/// <summary>
/// Verify a given Hub (protocol + hubId) aganinst a HubModel
/// </summary>
/// <param name="protocol"></param>
/// <param name="hubId"></param>
/// <param name="hubModel"></param>
/// <returns></returns>
public DeploymentModelError[] Verify(IPoweredUpProtocol protocol, byte hubId, DeploymentHubModel hubModel)
{
if (protocol is null)
{
throw new ArgumentNullException(nameof(protocol));
}
if (hubModel is null)
{
throw new ArgumentNullException(nameof(hubModel));
}
var result = new List <DeploymentModelError>();
var hubInfo = protocol.Knowledge.Hub(hubId);
if (hubModel.HubType != null && hubModel.HubType != hubInfo.SystemType)
{
result.Add(new DeploymentModelError(1002, hubInfo.HubId, null, $"Hub {hubInfo.HubId} with system type {hubInfo.SystemType} does not match expected {hubModel.HubType}."));
}
result.AddRange(
hubModel.Devices.Select(Device =>
{
var PortInfo = protocol.Knowledge.Port(hubId, Device.PortId);
return(Device, PortInfo);
})
.Select(t => t switch
{
(var Device, var PortInfo)when !PortInfo.IsDeviceConnected => (Error: 1000, t.Device, t.PortInfo), // no device connected
(var Device, var PortInfo)when Device.DeviceType != null && PortInfo.IOTypeId != Device.DeviceType => (Error: 1001, t.Device, t.PortInfo), // wrong device connected
_ => (Error: 0, t.Device, t.PortInfo),
})
public BasicMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_powerMode = SingleValueMode <sbyte>(ModeIndexPower);
ObserveForPropertyChanged(_powerMode.Observable, nameof(Power), nameof(PowerPct));
}
public MultiValueMode(IPoweredUpProtocol protocol, PortModeInfo modeInfo, IObservable <PortValueData> modeValueObservable)
: base(protocol, modeInfo, modeValueObservable)
{
Observable = CreateObservable();
ObserveOnLocalProperty(Observable, v => Raw = v.Raw, v => SI = v.SI, v => Pct = v.Pct);
ObserveForPropertyChanged(Observable, nameof(Raw), nameof(SI), nameof(Pct));
}
protected AbsoluteMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_absoluteMode = SingleValueMode <short>(ModeIndexAbsolutePosition);
ObserveForPropertyChanged(_absoluteMode.Observable, nameof(AbsolutePosition), nameof(AbsolutePositionPct));
}
public TechnicMediumHubTemperatureSensor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_temperatureMode = SingleValueMode <short>(ModeIndexTemperature);
ObserveForPropertyChanged(_temperatureMode.Observable, nameof(Temperature), nameof(TemperaturePct));
}
public static async Task <PortFeedback> SendPortOutputCommandAsync(this IPoweredUpProtocol self, PortOutputCommandMessage message)
{
var portId = message.PortId;
var response = await self.SendMessageReceiveResultAsync <PortOutputCommandFeedbackMessage>(message, msg => msg.Feedbacks.Any(f => f.PortId == portId));
return(response.Feedbacks.FirstOrDefault(f => f.PortId == portId).Feedback);
}
public Voltage(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_voltageLMode = SingleValueMode <short>(ModeIndexVoltageL);
_voltageSMode = SingleValueMode <short>(ModeIndexVoltageS);
ObserveForPropertyChanged(_voltageLMode.Observable, nameof(VoltageL), nameof(VoltageLPct));
ObserveForPropertyChanged(_voltageSMode.Observable, nameof(VoltageS), nameof(VoltageSPct));
}
protected TachoMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_speedMode = SingleValueMode <sbyte>(ModeIndexSpeed);
_positionMode = SingleValueMode <int>(ModeIndexPosition);
ObserveForPropertyChanged(_speedMode.Observable, nameof(Speed), nameof(SpeedPct));
ObserveForPropertyChanged(_positionMode.Observable, nameof(Position), nameof(PositionPct));
}
public Current(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_currentLMode = SingleValueMode <short>(ModeIndexCurrentL);
_currentSMode = SingleValueMode <short>(ModeIndexCurrentS);
ObserveForPropertyChanged(_currentLMode.Observable, nameof(CurrentL), nameof(CurrentLPct));
ObserveForPropertyChanged(_currentSMode.Observable, nameof(CurrentS), nameof(CurrentSPct));
}
public Hub(IPoweredUpProtocol protocol, IDeviceFactory deviceFactory, ILogger <Hub> logger, IServiceProvider serviceProvider, Port[] knownPorts)
{
Protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
_deviceFactory = deviceFactory ?? throw new ArgumentNullException(nameof(deviceFactory));
ServiceProvider = serviceProvider ?? throw new ArgumentNullException(nameof(serviceProvider));
AddKnownPorts(knownPorts ?? throw new ArgumentNullException(nameof(knownPorts)));
_logger = logger;
SetupOnHubChange();
SetupOnPortChangeObservable(Protocol.UpstreamMessages);
SetupHubAlertObservable(Protocol.UpstreamMessages);
SetupHubPropertyObservable(Protocol.UpstreamMessages);
}
public Device(IPoweredUpProtocol protocol, byte hubId, byte portId)
{
_protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
_hubId = hubId;
