public virtual IEnumerator <ITask> ConnectToBrickHandler(ConnectToBrick update) { // Validate the sensor port. if ((update.Body.SensorPort & NxtSensorPort.AnySensorPort) != update.Body.SensorPort) { update.ResponsePort.Post( Fault.FromException( new ArgumentException( string.Format("Invalid Sensor Port: {0}", ((LegoNxtPort)update.Body.SensorPort))))); yield break; } _state.SensorPort = update.Body.SensorPort; _state.Connected = false; _state.PollingFrequencyMs = update.Body.PollingFrequencyMs; if (!string.IsNullOrEmpty(update.Body.Name)) { _state.Name = update.Body.Name; } Fault fault = null; brick.AttachRequest attachRequest = new brick.AttachRequest( new brick.Registration( new LegoNxtConnection((LegoNxtPort)_state.SensorPort), LegoDeviceType.AnalogSensor, Contract.DeviceModel, Contract.Identifier, ServiceInfo.Service, _state.Name)); attachRequest.InitializationCommands = new nxtcmd.NxtCommandSequence( new nxtcmd.LegoSetInputMode(_state.SensorPort, LegoSensorType.Switch, LegoSensorMode.BooleanMode)); attachRequest.PollingCommands = new nxtcmd.NxtCommandSequence(_state.PollingFrequencyMs, new nxtcmd.LegoGetInputValues(_state.SensorPort)); brick.AttachResponse response = null; yield return(Arbiter.Choice(_legoBrickPort.AttachAndSubscribe(attachRequest, _legoBrickNotificationPort), delegate(brick.AttachResponse rsp) { response = rsp; }, delegate(Fault f) { fault = f; })); _state.Connected = (response != null && (response.Connection.Port != LegoNxtPort.NotConnected)); if (response == null || (!_state.Connected && update.Body.SensorPort != NxtSensorPort.NotConnected)) { if (fault == null) { fault = Fault.FromException(new Exception("Failure Configuring NXT Touch Sensor on port: " + update.Body.SensorPort.ToString())); } update.ResponsePort.Post(fault); yield break; } if (_state.Connected) { _state.SensorPort = (NxtSensorPort)response.Connection.Port; // Set the sensor name if (string.IsNullOrEmpty(_state.Name) || _state.Name.StartsWith("Touch Sensor on ")) { _state.Name = "Touch Sensor on " + response.Connection.ToString(); } // Send a connection notification update.Body.Name = _state.Name; update.Body.PollingFrequencyMs = _state.PollingFrequencyMs; update.Body.SensorPort = _state.SensorPort; SendNotification <ConnectToBrick>(_subMgrPort, update); } // Send the message response update.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
public virtual IEnumerator <ITask> ConnectToBrickHandler(ConnectToBrick update) { // Validate the sensor port. if ((update.Body.SensorPort & NxtSensorPort.AnySensorPort) != update.Body.SensorPort) { update.ResponsePort.Post( Fault.FromException( new ArgumentException( string.Format("Invalid Sensor Port: {0}", ((LegoNxtPort)update.Body.SensorPort))))); yield break; } _state.SensorPort = update.Body.SensorPort; _state.Connected = false; if (!string.IsNullOrEmpty(update.Body.Name)) { _state.Name = update.Body.Name; } _state.PollingFrequencyMs = update.Body.PollingFrequencyMs; Fault fault = null; brick.Registration registration = new brick.Registration( new LegoNxtConnection((LegoNxtPort)_state.SensorPort), LegoDeviceType.DigitalSensor, Contract.DeviceModel, Contract.Identifier, ServiceInfo.Service, _state.Name); // Reserve the port yield return(Arbiter.Choice(_legoBrickPort.ReserveDevicePort(registration), delegate(brick.AttachResponse reserveResponse) { if (reserveResponse.DeviceModel == registration.DeviceModel) { registration.Connection = reserveResponse.Connection; } }, delegate(Fault f) { fault = f; LogError(fault); registration.Connection.Port = LegoNxtPort.NotConnected; })); if (registration.Connection.Port == LegoNxtPort.NotConnected && update.Body.SensorPort != NxtSensorPort.NotConnected) { if (fault == null) { fault = Fault.FromException(new Exception("Failure Configuring NXT Ultrasonic Sensor on Port " + update.Body.ToString())); } update.ResponsePort.Post(fault); yield break; } _state.Connected = true; brick.AttachRequest attachRequest = new