Awaiting PortFeedback for all motor and RGB commands

sharpbrick#21

Author: tthiery

examples/SharpBrick.PoweredUp.Examples/ExampleMotorControl.cs

@@ -24,7 +24,6 @@ public static async Task ExecuteAsync(PoweredUpHost host, IServiceProvider servi
 
                 await motor.StartSpeedAsync(100, 90, SpeedProfiles.None);
                 await Task.Delay(2000);
-                await motor.StartSpeedAsync(127, 90, SpeedProfiles.None);
                 await motor.StartSpeedAsync(-100, 90, SpeedProfiles.None);
                 await Task.Delay(2000);
                 await motor.StartSpeedAsync(0, 90, SpeedProfiles.None);

examples/SharpBrick.PoweredUp.Examples/Program.cs

@@ -12,7 +12,7 @@ static async Task Main(string[] args)
             var (host, serviceProvider, selectedHub) = Example.ExampleHubDiscover.CreateHostAndDiscover(enableTrace);
 
             //await Example.ExampleColors.ExecuteAsync(host, serviceProvider, selectedHub);
-            //await Example.ExampleMotorControl.ExecuteAsynchost, serviceProvider, selectedHub
+            //await Example.ExampleMotorControl.ExecuteAsync(host, serviceProvider, selectedHub);
             //await Example.ExampleMotorInputAbsolutePosition.ExecuteAsync(host, serviceProvider, selectedHub);
             //await Example.ExampleMotorVirtualPort.ExecuteAsync(host, serviceProvider, selectedHub);
             //await Example.ExampleHubActions.ExecuteAsync(host, serviceProvider, selectedHub);

src/SharpBrick.PoweredUp/Devices/AbsoluteMotor.cs

@@ -33,13 +33,13 @@ protected AbsoluteMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task GotoAbsolutePositionAsync(int absolutePosition, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> GotoAbsolutePositionAsync(int absolutePosition, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidSpeed(speed, nameof(speed));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandGotoAbsolutePositionMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandGotoAbsolutePositionMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -51,6 +51,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandGotoAbsolutePositionMessag
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -63,14 +65,14 @@ await _protocol.SendMessageAsync(new PortOutputCommandGotoAbsolutePositionMessag
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task GotoAbsolutePositionAsync(int absolutePosition1, int absolutePosition2, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> GotoAbsolutePositionAsync(int absolutePosition1, int absolutePosition2, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidSpeed(speed, nameof(speed));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
             AssertIsVirtualPort();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandGotoAbsolutePosition2Message()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandGotoAbsolutePosition2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -83,6 +85,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandGotoAbsolutePosition2Messa
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
     }
 }

src/SharpBrick.PoweredUp/Devices/BasicMotor.cs

@@ -33,19 +33,21 @@ public BasicMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
         /// - Stop Motor (breaking): 127
         /// </param>
         /// <returns>An awaitable Task.</returns>
-        public async Task StartPowerAsync(sbyte power)
+        public async Task<PortFeedback> StartPowerAsync(sbyte power)
         {
             AssertValidPower(power, nameof(power));
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartPowerMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartPowerMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
                 StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
                 CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
                 Power = power,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -76,14 +78,14 @@ public Task StopByFloatAsync()
         /// - Stop Motor (breaking): 127
         /// </param>
         /// <returns></returns>
-        public async Task StartPowerAsync(sbyte powerOnMotor1, sbyte powerOnMotor2)
+        public async Task<PortFeedback> StartPowerAsync(sbyte powerOnMotor1, sbyte powerOnMotor2)
         {
             AssertValidPower(powerOnMotor1, nameof(powerOnMotor1));
             AssertValidPower(powerOnMotor2, nameof(powerOnMotor2));
             AssertIsConnected();
             AssertIsVirtualPort();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartPower2Message()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartPower2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -92,6 +94,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartPower2Message()
                 Power1 = powerOnMotor1,
                 Power2 = powerOnMotor2,
             });
+
+            return response;
         }
 
         protected void AssertValidPower(sbyte power, string argumentName)

src/SharpBrick.PoweredUp/Devices/RgbLight.cs

@@ -30,7 +30,7 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetRgbColorNoMessage()
                 ColorNo = color,
             });
         }
-        public async Task SetRgbColorsAsync(byte red, byte green, byte blue)
+        public async Task<PortFeedback> SetRgbColorsAsync(byte red, byte green, byte blue)
         {
             AssertIsConnected();
 
