public virtual IEnumerator <ITask> SpotlightHandler(Spotlight spotlight)
{
_state.SpotlightOn = spotlight.Body.SpotlightOn;
LegoSetInputMode cmd = new LegoSetInputMode(_state.SensorPort, _state.SpotlightOn ? LegoSensorType.LightActive : LegoSensorType.LightInactive, LegoSensorMode.PercentFullScaleMode);
_legoBrickPort.SendNxtCommand(cmd);
yield return(Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(LegoResponse response)
{
if (response.Success)
{
spotlight.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// Spotlight notifications are only sent to subscribers to the native service
SendNotification <Spotlight>(_subMgrPort, spotlight);
}
else
{
spotlight.ResponsePort.Post(
Fault.FromException(
new InvalidOperationException(response.ErrorCode.ToString())));
}
},
delegate(Fault fault)
{
spotlight.ResponsePort.Post(fault);
}));
yield break;
}
public virtual IEnumerator <ITask> SetModeHandler(SetMode setMode)
{
_state.SensorMode = setMode.Body.Mode;
// Convert Sensor Mode to a Sensor Type
// The Color Sensor has several sensor types just for it
LegoSensorType st;
switch (_state.SensorMode)
{
case ColorSensorMode.Color:
st = LegoSensorType.ColorFull;
break;
case ColorSensorMode.Red:
st = LegoSensorType.ColorRed;
break;
case ColorSensorMode.Green:
st = LegoSensorType.ColorGreen;
break;
case ColorSensorMode.Blue:
st = LegoSensorType.ColorBlue;
break;
case ColorSensorMode.None:
st = LegoSensorType.ColorNone;
break;
default:
st = LegoSensorType.ColorFull;
break;
}
LegoSetInputMode cmd = new LegoSetInputMode(_state.SensorPort, st, LegoSensorMode.RawMode);
_legoBrickPort.SendNxtCommand(cmd);
yield return(Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(LegoResponse response)
{
if (response.Success)
{
setMode.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// SetMode notifications are only sent to subscribers to the native service
SendNotification <SetMode>(_subMgrPort, setMode);
}
else
{
setMode.ResponsePort.Post(
Fault.FromException(
new InvalidOperationException(response.ErrorCode.ToString())));
}
},
delegate(Fault fault)
{
setMode.ResponsePort.Post(fault);
}));
yield break;
}
public virtual IEnumerator<ITask> SetModeHandler(SetMode setMode)
{
_state.SensorMode = setMode.Body.Mode;
// Convert Sensor Mode to a Sensor Type
// The Color Sensor has several sensor types just for it
LegoSensorType st;
switch (_state.SensorMode)
{
case ColorSensorMode.Color:
st = LegoSensorType.ColorFull;
break;
case ColorSensorMode.Red:
st = LegoSensorType.ColorRed;
break;
case ColorSensorMode.Green:
st = LegoSensorType.ColorGreen;
break;
case ColorSensorMode.Blue:
st = LegoSensorType.ColorBlue;
break;
case ColorSensorMode.None:
st = LegoSensorType.ColorNone;
break;
default:
st = LegoSensorType.ColorFull;
break;
}
LegoSetInputMode cmd = new LegoSetInputMode(_state.SensorPort, st, LegoSensorMode.RawMode);
_legoBrickPort.SendNxtCommand(cmd);
yield return Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(LegoResponse response)
{
if (response.Success)
{
setMode.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// SetMode notifications are only sent to subscribers to the native service
SendNotification<SetMode>(_subMgrPort, setMode);
}
else
{
setMode.ResponsePort.Post(
Fault.FromException(
new InvalidOperationException(response.ErrorCode.ToString())));
}
},
delegate(Fault fault)
{
setMode.ResponsePort.Post(fault);
});
yield break;
}
public virtual IEnumerator<ITask> SpotlightHandler(Spotlight spotlight)
{
_state.SpotlightOn = spotlight.Body.SpotlightOn;
LegoSetInputMode cmd = new LegoSetInputMode(_state.SensorPort, _state.SpotlightOn ? LegoSensorType.LightActive : LegoSensorType.LightInactive, LegoSensorMode.PercentFullScaleMode);
_legoBrickPort.SendNxtCommand(cmd);
yield return Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(LegoResponse response)
{
if (response.Success)
{
spotlight.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// Spotlight notifications are only sent to subscribers to the native service
SendNotification<Spotlight>(_subMgrPort, spotlight);
}
else
{
spotlight.ResponsePort.Post(
Fault.FromException(
new InvalidOperationException(response.ErrorCode.ToString())));
}
},
delegate(Fault fault)
{
spotlight.ResponsePort.Post(fault);
});
yield break;
}
/// <summary>
/// Test a Sensor Port for an I2C Sensor
/// </summary>
/// <param name="response"></param>
/// <param name="sensorPort"></param>
/// <param name="sensorType"></param>
/// <returns></returns>
private IEnumerator<ITask> TestPortForI2CSensorHandler(Port<bool> response, LegoNxtPort sensorPort, string sensorType)
{
LogInfo("- TestPortForI2CSensorHandler");
//Debugger.Break();
// Read from I2C to find the device.
