/// <summary>
/// Clone Lego NXT Connection
/// </summary>
public virtual object Clone()
{
LegoNxtConnection target = new LegoNxtConnection();
target.Port = this.Port;
target.PortOverride = this.PortOverride;
return target;
}
/// <summary>
/// Find sensors on the brick which can be added to
/// our contact sensor array.
/// </summary>
/// <returns></returns>
private IEnumerator<ITask> FindSensors()
{
#region Attach to the NXT Brick
LegoNxtConnection aggregate = new LegoNxtConnection(LegoNxtPort.Aggregation);
aggregate.PortOverride = "Contact Sensor Array";
brick.AttachRequest attachRequest = new brick.AttachRequest(
new brick.Registration(
aggregate,
LegoDeviceType.Aggregation,
"ContactSensorArray",
Contract.Identifier,
ServiceInfo.Service,
"ContactSensorArray"));
yield return Arbiter.Choice(_legoBrickPort.AttachAndSubscribe(attachRequest, _legoBrickNotificationPort),
delegate(brick.AttachResponse rsp)
{
},
delegate(Fault fault)
{
LogError("Error in LEGO NXT Contact Sensor Array while attaching to brick", fault);
});
#endregion
PortSet<brick.NxtBrickState, Fault> brickResponse = _legoBrickPort.Get();
yield return Arbiter.Choice(
Arbiter.ReceiveWithIterator<brick.NxtBrickState>(false, brickResponse, ProcessBrickState),
Arbiter.Receive<Fault>(false, brickResponse, EmptyHandler<Fault>));
yield break;
}