internal async Task <float> ReadySIAsyncInternal(InputPort port, int mode)
{
Command c = new Command(CommandType.DirectReply, 4, 0);
c.ReadySI(port, mode, 0);
await _brick.SendCommandAsyncInternal(c);
return(BitConverter.ToSingle(c.Response.Data, 0));
}
private async Task PollSensorsAsync()
{
if (BrickChanged.GetInvocationList().Length == 0) return;
bool changed = false;
const int responseSize = 11;
int index = 0;
Command c = new Command(CommandType.DirectReply, (8 * responseSize) + 6, 0);
foreach(InputPort i in Enum.GetValues(typeof(InputPort)))
{
Port p = Ports[i];
index = p.Index * responseSize;
c.GetTypeMode(p.InputPort, (byte)index, (byte)(index+1));
c.ReadySI(p.InputPort, p.Mode, (byte)(index+2));
c.ReadyRaw(p.InputPort, p.Mode, (byte)(index+6));
c.ReadyPercent(p.InputPort, p.Mode, (byte)(index+10));
}
index += responseSize;
c.IsBrickButtonPressed(BrickButton.Back, (byte)(index+0));
c.IsBrickButtonPressed(BrickButton.Left, (byte)(index+1));
c.IsBrickButtonPressed(BrickButton.Up, (byte)(index+2));
c.IsBrickButtonPressed(BrickButton.Right, (byte)(index+3));
c.IsBrickButtonPressed(BrickButton.Down, (byte)(index+4));
c.IsBrickButtonPressed(BrickButton.Enter, (byte)(index+5));
await SendCommandAsyncInternal(c);
if(c.Response.Data == null)
return;
foreach(InputPort i in Enum.GetValues(typeof(InputPort)))
{
Port p = Ports[i];
int type = c.Response.Data[(p.Index * responseSize)+0];
byte mode = c.Response.Data[(p.Index * responseSize)+1];
float siValue = BitConverter.ToSingle(c.Response.Data, (p.Index * responseSize)+2);
int rawValue = BitConverter.ToInt32(c.Response.Data, (p.Index * responseSize)+6);
byte percentValue = c.Response.Data[(p.Index * responseSize)+10];
if((byte)p.Type != type || Math.Abs(p.SIValue - siValue) > 0.01f || p.RawValue != rawValue || p.PercentValue != percentValue)
changed = true;
if(Enum.IsDefined(typeof(DeviceType), type))
p.Type = (DeviceType)type;
else
p.Type = DeviceType.Unknown;
p.SIValue = siValue;
p.RawValue = rawValue;
p.PercentValue = percentValue;
}
if( Buttons.Back != (c.Response.Data[index+0] == 1) ||
Buttons.Left != (c.Response.Data[index+1] == 1) ||
Buttons.Up != (c.Response.Data[index+2] == 1) ||
Buttons.Right != (c.Response.Data[index+3] == 1) ||
Buttons.Down != (c.Response.Data[index+4] == 1) ||
Buttons.Enter != (c.Response.Data[index+5] == 1)
)
changed = true;
Buttons.Back = (c.Response.Data[index+0] == 1);
Buttons.Left = (c.Response.Data[index+1] == 1);
Buttons.Up = (c.Response.Data[index+2] == 1);
Buttons.Right = (c.Response.Data[index+3] == 1);
Buttons.Down = (c.Response.Data[index+4] == 1);
Buttons.Enter = (c.Response.Data[index+5] == 1);
if(changed || _alwaysSendEvents)
OnBrickChanged(new BrickChangedEventArgs { Ports = this.Ports, Buttons = this.Buttons });
}
internal async Task<float> ReadySIAsyncInternal(InputPort port, int mode)
{
Command c = new Command(CommandType.DirectReply, 4, 0);
c.ReadySI(port, mode, 0);
await _brick.SendCommandAsyncInternal(c);
return BitConverter.ToSingle(c.Response.Data, 0);
}
private async Task PollSensorsAsync()
{
bool changed = false;
const int responseSize = 11;
int index = 0;
Command c = new Command(CommandType.DirectReply, (8 * responseSize) + 6, 0);
foreach (InputPort i in Enum.GetValues(typeof(InputPort)))
{
Port p = Ports[i];
index = p.Index * responseSize;
c.GetTypeMode(p.InputPort, (byte)index, (byte)(index + 1));
c.ReadySI(p.InputPort, p.Mode, (byte)(index + 2));
c.ReadyRaw(p.InputPort, p.Mode, (byte)(index + 6));
c.ReadyPercent(p.InputPort, p.Mode, (byte)(index + 10));
}
index += responseSize;
c.IsBrickButtonPressed(BrickButton.Back, (byte)(index + 0));
c.IsBrickButtonPressed(BrickButton.Left, (byte)(index + 1));
c.IsBrickButtonPressed(BrickButton.Up, (byte)(index + 2));
c.IsBrickButtonPressed(BrickButton.Right, (byte)(index + 3));
c.IsBrickButtonPressed(BrickButton.Down, (byte)(index + 4));
c.IsBrickButtonPressed(BrickButton.Enter, (byte)(index + 5));
await SendCommandAsyncInternal(c);
if (c.Response.Data == null)
{
return;
}
foreach (InputPort i in Enum.GetValues(typeof(InputPort)))
{
Port p = Ports[i];
int type = c.Response.Data[(p.Index * responseSize) + 0];
byte mode = c.Response.Data[(p.Index * responseSize) + 1];
float siValue = BitConverter.ToSingle(c.Response.Data, (p.Index * responseSize) + 2);
int rawValue = BitConverter.ToInt32(c.Response.Data, (p.Index * responseSize) + 6);
byte percentValue = c.Response.Data[(p.Index * responseSize) + 10];
if ((byte)p.Type != type || Math.Abs(p.SIValue - siValue) > 0.01f || p.RawValue != rawValue || p.PercentValue != percentValue)
{
changed = true;
}
if (Enum.IsDefined(typeof(DeviceType), type))
{
p.Type = (DeviceType)type;
}
else
{
p.Type = DeviceType.Unknown;
}
p.SIValue = siValue;
p.RawValue = rawValue;
p.PercentValue = percentValue;
}
if (Buttons.Back != (c.Response.Data[index + 0] == 1) ||
Buttons.Left != (c.Response.Data[index + 1] == 1) ||
Buttons.Up != (c.Response.Data[index + 2] == 1) ||
Buttons.Right != (c.Response.Data[index + 3] == 1) ||
Buttons.Down != (c.Response.Data[index + 4] == 1) ||
Buttons.Enter != (c.Response.Data[index + 5] == 1))
{
changed = true;
}
Buttons.Back = c.Response.Data[index + 0] == 1;
Buttons.Left = c.Response.Data[index + 1] == 1;
Buttons.Up = c.Response.Data[index + 2] == 1;
Buttons.Right = c.Response.Data[index + 3] == 1;
Buttons.Down = c.Response.Data[index + 4] == 1;
Buttons.Enter = c.Response.Data[index + 5] == 1;
if (changed || _alwaysSendEvents)
{
OnBrickChanged(new BrickChangedEventArgs(Ports, Buttons));
}
}