Add TechnicDistanceSensor

- Add Distance and Light modes - Do not add extension port (to less information) - Fix MarioPants PropertyChanged notification. - Fix SystemType binary representation in source code - Add Example #112 non-breaking
sharpbrick · Dec 21, 2020 · 375eaa6 · 375eaa6
1 parent 799fc18
commit 375eaa6
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Showing 6 changed files with 168 additions and 3 deletions.
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleTechnicDistanceSensor.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleTechnicDistanceSensor.cs
@@ -0,0 +1,41 @@
+using System;
+using System.Threading.Tasks;
+using Microsoft.Extensions.Logging;
+using SharpBrick.PoweredUp;
+
+namespace Example
+{
+    public class ExampleTechnicDistanceSensor : BaseExample
+    {
+        public override async Task ExecuteAsync()
+        {
+            using (var hub = Host.FindByType<TechnicMediumHub>())
+            {
+                await hub.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
+                    .AddHub<TechnicMediumHub>(hubBuilder => hubBuilder
+                        .AddDevice<TechnicDistanceSensor>(hub.A))
+                );
+
+                var technicDistanceSensor = hub.A.GetDevice<TechnicDistanceSensor>();
+
+                // measure distances (only single subscription)
+                using var m1 = technicDistanceSensor.DistanceObservable.Subscribe(x => Log.LogWarning($"Distl: {x}"));
+                using var m2 = technicDistanceSensor.DistsObservable.Subscribe(x => Log.LogWarning($"Dists: {x}"));
+                using var m3 = technicDistanceSensor.SinglObservable.Subscribe(x => Log.LogWarning($"Singl: {x}"));
+
+                await technicDistanceSensor.SetupNotificationAsync(technicDistanceSensor.ModeIndexDistance, true);
+
+                // play with the eye lights (0-100)
+                for (byte idx = 0; idx < 100; idx += 5)
+                {
+                    await technicDistanceSensor.SetEyeLightAsync(0b0000_0000, idx, 0b0110_0100, idx);
+
+                    Log.LogWarning($"Brightness: {idx}");
+                    await Task.Delay(2_000);
+                }
+
+                await hub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/Program.cs b/examples/SharpBrick.PoweredUp.Examples/Program.cs
@@ -40,7 +40,8 @@ static async Task Main(string[] args)
             //example = new Example.ExampleMarioBarcode();
             //example = new Example.ExampleMarioPants();
             //example = new Example.ExampleMarioAccelerometer();
-            example = new Example.ExampleDuploTrainBase();
+            //example = new Example.ExampleDuploTrainBase();
+            example = new Example.ExampleTechnicDistanceSensor();
 
             // NOTE: Examples are programmed object oriented style. Base class implements methods Configure, DiscoverAsync and ExecuteAsync to be overwriten on demand.
             await example.InitHostAndDiscoverAsync(enableTrace);

diff --git a/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs b/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs
@@ -41,6 +41,7 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
                 DeviceType.TechnicMediumHubGestureSensor => typeof(TechnicMediumHubGestureSensor),
                 DeviceType.RemoteControlButton => typeof(RemoteControlButton),
                 DeviceType.RemoteControlRssi => typeof(RemoteControlRssi),
+                DeviceType.TechnicDistanceSensor => typeof(TechnicDistanceSensor),
                 DeviceType.TechnicMediumHubAccelerometer => typeof(TechnicMediumHubAccelerometer),
                 DeviceType.TechnicMediumHubGyroSensor => typeof(TechnicMediumHubGyroSensor),
                 DeviceType.TechnicMediumHubTiltSensor => typeof(TechnicMediumHubTiltSensor),
@@ -71,6 +72,7 @@ public static DeviceType GetDeviceTypeFromType(Type type)
                 nameof(TechnicMediumHubGestureSensor) => DeviceType.TechnicMediumHubGestureSensor,
                 nameof(RemoteControlButton) => DeviceType.RemoteControlButton,
                 nameof(RemoteControlRssi) => DeviceType.RemoteControlRssi,
+                nameof(TechnicDistanceSensor) => DeviceType.TechnicDistanceSensor,
                 nameof(TechnicMediumHubAccelerometer) => DeviceType.TechnicMediumHubAccelerometer,
                 nameof(TechnicMediumHubGyroSensor) => DeviceType.TechnicMediumHubGyroSensor,
                 nameof(TechnicMediumHubTiltSensor) => DeviceType.TechnicMediumHubTiltSensor,

