/// <summary>
/// Initialize the Color Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new ColorSensorState();
// Default to Color mode if no config file
_state.SensorMode = ColorSensorMode.Color;
}
if (_state.PollingFrequencyMs == 0)
{
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
}
_state.TimeStamp = DateTime.MinValue;
_state.Reading = 0;
_state.Connected = false;
if (_genericState == null)
{
_genericState = new pxanalogsensor.AnalogSensorState();
}
// Analog range is 0-1023 (10-bit A/D)
_genericState.RawMeasurementRange = 1023.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
/// <summary>
/// Post Configure Sensor Connection with body and return the response port.
/// </summary>
/// <param name="state">Color Sensor State to use for initialization</param>
public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(ColorSensorState state)
{
ConnectToBrick op = new ConnectToBrick();
op.Body = new ColorSensorConfig(state.SensorPort);
op.Body.Name = state.Name;
op.Body.PollingFrequencyMs = state.PollingFrequencyMs;
op.Body.SensorMode = state.SensorMode;
this.PostUnknownType(op);
return(op.ResponsePort);
}
