/// <summary>
/// Process an atomic command
/// </summary>
/// <param name="cmd"></param>
/// <returns>The response port</returns>
public DsspResponsePort <RoombaReturnPacket> ProcessAtomicCommand(RoombaCommand cmd)
{
ProcessAtomicCommand processCmd = new ProcessAtomicCommand(cmd);
this.PostUnknownType(processCmd);
return(processCmd.ResponsePort);
}
public void ExecCommand(RoombaCommand command, byte[] parameters)
{
byte[] commandBytes = new byte[parameters.Length + 1];
commandBytes[0] = (byte)command;
parameters.CopyTo(commandBytes, 1); // offset 1
logCommand(command, parameters);
this.ExecGeneralCommand(commandBytes);
}
private void logCommand(RoombaCommand cmd, byte[] parameters)
{
//string output = "Sending command " + Enum.GetName(typeof(RoombaCommand), cmd) + ", " + cmd;
string output = "Sensing command " + cmd.ToString();
if (parameters != null)
{
output += ", paramters: ";
foreach (byte b in parameters)
{
output += " " + b;
}
}
//Debug.Print(output);
}
public void ExecCommand(RoombaCommand command)
{
byte[] commandBytes = new byte[] { (byte)command };
logCommand(command, null);
this.ExecGeneralCommand(commandBytes);
}
/// <summary>
/// Initialization Constructor
/// </summary>
/// <param name="cmd"></param>
public ExecuteIRobotCommand(RoombaCommand cmd)
{
this.Body = cmd;
}
/// <summary>
/// Initialization Constructor
/// </summary>
public ProcessAtomicCommand(RoombaCommand cmd)
{
this.Body = cmd;
}
