/// <summary> /// Post Configure Sensor Connection with body and return the response port. /// </summary> public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(SonarSensorState state) { ConnectToBrick op = new ConnectToBrick(); op.Body = new SonarSensorConfig(state.SensorPort); op.Body.Name = state.Name; op.Body.PollingFrequencyMs = state.PollingFrequencyMs; this.PostUnknownType(op); return(op.ResponsePort); }
/// <summary> /// Initialize State /// </summary> private void InitializeState() { if (_state == null) { _state = new SonarSensorState(); // I2C devices can autodetect which port they are on. _state.SensorPort = NxtSensorPort.AnySensorPort; } if (_state.PollingFrequencyMs == 0) { _state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs; } _state.TimeStamp = DateTime.MinValue; _state.Distance = 0; _state.Connected = false; }