bool found = false;
bool abort = false;
LegoSetInputMode setInputMode = null;
if (_brickPort != null)
{
// Configure the port as an I2C sensor.
setInputMode = new LegoSetInputMode((NxtSensorPort)sensorPort, LegoSensorType.I2C_9V, LegoSensorMode.RawMode);
setInputMode.TryCount = 2;
yield return Arbiter.Choice(_brickPort.SendCommand(setInputMode),
delegate(LegoResponse ok)
{
//Debugger.Break();
if (!ok.Success)
abort = true;
else
LogInfo(LogGroups.Console, string.Format("{0} set to {1} mode.", sensorPort, setInputMode.SensorType));
},
delegate(Fault fault)
{
abort = true;
});
}
else
abort = true;
if (abort)
{
LogInfo(LogGroups.Console, string.Format("Failure setting I2C mode on {0}.", sensorPort));
response.Post(false);
yield break;
}
SendLowSpeedCommand lsCmd = new SendLowSpeedCommand();
I2CReadSensorType readSensors = new I2CReadSensorType((NxtSensorPort)sensorPort);
LogInfo("The sensor port is: " + sensorPort.ToString());
lsCmd.Body = readSensors;
SpawnIterator<SendLowSpeedCommand>(lsCmd, SendLowSpeedCommandHandler);
yield return Arbiter.Choice(lsCmd.ResponsePort,
delegate(LegoResponse ok)
{
//Debugger.Break();
I2CResponseSensorType sensorResponse = LegoResponse.Upcast<I2CResponseSensorType>(ok);
LogInfo(LogGroups.Console, string.Format("{0} I2C response {1} is {2}.", sensorPort, sensorResponse.ErrorCode, sensorResponse.SensorType));
if (sensorResponse.SensorType.Equals(sensorType, StringComparison.InvariantCultureIgnoreCase))
{
found = true;
}
else if (sensorType.IndexOf(',') >= 0)
{
foreach (string subtype in sensorType.Split(','))
{
if (sensorResponse.SensorType.Equals(subtype, StringComparison.InvariantCultureIgnoreCase))
found = true;
}
}
else
{
LogInfo(LogGroups.Console, string.Format("Found an unattached I2C Sensor from {0}: {1}", sensorResponse.Manufacturer, sensorResponse.SensorType));
}
},
delegate(Fault fault)
{
string msg = (fault.Reason != null && fault.Reason.Length > 0 && !string.IsNullOrEmpty(fault.Reason[0].Value)) ? fault.Reason[0].Value : string.Empty;
LogError(LogGroups.Console, string.Format("{0} fault reading I2C Sensor Type: {1}.", sensorPort, msg));
abort = true;
});
if (!found)
{
LogInfo(LogGroups.Console, string.Format("Set {0} back to No Sensor.", sensorPort));
setInputMode = new LegoSetInputMode((NxtSensorPort)sensorPort, LegoSensorType.NoSensor, LegoSensorMode.RawMode);
yield return Arbiter.Choice(_brickPort.SendCommand(setInputMode),
delegate(LegoResponse ok)
{
if (!ok.Success)
abort = true;
},
delegate(Fault fault)
{
abort = true;
});
}
LogInfo(LogGroups.Console, string.Format("I2C ReadSensorType on {0} finished: {1}", sensorPort, found));
response.Post(found);
yield break;
}