diff --git a/src/SharpBrick.PoweredUp/Devices/MarioHubPants.cs b/src/SharpBrick.PoweredUp/Devices/MarioHubPants.cs
@@ -25,7 +25,7 @@ public MarioHubPants(ILegoWirelessProtocol protocol, byte hubId, byte portId)
         {
             _pantsMode = SingleValueMode<sbyte>(ModeIndexPants);
 
-            ObserveForPropertyChanged(_pantsMode.Observable, nameof(PantsObservable));
+            ObserveForPropertyChanged(_pantsMode.Observable, nameof(Pants));
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicDistanceSensor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicDistanceSensor.cs
@@ -0,0 +1,120 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reactive.Linq;
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Utils;
+
+namespace SharpBrick.PoweredUp
+{
+    public class TechnicDistanceSensor : Device, IPoweredUpDevice
+    {
+        protected SingleValueMode<short> _distlMode;
+        protected SingleValueMode<short> _distsMode;
+        protected SingleValueMode<short> _singlMode;
+        protected MultiValueMode<sbyte> _lightMode;
+
+        public byte ModeIndexDistance { get; protected set; } = 0;
+        public byte ModeIndexShortOnlyDistance { get; protected set; } = 1;
+        public byte ModeIndexSingleMeasurement { get; protected set; } = 2;
+        public byte ModeIndexLight { get; protected set; } = 5;
+
+        public short Distance => _distlMode.SI;
+        public IObservable<short> DistanceObservable => _distlMode.Observable.Select(x => x.SI);
+        public short ShortOnlyDistance => _distsMode.SI;
+        public IObservable<short> DistsObservable => _distsMode.Observable.Select(x => x.SI);
+        public short SingleDistanceMeasurementResult => _singlMode.SI;
+        public IObservable<short> SinglObservable => _singlMode.Observable.Select(x => x.SI);
+
+        public TechnicDistanceSensor()
+        { }
+        public TechnicDistanceSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
+            : base(protocol, hubId, portId)
+        {
+            _distlMode = SingleValueMode<short>(ModeIndexDistance);
+            _distsMode = SingleValueMode<short>(ModeIndexShortOnlyDistance);
+            _singlMode = SingleValueMode<short>(ModeIndexSingleMeasurement);
+            _lightMode = MultiValueMode<sbyte>(ModeIndexLight);
+
+            ObserveForPropertyChanged(_distlMode.Observable, nameof(Distance));
+            ObserveForPropertyChanged(_distsMode.Observable, nameof(ShortOnlyDistance));
+            ObserveForPropertyChanged(_singlMode.Observable, nameof(SingleDistanceMeasurementResult));
+        }
+
+        public Task SetEyeLightAsync(byte leftTop = 0x00, byte rightTop = 0x00, byte leftBottom = 0x00, byte rightBottom = 0x00)
+            => _lightMode.WriteDirectModeDataAsync(new byte[] { leftTop, rightTop, leftBottom, rightBottom });
+
+        public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+            => ((softwareVersion, hardwareVersion, systemType) switch
+            {
+                (_, _, _) => @"
+0B-00-43-00-01-03-09-9F-00-60-00
+05-00-43-00-02
+11-00-44-00-00-00-44-49-53-54-4C-00-00-00-00-00-00
+0E-00-44-00-00-01-00-00-00-00-00-40-1C-45
