private static SensorType WaitForSensor <SensorType>(SensorPort?port, CancellationToken token)
where SensorType : ISensor
{
ManualResetEvent sensorAttached = new ManualResetEvent(false);
SensorDetector detector = new SensorDetector();
bool run = true;
bool checkForPort = port != null;
SensorType newSensor = default(SensorType);
detector.SensorAttached += delegate(ISensor sensor) {
if (sensor.GetType() == typeof(SensorType))
{
if (!checkForPort || sensor.Port == port.Value)
{
newSensor = (SensorType)sensor;
sensorAttached.Set();
run = false;
}
}
};
WaitHandle[] handles = new WaitHandle[] { sensorAttached, token.WaitHandle };
while (run)
{
detector.Update();
if (token.IsCancellationRequested)
{
run = false;
}
WaitHandle.WaitAny(handles, PollInterval);
}
return(newSensor);
}
public EV3Model (bool useDummy)
{
Motors = new MotorModelList (useDummy);
Sensors = new SensorModelList (useDummy);
if (!useDummy)
{
detector = new SensorDetector ();
detector.SensorAttached += HandleSensorAttached;
detector.SensorDetached += HandleSensorDetached;
}
}
