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Add VirtualPort Creation and Deletion
- Extracted Samples into own project - Fixed SpeedProfiles and SpecialSpeed enum namespaces Closes sharpbrick#12
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-88
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17 files changed

+293
-88
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‎README.md‎

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@@ -144,6 +144,7 @@ using (var kernel = new BluetoothKernel(poweredUpBluetoothAdapter, bluetoothAddr
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- [X] Properties
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- [ ] Alerts
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- [ ] Actions
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- [X] Create Virtual Ports
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- [X] Technic Medium Hub
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- .. other hubs depend on availability of hardware / contributions
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- Devices

‎examples/SharpBrick.Cli/Program.cs‎

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@@ -22,6 +22,7 @@ static async Task Main(string[] args)
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var app = new CommandLineApplication();
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app.HelpOption();
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app.UnrecognizedArgumentHandling = UnrecognizedArgumentHandling.CollectAndContinue;
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app.Command("device", deviceApp =>
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{

‎examples/SharpBrick.PoweredUp.Examples/ExampleColors.cs‎

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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public static class ExampleColors
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{
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public static async Task ExecuteAsync()
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{
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var (host, serviceProvider, _) = ExampleHubDiscover.CreateHostAndDiscover();
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using (var technicMediumHub = host.FindByType<TechnicMediumHub>())
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{
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await technicMediumHub.RgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);
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await Task.Delay(2000);
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await technicMediumHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleHubDiscover.cs‎

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using System;
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using System.Threading;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Logging;
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using SharpBrick.PoweredUp;
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using SharpBrick.PoweredUp.WinRT;
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using SharpBrick.PoweredUp.Functions;
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namespace Example
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{
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public static class ExampleHubDiscover
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{
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public static (PoweredUpHost host, IServiceProvider serviceProvider, Hub selectedHub) CreateHostAndDiscover()
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{
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var serviceProvider = new ServiceCollection()
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.AddLogging(builder => builder
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.AddConsole())
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.BuildServiceProvider();
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var logger = serviceProvider.GetService<ILoggerFactory>().CreateLogger("Main");
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var poweredUpBluetoothAdapter = new WinRTPoweredUpBluetoothAdapter();
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var host = new PoweredUpHost(poweredUpBluetoothAdapter, serviceProvider);
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logger.LogInformation("Finding Service");
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var cts = new CancellationTokenSource();
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host.Discover(async hub =>
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{
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logger.LogInformation("Connecting to Hub");
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await hub.ConnectAsync();
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logger.LogInformation(hub.AdvertisingName);
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logger.LogInformation(hub.SystemType.ToString());
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cts.Cancel();
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logger.LogInformation("Press RETURN to continue to the action");
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}, cts.Token);
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logger.LogInformation("Press RETURN to cancel Scanning");
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Console.ReadLine();
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cts.Cancel();
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return (host, serviceProvider, null);
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMotorControl.cs‎

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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public static class ExampleMotorControl
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{
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public static async Task ExecuteAsync()
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{
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var (host, serviceProvider, _) = ExampleHubDiscover.CreateHostAndDiscover();
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using (var technicMediumHub = host.FindByType<TechnicMediumHub>())
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{
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var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();
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await motor.SetAccelerationTimeAsync(3000);
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await motor.SetDeccelerationTimeAsync(1000);
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await motor.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DeccelerationProfile);
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await Task.Delay(10_000);
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await motor.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
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await Task.Delay(10_000);
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await motor.StartSpeedAsync(100, 90, SpeedProfiles.None);
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await Task.Delay(2000);
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await motor.StartSpeedAsync(127, 90, SpeedProfiles.None);
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await motor.StartSpeedAsync(-100, 90, SpeedProfiles.None);
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await Task.Delay(2000);
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await motor.StartSpeedAsync(0, 90, SpeedProfiles.None);
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await technicMediumHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMotorInputAbsolutePosition.cs‎

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using System.Threading.Tasks;
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using Microsoft.Extensions.Logging;
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using SharpBrick.PoweredUp;
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using Microsoft.Extensions.DependencyInjection;
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namespace Example
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{
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public class ExampleMotorInputAbsolutePosition
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{
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public static async Task ExecuteAsync()
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{
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var (host, serviceProvider, _) = ExampleHubDiscover.CreateHostAndDiscover();
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var logger = serviceProvider.GetService<ILoggerFactory>().CreateLogger<ExampleMotorInputAbsolutePosition>();
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using (var technicMediumHub = host.FindByType<TechnicMediumHub>())
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{
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var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();
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await motor.SetupNotificationAsync(motor.ModeIndexAbsolutePosition, true);
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await motor.StartPowerAsync(80);
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logger.LogWarning($"Position: {motor.AbsolutePosition}");
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await Task.Delay(2000);
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logger.LogWarning($"Position: {motor.AbsolutePosition}");
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await Task.Delay(2000);
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await motor.StartPowerAsync(0);
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await technicMediumHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMotorVirtualPort.cs‎

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using System.Linq;
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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public static class ExampleMotorVirtualPort
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{
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public static async Task ExecuteAsync()
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{
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var (host, serviceProvider, _) = ExampleHubDiscover.CreateHostAndDiscover();
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using (var technicMediumHub = host.FindByType<TechnicMediumHub>())
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{
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await technicMediumHub.CreateVirtualPortAsync(0, 2);
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await Task.Delay(1000);
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var virtualPort = technicMediumHub.Ports.FirstOrDefault(p => p.IsVirtual);
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var motorsOnVirtualPort = virtualPort.GetDevice<TechnicXLargeLinearMotor>();
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await motorsOnVirtualPort.StartSpeedForTimeAsync(2000, 40, 100, SpecialSpeed.Float, SpeedProfiles.None);
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await Task.Delay(3000);
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await technicMediumHub.CloseVirtualPortAsync(virtualPort.PortId);
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await technicMediumHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/Program.cs‎

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using System;
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using System.Threading.Tasks;
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namespace SharpBrick.PoweredUp.Examples
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{
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class Program
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{
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static async Task Main(string[] args)
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{
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//await Example.ExampleColors.ExecuteAsync();
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//await Example.ExampleMotorControl.ExecuteAsync();
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//await Example.ExampleMotorInputAbsolutePosition.ExecuteAsync();
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await Example.ExampleMotorVirtualPort.ExecuteAsync();
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/SharpBrick.PoweredUp.Examples.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<OutputType>Exe</OutputType>
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<TargetFramework>netcoreapp3.1</TargetFramework>
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<IsPackable>false</IsPackable>
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</PropertyGroup>
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<ItemGroup>
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<ProjectReference Include="..\..\src\SharpBrick.PoweredUp\SharpBrick.PoweredUp.csproj" />
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<ProjectReference Include="..\..\src\SharpBrick.PoweredUp.WinRT\SharpBrick.PoweredUp.WinRT.csproj" />
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</ItemGroup>
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<ItemGroup>
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<PackageReference Include="Microsoft.Extensions.DependencyInjection" Version="3.1.4" />
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<PackageReference Include="Microsoft.Extensions.Logging" Version="3.1.4" />
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<PackageReference Include="Microsoft.Extensions.Logging.Console" Version="3.1.4" />
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<PackageReference Include="Microsoft.Windows.SDK.Contracts" Version="10.0.19041.1" />
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</ItemGroup>
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</Project>