_portId = portId;
_portValueObservable = _protocol.UpstreamMessages
.Where(msg => msg.HubId == _hubId)
.SelectMany(msg => msg switch
{
PortValueSingleMessage pvsm => pvsm.Data,
PortValueCombinedModeMessage pvcmm => pvcmm.Data,
_ => Array.Empty <PortValueData>(),
})
public TechnicMediumHub(IPoweredUpProtocol protocol, IDeviceFactory deviceFactory, ILogger <TechnicMediumHub> logger, IServiceProvider serviceProvider = default)
: base(protocol, deviceFactory, logger, serviceProvider, new Port[] {
new Port(0, nameof(A), true),
new Port(1, nameof(B), true),
new Port(2, nameof(C), true),
new Port(3, nameof(D), true),
new Port(50, string.Empty, false, expectedDevice: DeviceType.RgbLight),
new Port(59, string.Empty, false, expectedDevice: DeviceType.Current),
new Port(60, string.Empty, false, expectedDevice: DeviceType.Voltage),
new Port(61, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubTemperatureSensor),
new Port(96, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubTemperatureSensor),
new Port(97, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubAccelerometer),
new Port(98, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubGyroSensor),
new Port(99, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubTiltSensor),
new Port(100, string.Empty, false, expectedDevice: DeviceType.TechnicMediumHubGestSensor),
})
{
}
public static Mode Create(IPoweredUpProtocol protocol, byte hubId, byte portId, byte modeIndex, IObservable <PortValueData> modeValueObservable)
{
var modeInfo = protocol.Knowledge.PortMode(hubId, portId, modeIndex);
Mode result = null;
result = (modeInfo.DatasetType, modeInfo.NumberOfDatasets) switch
{
(PortModeInformationDataType.SByte, 1) => new SingleValueMode <sbyte>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.SByte, _) => new MultiValueMode <sbyte>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Int16, 1) => new SingleValueMode <short>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Int16, _) => new MultiValueMode <short>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Int32, 1) => new SingleValueMode <int>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Int32, _) => new MultiValueMode <int>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Single, 1) => new SingleValueMode <float>(protocol, modeInfo, modeValueObservable),
(PortModeInformationDataType.Single, _) => new MultiValueMode <float>(protocol, modeInfo, modeValueObservable),
_ => throw new NotSupportedException("Mode of unknown data type"),
};
public TechnicLargeLinearMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{ }
public DynamicDevice(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
}
public DevicesList(IPoweredUpProtocol protocol, DiscoverPorts discoverPorts)
{
this.protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
this.discoverPorts = discoverPorts ?? throw new ArgumentNullException(nameof(discoverPorts));
}
public IPoweredUpDevice CreateConnected(DeviceType deviceType, IPoweredUpProtocol protocol, byte hubId, byte portId) => new DynamicDevice(protocol, hubId, portId);
public TraceMessages(IPoweredUpProtocol protocol, ILogger <TraceMessages> logger = default)
{
_protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
_logger = logger;
}
public static async Task <TResultMessage> SendMessageReceiveResultAsync <TResultMessage>(this IPoweredUpProtocol self, PoweredUpMessage message, Func <TResultMessage, bool> filter = default)
{
var awaitable = self.UpstreamMessages
.OfType <TResultMessage>()
.Where(resultMessage => filter == null || filter(resultMessage))
.FirstAsync()
.GetAwaiter(); // make sure the subscription is present at the moment the message is sent.
await self.SendMessageAsync(message);
var result = await awaitable;
return(result);
}
public DiscoverPorts(IPoweredUpProtocol protocol, byte hubId = 0, ILogger <DiscoverPorts> logger = default)
{
_protocol = protocol ?? throw new System.ArgumentNullException(nameof(protocol));
_hubId = hubId;
_logger = logger;
}
public RgbLight(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
}
public IPoweredUpDevice CreateConnected(DeviceType deviceType, IPoweredUpProtocol protocol, byte hubId, byte portId)
{
var type = GetTypeFromDeviceType(deviceType);
return((type == null) ? new DynamicDevice(protocol, hubId, portId) : (IPoweredUpDevice)ActivatorUtilities.CreateInstance(_serviceProvider, type, protocol, hubId, portId));
}
public DumpStaticPortInfo(IPoweredUpProtocol protocol, DiscoverPorts discoverPorts)
{
this.protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
this.discoverPorts = discoverPorts ?? throw new ArgumentNullException(nameof(discoverPorts));
}
public TechnicMediumHubGestSensor(IPoweredUpProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
}