@@ -42,7 +42,8 @@ await _protocol.SendMessageAsync(new PortInputFormatSetupSingleMessage()
                 DeltaInterval = 10000,
                 NotificationEnabled = false,
             });
-            await _protocol.SendMessageAsync(new PortOutputCommandSetRgbColorNo2Message()
+
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandSetRgbColorNo2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -52,6 +53,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetRgbColorNo2Message()
                 GreenColor = green,
                 BlueColor = blue,
             });
+
+            return response;
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)

src/SharpBrick.PoweredUp/Devices/TachoMotor.cs

@@ -43,15 +43,15 @@ protected TachoMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
         /// </param>
         /// <param name="profileNumber">Specify the acceleration profile used. Defaults to standard AccelerationProfile.</param>
         /// <returns></returns>
-        public async Task SetAccelerationTimeAsync(ushort timeInMs, SpeedProfiles profileNumber = SpeedProfiles.AccelerationProfile)
+        public async Task<PortFeedback> SetAccelerationTimeAsync(ushort timeInMs, SpeedProfiles profileNumber = SpeedProfiles.AccelerationProfile)
         {
             if (timeInMs < 0 || timeInMs > 10_000)
             {
                 throw new ArgumentOutOfRangeException(nameof(timeInMs));
             }
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandSetAccTimeMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandSetAccTimeMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -60,6 +60,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetAccTimeMessage()
                 Time = timeInMs,
                 Profile = profileNumber,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -73,15 +75,15 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetAccTimeMessage()
         /// </param>
         /// <param name="profileNumber">Specify the deceleration profile used. Defaults to standard DecelerationProfile.</param>
         /// <returns></returns>
-        public async Task SetDecelerationTimeAsync(ushort timeInMs, SpeedProfiles profileNumber = SpeedProfiles.DecelerationProfile)
+        public async Task<PortFeedback> SetDecelerationTimeAsync(ushort timeInMs, SpeedProfiles profileNumber = SpeedProfiles.DecelerationProfile)
         {
             if (timeInMs < 0 || timeInMs > 10_000)
             {
                 throw new ArgumentOutOfRangeException(nameof(timeInMs));
             }
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandSetDecTimeMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandSetDecTimeMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -90,6 +92,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetDecTimeMessage()
                 Time = timeInMs,
                 Profile = profileNumber,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -102,13 +106,13 @@ await _protocol.SendMessageAsync(new PortOutputCommandSetDecTimeMessage()
         /// <param name="maxPower">Maximum Power level used.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedAsync(sbyte speed, byte maxPower, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedAsync(sbyte speed, byte maxPower, SpeedProfiles profile)
         {
             AssertValidSpeed(speed, nameof(speed));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -118,6 +122,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedMessage()
                 MaxPower = maxPower,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -134,15 +140,15 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedMessage()
         /// <param name="maxPower">Maximum Power level used.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedAsync(sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedAsync(sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpeedProfiles profile)
         {
             AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
             AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
             AssertIsVirtualPort();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeed2Message()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeed2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -153,6 +159,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeed2Message()
                 MaxPower = maxPower,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -167,13 +175,13 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeed2Message()
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedForTimeAsync(ushort timeInMs, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidSpeed(speed, nameof(speed));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTimeMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForTimeMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -185,6 +193,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTimeMessage()
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -203,15 +213,15 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTimeMessage()
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedForTimeAsync(ushort timeInMs, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
             AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
             AssertIsVirtualPort();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTime2Message()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForTime2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -224,6 +234,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTime2Message(
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -235,14 +247,14 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTime2Message(
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedForDegreesAsync(uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidDegrees(degrees, nameof(degrees));
             AssertValidSpeed(speed, nameof(speed));
             AssertValidMaxPower(maxPower, nameof(maxPower));
             AssertIsConnected();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForDegreesMessage()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForDegreesMessage()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -254,6 +266,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForDegreesMessag
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
 
         /// <summary>
@@ -266,7 +280,7 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForDegreesMessag
         /// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
         /// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
         /// <returns></returns>
-        public async Task StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
+        public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
         {
             AssertValidDegrees(degrees, nameof(degrees));
             AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
@@ -275,7 +289,7 @@ public async Task StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, s
             AssertIsConnected();
             AssertIsVirtualPort();
 
-            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForDegrees2Message()
+            var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForDegrees2Message()
             {
                 HubId = _hubId,
                 PortId = _portId,
@@ -288,6 +302,8 @@ await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForDegrees2Messa
                 EndState = endState,
                 Profile = profile,
             });
+
+            return response;
         }
 
         protected void AssertValidSpeed(sbyte speed, string argumentName)

src/SharpBrick.PoweredUp/Protocol/IPoweredUpProtocolExtensions.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Linq;
 using System.Reactive.Linq;
 using System.Threading.Tasks;
 using SharpBrick.PoweredUp.Protocol.Messages;
@@ -21,5 +22,14 @@ public static async Task<TResultMessage> SendMessageReceiveResultAsync<TResultMe
 
             return result;
         }
+
+        public static async Task<PortFeedback> SendPortOutputCommandAsync(this IPoweredUpProtocol self, PortOutputCommandMessage message)
+        {
+            var portId = message.PortId;
+
+            var response = await self.SendMessageReceiveResultAsync<PortOutputCommandFeedbackMessage>(message, msg => msg.Feedbacks.Any(f => f.PortId == portId));
+
+            return response.Feedbacks.FirstOrDefault(f => f.PortId == portId).Feedback;
+        }
     }
 }