUpdate.PressedLeft ||
_state.Buttons.PressedEnter != buttonsUpdate.PressedEnter ||
_state.Buttons.PressedRight != buttonsUpdate.PressedRight ||
_state.Buttons.PressedCancel != buttonsUpdate.PressedCancel ||
_state.Buttons.TimeStamp == DateTime.MinValue)
{
_state.Buttons.TimeStamp = update.Body.TimeStamp;
_state.Buttons.PressedLeft = buttonsUpdate.PressedLeft;
_state.Buttons.PressedEnter = buttonsUpdate.PressedEnter;
_state.Buttons.PressedRight = buttonsUpdate.PressedRight;
_state.Buttons.PressedCancel = buttonsUpdate.PressedCancel;
SendNotification <ButtonsUpdate>(_subMgrPort, _state.Buttons);
}
}
}