‎examples/message-trace/Program.cs‎

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using System;
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using System.Threading;
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using System.Threading.Tasks;
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using SharpBrick.PoweredUp.Bluetooth;
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using SharpBrick.PoweredUp.Protocol.Messages;
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using SharpBrick.PoweredUp.WinRT;
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using Microsoft.Extensions.Logging;
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using SharpBrick.PoweredUp.Protocol;
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using SharpBrick.PoweredUp.Functions;
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using Microsoft.Extensions.DependencyInjection;
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using System.Linq;
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namespace SharpBrick.PoweredUp.Examples.MessageTrace
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{
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{
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await technicMediumHub.RgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);
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// simple motor control
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var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();
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await motor.GotoAbsolutePositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
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await technicMediumHub.SwitchOffAsync();
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}
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return;
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ulong bluetoothAddress = 158897336311065;
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if (bluetoothAddress == 0)
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return;
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var loggerFactory = serviceProvider.GetService<ILoggerFactory>();
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using (var kernel = new BluetoothKernel(poweredUpBluetoothAdapter, bluetoothAddress, loggerFactory.CreateLogger<BluetoothKernel>()))
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{
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var protocol = new PoweredUpProtocol(kernel, loggerFactory.CreateLogger<PoweredUpProtocol>());
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await kernel.ConnectAsync();
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await protocol.SetupUpstreamObservableAsync();
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// virtual port sample
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// await protocol.SendMessageAsync(new VirtualPortSetupForConnectedMessage() { SubCommand = VirtualPortSubCommand.Connected, PortAId = 0x01, PortBId = 0x02, });
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// await kernel.SendBytesAsync(BytesStringUtil.StringToData("09-00-81-10-11-07-64-64-00")); // 3.27.5
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// single motor sample
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// await protocol.SendMessageAsync(BytesStringUtil.StringToData("09-00-81-00-11-07-64-64-00")); // 3.27.5
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//await protocol.SendMessageAsync(new PortInputFormatSetupSingleMessage() { PortId = 99, Mode = 0x00, DeltaInterval = 5, NotificationEnabled = true });
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//await SetupPortInCombinedMode(protocol);
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Console.ReadLine();
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//await protocol.SendMessageAsync(new HubActionMessage() { Action = HubAction.ResetBusyIndication, });
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var motor = new TechnicXLargeLinearMotor(protocol, 0, 0);
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// await motor.SetAccelerationTime(3000);
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// await motor.SetDeccelerationTime(1000);
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// await motor.StartSpeedForTimeAsync(6000, 90, 100, PortOutputCommandSpecialSpeed.Hold, PortOutputCommandSpeedProfile.AccelerationProfile | PortOutputCommandSpeedProfile.DeccelerationProfile);
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// await Task.Delay(2000);
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//await motor.StartSpeedForDegrees(180, -10, 100, PortOutputCommandSpecialSpeed.Brake, PortOutputCommandSpeedProfile.None);
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await Task.Delay(2000);
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await motor.SetupNotificationAsync(motor.ModeIndexAbsolutePosition, true);
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await motor.StartPowerAsync(80);
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logger.LogWarning($"XXXXXXXXXXXXXXXXXXXXXXXXXXXXX: {motor.AbsolutePosition}");
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await Task.Delay(2000);
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logger.LogWarning($"XXXXXXXXXXXXXXXXXXXXXXXXXXXXX: {motor.AbsolutePosition}");
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await Task.Delay(2000);
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await motor.StartPowerAsync(0);
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logger.LogWarning($"XXXXXXXXXXXXXXXXXXXXXXXXXXXXX: {motor.AbsolutePosition}");
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// await motor.StartSpeedAsync(100, 90, PortOutputCommandSpeedProfile.None);
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// await Task.Delay(2000);
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// await motor.StartSpeedAsync(127, 90, PortOutputCommandSpeedProfile.None);
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// await motor.StartSpeedAsync(-100, 90, PortOutputCommandSpeedProfile.None);
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// await Task.Delay(2000);
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// await motor.StartSpeedAsync(0, 90, PortOutputCommandSpeedProfile.None);
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Console.ReadLine();
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logger.LogInformation("Switch off device");
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await protocol.SendMessageAsync(new HubActionMessage() { Action = HubAction.SwitchOffHub });
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Console.ReadLine();
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}
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}
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private static async Task SetupPortInCombinedMode(PoweredUpProtocol protocol)
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{
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await protocol.SendMessageAsync(new PortInputFormatSetupCombinedModeMessage()

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