/// <summary>
/// Plays a tone based on frequency for given duration and at a given volume.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="volume">Specify volume for playback, [0 - 100]</param>
/// <param name="frequency">Specify frequency, [250 - 10000]</param>
/// <param name="duration">Specify duration in milliseconds [1 - n]</param>
/// <exception cref="ArgumentOutOfRangeException"></exception>
/// <remarks>
/// Instruction opSound (CMD, …)
/// Opcode 0x94
/// Arguments (Data8) CMD => Specific command parameter documented below
/// Dispatch status Unchanged
/// Description Sound control entry
/// CMD: TONE = 0x01
/// Arguments
/// (Data8) VOLUME – Specify volume for playback, [0 - 100]
/// (Data16) FREQUENCY – Specify frequency, [250 - 10000]
/// (Data16) DURATION – Specify duration in millisecond
/// </remarks>
internal static async Task Tone(ISocket socket, int volume, int frequency, int duration)
{
if (volume < 0 || volume > 100)
{
throw new ArgumentOutOfRangeException("Volume must be between 0 and 100", "volume");
}
if (frequency < 250 || frequency > 10000)
{
throw new ArgumentOutOfRangeException("Frequency must be between 250 and 10000", "frequency");
}
if (duration < 1)
{
throw new ArgumentOutOfRangeException("Duration must be longer than 0", "duration");
}
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opSOUND);
cb.Raw((byte)SOUND_SUBCODE.TONE);
cb.PAR8(volume);
cb.PAR16(frequency);
cb.PAR16(duration);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables synchonizing two motors.
/// Synchonization should be used when motors should run as synchrone as possible,
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <param name="speed">Speed level, [-100 – 100]</param>
/// <param name="turnRatio">Turn ratio, [-200 - 200]
/// 0 : Motor will run with same power
/// 100 : One motor will run with specified power while the other will be close to zero
/// 200: One motor will run with specified power forward while the other will run in the opposite direction at the same power level.
/// </param>
/// <param name="time">Time in milliseconds, 0 = Infinite</param>
/// <param name="brake">Specify break level, [0: Float, 1: Break]</param>
/// <remarks>
/// Instruction opOutput_Time_Sync (LAYER, NOS, SPEED, TURN, STEP, BRAKE)
/// Opcode 0xB1
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data8) SPEED – Power level, [-100 – 100]
/// (Data16) TURN – Turn ratio, [-200 - 200], see documentation below
/// (Data32) TIME – Time in milliseconds, 0 = Infinite
/// (Data8) BRAKE - Specify break level [0: Float, 1: Break]
/// Dispatch status Unchanged
/// Description This function enables synchonizing two motors. Synchonization should be used when motors should run as synchrone as possible,
/// </remarks>
public static async Task TimeSync(ISocket socket, ChainLayer layer, OutputPortFlag ports, int speed, int turnRatio, int time, Brake brake = Brake.Float, bool requireReply = true)
{
if (time < 0)
{
throw new ArgumentOutOfRangeException(nameof(time), ">=0");
}
if (speed < -100 || speed > 100)
{
throw new ArgumentOutOfRangeException(nameof(speed), "[-100,100]");
}
if (turnRatio < -200 || turnRatio > 200)
{
throw new ArgumentOutOfRangeException(nameof(turnRatio), "[-200,200]");
}
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_TIME_SYNC);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cb.PAR8(speed);
cb.PAR16(turnRatio);
cb.PAR32(time);
cb.PAR8((byte)brake);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
//CMD: BMPFILE = 0x1C
//Arguments
//(DATA8) Color – Specify either black or white, [0: White, 1: Black]
//(Data16) X0 – Specify X start point, [0 - 177]
//(Data16) Y0 – Specify Y start point, [0 - 127]
//(Data8) NAME – First character in filename(Character string)
//Description
//Enable displaying BMP file from icon file within running project.
internal static async Task BMPFile(ISocket socket, string path, int x = 0, int y = 0, UIColor color = UIColor.Black)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opUI_DRAW);
cb.Raw((byte)UI_DRAW_SUBCODE.BMPFILE);
cb.PAR8((int)color);
cb.PAR16(x);
cb.PAR16(y);
cb.PARS(path);
cb.OpCode(OP.opUI_DRAW);
cb.Raw((byte)UI_DRAW_SUBCODE.UPDATE);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