+0E-00-44-00-00-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-00-03-00-00-00-00-00-00-7A-43
+0A-00-44-00-00-04-43-4D-00-00
+08-00-44-00-00-05-91-00
+0A-00-44-00-00-80-01-01-05-01
+11-00-44-00-01-00-44-49-53-54-53-00-00-00-00-00-00
+0E-00-44-00-01-01-00-00-00-00-00-00-A0-43
+0E-00-44-00-01-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-01-03-00-00-00-00-00-00-00-42
+0A-00-44-00-01-04-43-4D-00-00
+08-00-44-00-01-05-F1-00
+0A-00-44-00-01-80-01-01-04-01
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+0E-00-44-00-02-01-00-00-00-00-00-40-1C-45
+0E-00-44-00-02-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-02-03-00-00-00-00-00-00-7A-43
+0A-00-44-00-02-04-43-4D-00-00
+08-00-44-00-02-05-90-00
+0A-00-44-00-02-80-01-01-05-01
+11-00-44-00-03-00-4C-49-53-54-4E-00-00-00-00-00-00
+0E-00-44-00-03-01-00-00-00-00-00-00-80-3F
+0E-00-44-00-03-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-03-03-00-00-00-00-00-00-80-3F
+0A-00-44-00-03-04-53-54-00-00
+08-00-44-00-03-05-10-00
+0A-00-44-00-03-80-01-00-01-00
+11-00-44-00-04-00-54-52-41-57-00-00-00-00-00-00-00
+0E-00-44-00-04-01-00-00-00-00-00-C4-63-46
+0E-00-44-00-04-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-04-03-00-00-00-00-00-C4-63-46
+0A-00-44-00-04-04-75-53-00-00
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+0E-00-44-00-05-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-05-03-00-00-00-00-00-00-C8-42
+0A-00-44-00-05-04-50-43-54-00
+08-00-44-00-05-05-00-10
+0A-00-44-00-05-80-04-00-03-00
+11-00-44-00-06-00-50-49-4E-47-00-00-00-00-00-00-00
+0E-00-44-00-06-01-00-00-00-00-00-00-80-3F
+0E-00-44-00-06-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-06-03-00-00-00-00-00-00-80-3F
+0A-00-44-00-06-04-50-43-54-00
+08-00-44-00-06-05-00-90
+0A-00-44-00-06-80-01-00-01-00
+11-00-44-00-07-00-41-44-52-41-57-00-00-00-00-00-00
+0E-00-44-00-07-01-00-00-00-00-00-00-80-44
+0E-00-44-00-07-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-07-03-00-00-00-00-00-00-80-44
+0A-00-44-00-07-04-50-43-54-00
+08-00-44-00-07-05-90-00
+0A-00-44-00-07-80-01-01-04-00
+11-00-44-00-08-00-43-41-4C-49-42-00-00-00-00-00-00
+0E-00-44-00-08-01-00-00-00-00-00-00-7F-43
+0E-00-44-00-08-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-08-03-00-00-00-00-00-00-7F-43
+0A-00-44-00-08-04-50-43-54-00
+08-00-44-00-08-05-00-00
+0A-00-44-00-08-80-07-00-03-00
+"
+            }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
+    }
+}
diff --git a/src/SharpBrick.PoweredUp/Enums/SystemType.cs b/src/SharpBrick.PoweredUp/Enums/SystemType.cs
@@ -1,5 +1,6 @@
 namespace SharpBrick.PoweredUp
 {
+    // read binary interpretation careful: 3_5
     public enum SystemType : byte
     {
         LegoWeDo20_WeDoHub = 0b000_00000,
@@ -9,7 +10,7 @@ public enum SystemType : byte
         LegoSystem_BoostHub = 0b010_00000,
         LegoSystem_TwoPortHub = 0b010_00001,
         LegoSystem_TwoPortHandset = 0b010_00010,
-        LegoSystem_Mario = 0b0100_0011,  // UNSPECED, https://github.com/bricklife/LEGO-Mario-Reveng, 0x43,
+        LegoSystem_Mario = 0b010_00011,  // UNSPECED, https://github.com/bricklife/LEGO-Mario-Reveng, 0x43,
 
         LegoTechnic_MediumHub = 0b100_00000, // UNSPECED
     }