brick.AttachRequest(registration); brick.AttachResponse response = null; byte[] requestSingleShotReading = { 0x02, 0x41, 0x01 }; byte[] startContinuousReadings = { 0x02, 0x41, 0x02 }; byte[] setContinuousReadingInterval = { 0x02, 0x40, 0x010 }; attachRequest.InitializationCommands = new nxtcmd.NxtCommandSequence( new nxtcmd.LegoLSGetStatus((NxtSensorPort)registration.Connection.Port), new nxtcmd.LegoLSRead((NxtSensorPort)registration.Connection.Port), new nxtcmd.LegoSetInputMode((NxtSensorPort)registration.Connection.Port, LegoSensorType.I2C_9V, LegoSensorMode.RawMode), new nxtcmd.LegoLSWrite((NxtSensorPort)registration.Connection.Port, startContinuousReadings, 0)); attachRequest.PollingCommands = new nxtcmd.NxtCommandSequence(_state.PollingFrequencyMs, new nxtcmd.I2CReadSonarSensor(_state.SensorPort, nxtcmd.UltraSonicPacket.ReadMeasurement1)); yield return(Arbiter.Choice(_legoBrickPort.AttachAndSubscribe(attachRequest, _legoBrickNotificationPort), delegate(brick.AttachResponse rsp) { response = rsp; }, delegate(Fault f) { fault = f; })); if (response == null) { if (fault == null) { fault = Fault.FromException(new Exception("Failure Configuring NXT Ultrasonic Sensor")); } update.ResponsePort.Post(fault); yield break; } if ((LegoNxtPort)_state.SensorPort != response.Connection.Port) { _state.SensorPort = (NxtSensorPort)response.Connection.Port; } // Set the motor name if (string.IsNullOrEmpty(_state.Name) || _state.Name.StartsWith("Ultrasonic Sensor on ")) { _state.Name = "Ultrasonic Sensor on " + response.Connection.ToString(); } // Send a notification of the connected port update.Body.Name = _state.Name; update.Body.PollingFrequencyMs = _state.PollingFrequencyMs; update.Body.SensorPort = _state.SensorPort; SendNotification <ConnectToBrick>(_subMgrPort, update); // Send the message response update.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
public virtual IEnumerator <ITask> ConnectToBrickHandler(ConnectToBrick update) { // Validate the sensor port. if ((update.Body.SensorPort & NxtSensorPort.AnySensorPort) != update.Body.SensorPort) { update.ResponsePort.Post( Fault.FromException( new ArgumentException( string.Format("Invalid Sensor Port: {0}", ((LegoNxtPort)update.Body.SensorPort))))); yield break; } _state.SensorPort = update.Body.SensorPort; _state.Connected = false; if (!string.IsNullOrEmpty(update.Body.Name)) { _state.Name = update.Body.Name; } _state.PollingFrequencyMs = update.Body.PollingFrequencyMs; _state.SpotlightOn = update.Body.SpotlightOn; // Set the hardware identifier from the connected motor port. _genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort); Fault fault = null; brick.AttachRequest attachRequest = new brick.AttachRequest( new brick.Registration( new LegoNxtConnection((LegoNxtPort)_state.SensorPort), LegoDeviceType.AnalogSensor, Contract.DeviceModel, Contract.Identifier, ServiceInfo.Service, _state.Name)); attachRequest.InitializationCommands = new NxtCommandSequence( new LegoSetInputMode(_state.SensorPort, _state.SpotlightOn ? LegoSensorType.LightActive : LegoSensorType.LightInactive, LegoSensorMode.PercentFullScaleMode)); attachRequest.PollingCommands = new NxtCommandSequence(_state.PollingFrequencyMs, new LegoGetInputValues(_state.SensorPort)); brick.AttachResponse response = null; yield return(Arbiter.Choice(_legoBrickPort.AttachAndSubscribe(attachRequest, _legoBrickNotificationPort), delegate(brick.AttachResponse rsp) { response = rsp; }, delegate(Fault f) { fault = f; })); if (response == null) { if (fault == null) { fault = Fault.FromException(new Exception("Failure Configuring NXT Motor")); } update.ResponsePort.Post(fault); yield break; } _state.Connected = (response.Connection.Port != LegoNxtPort.NotConnected); if (_state.Connected) { _state.SensorPort = (NxtSensorPort)response.Connection.Port; } else if (update.Body.SensorPort != NxtSensorPort.NotConnected) { fault = Fault.FromException(new Exception("Failure Configuring NXT Light Sensor on Port " + update.Body.ToString())); update.ResponsePort.Post(fault); yield break; } // Set the motor name if (string.IsNullOrEmpty(_state.Name) || _state.Name.StartsWith("Light Sensor on ")) { _state.Name = "Light Sensor on " + response.Connection.ToString(); } // Send a notification of the connected port update.Body.Name = _state.Name; update.Body.PollingFrequencyMs = _state.PollingFrequencyMs; update.Body.SensorPort = _state.SensorPort; update.Body.SpotlightOn = _state.SpotlightOn; // Only send connection notifications to native subscribers SendNotification <ConnectToBrick>(_subMgrPort, update); update.