private void CharacteristicPort_ValueChanged(GattCharacteristic sender, GattValueChangedEventArgs args)
{
var reader = DataReader.FromBuffer(args.CharacteristicValue);
byte[] data = new byte[reader.UnconsumedBufferLength];
reader.ReadBytes(data);
Port port = this.GetPortFromPortNumber(data[0]);
if (port == null)
{
//MainBoard.WriteLine("Could not find port");
return;
}
port.Connected = (data[1] == 1);
Port.Devices device = (data.Length > 3) ? (Port.Devices)data[3] : Port.Devices.UNKNOWN;
RegisterDeviceAttachement(port, device);
}
//////////////////////////////////////////
////
////
////
//// Helper functions
////
////
////
////
//////////////////////////////////////////
protected void RegisterDeviceAttachement(Port port, Port.Devices type)
{
if (port.Connected)
{
port.Device = type;
MainBoard.WriteLine("Port Connected: " + port.Id + " of type " + Enum.GetName(typeof(Port.Devices), type), Color.Green);
if (port.Device == Port.Devices.TRAIN_MOTOR || port.Device == Port.Devices.BOOST_MOTOR || port.Device == Port.Devices.BOOST_EXT_MOTOR ||
port.Device == Port.Devices.BASIC_MOTOR || port.Device == Devices.EV3_MOTOR ||
port.Device == Devices.CONTROL_PLUS_L_MOTOR || port.Device == Devices.CONTROL_PLUS_XL_MOTOR)
{
if (port.Device == Port.Devices.TRAIN_MOTOR)
{
port.Function = Port.Functions.TRAIN_MOTOR;
}
else if (port.Function == Port.Functions.NOT_USED)
{
port.Function = Port.Functions.MOTOR;
}
if (port.Function == Functions.SWITCH_DOUBLECROSS ||
port.Function == Functions.SWITCH_STANDARD ||
port.Function == Functions.SWITCH_TRIXBRIX)
{
ActivateSwitchToLeft(port.Id);
}
}
if (port.Device == Port.Devices.BOOST_DISTANCE)
{
if (port.Function == Port.Functions.NOT_USED)
{
port.Function = Port.Functions.SENSOR;
}
ActivatePortDevice((byte)port.Value, (byte)(this.Type == Types.WEDO_2_SMART_HUB ? 0x00 : 0x08), 0, 0);
}
if (port.Device == Port.Devices.WEDO2_DISTANCE)
{
if (port.Function == Port.Functions.NOT_USED)
{
port.Function = Port.Functions.SENSOR;
}
ActivatePortDevice((byte)port.Value, 0x00, 0, 0);
}
if (port.Device == Port.Devices.POWERED_UP_REMOTE_BUTTON)
{
port.Function = Port.Functions.BUTTON;
ActivatePortDevice((byte)port.Value, 0x00, 0, 0);
}
if (port.Device == Devices.EV3_SENSOR || port.Device == Devices.NXT_SENSOR || port.Device == Devices.EV3_COLOR_SENSOR)
{
port.Function = Port.Functions.SENSOR;
}
if (port.Device == Port.Devices.LED_LIGHTS)
{
if (port.Function == Port.Functions.NOT_USED)
{
port.Function = Port.Functions.LIGHT;
}
SetLightBrightness(port.Id, 100);
}
// Let them know the type has changed
OnPortTypeUpdate();
// And data has changed!
OnDataUpdated();
}
else
{
port.Device = Port.Devices.UNKNOWN;
port.Function = Port.Functions.NOT_USED;
MainBoard.WriteLine("Port Disconnected: " + port.Id, Color.Purple);
OnDataUpdated();
}
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
IsConnected = true;
bool somethingChanged = false;
foreach (InputPort type in (InputPort[])Enum.GetValues(typeof(InputPort)))
{
// Get the port
Port p = GetPortFromPortId(type.ToString());
// Check device type
Port.Devices device = ConvertTypeToDevice(brick.Ports[type].Type);
// Are we set? If not register the device type
if (p.Device != device)
{
p.Connected = (device != Port.Devices.UNKNOWN);
RegisterDeviceAttachement(p, device);
}
// We need to force Color mode if we have a color detector
if (brick.Ports[type].Type == DeviceType.Color && brick.Ports[type].Mode != (byte)ColorMode.Color)
{
brick.Ports[type].SetMode(ColorMode.Color);
}
// If we do have a color mode then let's update it!
if (brick.Ports[type].Mode == (byte)ColorMode.Color)
{
p.LatestColor = ConvertEV3ColorToPortColor((EV3Color)brick.Ports[type].RawValue);
if (MainBoard.showColorDebug)
{
MainBoard.WriteLine($"{Name} - Color Received: " + p.LatestColor + " last triggers was " + ((Environment.TickCount - p.LastColorTick) / 1000) + "s ago.");
}
if (Environment.TickCount - p.LastColorTick > p.DistanceColorCooldownMs)
{
OnColorTriggered(this, p, p.LatestColor);
OnDataUpdated();
}
}
// If we have an active sensor on, check for event trigger
else if (p.Value != brick.Ports[type].RawValue && device != Port.Devices.UNKNOWN)
{
p.LatestDistance = brick.Ports[type].RawValue;
somethingChanged = true;
if (MainBoard.showColorDebug)
{
MainBoard.WriteLine($"{Name} - Raw Value Received: " + brick.Ports[type].RawValue + " last triggers was " + ((Environment.TickCount - p.LastDistanceTick) / 1000) + "s ago.");
}
if (Environment.TickCount - p.LastDistanceTick > p.DistanceColorCooldownMs)
{
OnDistanceTriggered(this, p, p.LatestDistance);
OnDataUpdated();
}
}
}
if (somethingChanged)
{
OnDataUpdated();
}
}
