public virtual IEnumerator<ITask> SetLedHandler(SetLed ledStatus)
{
var ledStatusByte = BitConverter.GetBytes((int) ledStatus.Body.Status);
var ledWrite = new LegoLSWrite
{
Port = _state.SensorPort,
TXData = new byte[] {0x10, 0x51, ledStatusByte[0]},
ExpectedI2CResponseSize = 0
};
Activate(Arbiter.Choice(_legoBrickPort.SendNxtCommand(ledWrite),
x => ledStatus.ResponsePort.Post(new DefaultUpdateResponseType()),
f => ledStatus.ResponsePort.Post(f)));
yield break;
}
public virtual IEnumerator<ITask> GetHandler(Get get)
{
var write = new LegoLSWrite
{
Port = _state.SensorPort,
TXData = new byte[] {0x10, 0x07},
ExpectedI2CResponseSize = 15
};
Activate(Arbiter.Choice(_legoBrickPort.SendNxtCommand(write),
EmptyHandler,
f => LogInfo(f.ToException().InnerException + " " + f.ToException().Message)));
Activate(Arbiter.Receive(false, TimeoutPort(500), EmptyHandler));
var read = new LegoLSRead(_state.SensorPort);
Activate(Arbiter.Choice(_legoBrickPort.SendNxtCommand(read),
r =>
{
var response = LegoResponse.Upcast<I2CResponseSensorType>(r);
if (response != null)
{
LogInfo(string.Format("Read response: {0} {1}", response.Manufacturer, response.SensorType));
_state.ManufactureInfo = string.Format("{0}", response.SensorType);
//_state.ManufactureInfo = string.Format("Hiya!");
LogInfo(string.Format(_state.ManufactureInfo));
get.ResponsePort.Post(_state);
}
},
f =>
{
LogInfo(f.Detail.ToString());
get.ResponsePort.Post(f);
}));
//get.ResponsePort.Post(_state);
yield break;
}
public virtual IEnumerator<ITask> ReadFromI2cAddressHandler(ReadFromI2cAddress readRequest)
{
var write = new LegoLSWrite
{
Port = _state.SensorPort,
TXData = readRequest.Body.TxData,
ExpectedI2CResponseSize = readRequest.Body.ExpectedResponseSize
};
Activate(Arbiter.Choice(_legoBrickPort.SendNxtCommand(write),
EmptyHandler,
f => LogInfo(f.ToException().InnerException + " " + f.ToException().Message)));
Activate(Arbiter.Receive(false, TimeoutPort(80), EmptyHandler));
var read = new LegoLSRead(_state.SensorPort);
Activate(Arbiter.Choice(_legoBrickPort.SendNxtCommand(read),
r => readRequest.ResponsePort.Post(new ReadResponse {Bytes = r.CommandData}),
f => readRequest.ResponsePort.Post(f)));
yield break;
}
/// <summary>
/// Send Any Command, including a two-phase LowSpeed command (LSWrite)
/// </summary>
/// <param name="cmd"></param>
/// <param name="priority"></param>
/// <returns></returns>
public PortSet<LegoResponse, Fault> SendAnyCommand(LegoCommand cmd, bool priority)
{
if (cmd.LegoCommandCode == LegoCommandCode.LSWrite)
{
LegoLSWrite cmdLsWrite = cmd as LegoLSWrite;
if (cmdLsWrite == null)
cmdLsWrite = new LegoLSWrite(cmd);
// Send Low Speed Command
SendLowSpeedCommand sendCmd = new SendLowSpeedCommand(cmdLsWrite);
_internalI2CPort.Post(sendCmd);
return sendCmd.ResponsePort;
}
return _brickPort.SendCommand(cmd, priority);
}