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
public virtual IEnumerator <ITask> ConnectToBrickHandler(ConnectToBrick update) { // Validate the sensor port. if ((update.Body.SensorPort & NxtSensorPort.AnySensorPort) != update.Body.SensorPort) { update.ResponsePort.Post( Fault.FromException( new ArgumentException( string.Format("Invalid Sensor Port: {0}", ((LegoNxtPort)update.Body.SensorPort))))); yield break; } _state.SensorPort = update.Body.SensorPort; _state.Connected = false; if (!string.IsNullOrEmpty(update.Body.Name)) { _state.Name = update.Body.Name; } _state.PollingFrequencyMs = update.Body.PollingFrequencyMs; _state.SensorMode = update.Body.SensorMode; // Set the hardware identifier from the connected sensor port. _genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort); Fault fault = null; brick.AttachRequest attachRequest = new brick.AttachRequest( new brick.Registration( new LegoNxtConnection((LegoNxtPort)_state.SensorPort), LegoDeviceType.AnalogSensor, Contract.DeviceModel, Contract.Identifier, ServiceInfo.Service, _state.Name)); // Get the correct code for the Sensor Type that the Brick understands LegoSensorType st; switch (_state.SensorMode) { case ColorSensorMode.Color: st = LegoSensorType.ColorFull; break; case ColorSensorMode.Red: st = LegoSensorType.ColorRed; break; case ColorSensorMode.Green: st = LegoSensorType.ColorGreen; break; case ColorSensorMode.Blue: st = LegoSensorType.ColorBlue; break; case ColorSensorMode.None: st = LegoSensorType.ColorNone; break; default: st = LegoSensorType.ColorFull; break; } // The Color Sensor is a special case of an Analog sensor so if uses the // LegoSetInputMode request. Note that it is in Raw mode. attachRequest.InitializationCommands = new NxtCommandSequence( new LegoSetInputMode(_state.SensorPort, st, LegoSensorMode.RawMode)); // Polling uses LegoGetInputValues to read the analog value attachRequest.PollingCommands = new NxtCommandSequence(_state.PollingFrequencyMs, new LegoGetInputValues(_state.SensorPort)); brick.AttachResponse response = null; yield return(Arbiter.Choice(_legoBrickPort.AttachAndSubscribe(attachRequest, _legoBrickNotificationPort), delegate(brick.AttachResponse rsp) { response = rsp; }, delegate(Fault f) { fault = f; })); if (response == null) { if (fault == null) { fault = Fault.FromException(new Exception("Failure Configuring NXT Color Sensor")); } update.ResponsePort.Post(fault); yield break; } _state.Connected = (response.Connection.Port != LegoNxtPort.NotConnected); if (_state.Connected) { _state.SensorPort = (NxtSensorPort)response.Connection.Port; } else if (update.Body.SensorPort != NxtSensorPort.NotConnected) { fault = Fault.FromException(new Exception("Failure Configuring NXT Color Sensor on Port " + update.Body.ToString())); update.ResponsePort.Post(fault); yield break; } // Set the Color Sensor name if (string.IsNullOrEmpty(_state.Name) || _state.Name.StartsWith("Color Sensor on ")) { _state.Name = "Color Sensor on " + response.Connection.ToString(); } // Send a notification of the connected port // Only send connection notifications to native subscribers update.Body.Name = _state.Name; update.Body.PollingFrequencyMs = _state.PollingFrequencyMs; update.Body.SensorPort = _state.SensorPort; update.Body.SensorMode = _state.SensorMode; SendNotification <ConnectToBrick>(_subMgrPort, update); update.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }