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Add option to decode to double (#160)
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- Reorganized decoder (PortValueSingleEncoder)
- Reorganized Single/MultiValueMode infrastructure of devices
- Re-aligned all devices to new TOutputType
- No Testing yet
- No override to double for any port mode

#126 breaking
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@tthiery
tthiery authored Apr 22, 2021
1 parent 4ea75b8 commit bc66846
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Showing 35 changed files with 258 additions and 270 deletions.
6 changes: 3 additions & 3 deletions examples/SharpBrick.PoweredUp.Examples/ExampleDynamicDevice.cs
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Expand Up @@ -54,9 +54,9 @@ await technicMediumHub.VerifyDeploymentModelAsync(mb => mb
await dynamicDeviceWhichIsAMotor.UnlockFromCombinedModeNotificationSetupAsync(true);

// get the individual modes for input and output
var powerMode = dynamicDeviceWhichIsAMotor.SingleValueMode<sbyte>(0);
var posMode = dynamicDeviceWhichIsAMotor.SingleValueMode<int>(2);
var aposMode = dynamicDeviceWhichIsAMotor.SingleValueMode<short>(3);
var powerMode = dynamicDeviceWhichIsAMotor.SingleValueMode<sbyte, sbyte>(0);
var posMode = dynamicDeviceWhichIsAMotor.SingleValueMode<int, int>(2);
var aposMode = dynamicDeviceWhichIsAMotor.SingleValueMode<short, short>(3);

// use their observables to report values
using var disposable = posMode.Observable.Subscribe(x => Log.LogWarning($"Position: {x.SI} / {x.Pct}"));
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6 changes: 3 additions & 3 deletions src/SharpBrick.PoweredUp/Devices/AbsoluteMotor.cs
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Expand Up @@ -8,20 +8,20 @@ namespace SharpBrick.PoweredUp
{
public abstract class AbsoluteMotor : TachoMotor
{
protected SingleValueMode<short> _absoluteMode;
protected SingleValueMode<short, short> _absoluteMode;
public byte ModeIndexAbsolutePosition { get; protected set; } = 3;

public short AbsolutePosition => _absoluteMode.SI;
public short AbsolutePositionPct => _absoluteMode.Pct;
public IObservable<Value<short>> AbsolutePositionObservable => _absoluteMode.Observable;
public IObservable<Value<short, short>> AbsolutePositionObservable => _absoluteMode.Observable;

public AbsoluteMotor()
{ }

protected AbsoluteMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_absoluteMode = SingleValueMode<short>(ModeIndexAbsolutePosition);
_absoluteMode = SingleValueMode<short, short>(ModeIndexAbsolutePosition);

ObserveForPropertyChanged(_absoluteMode.Observable, nameof(AbsolutePosition), nameof(AbsolutePositionPct));
}
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6 changes: 3 additions & 3 deletions src/SharpBrick.PoweredUp/Devices/BasicMotor.cs
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Expand Up @@ -7,20 +7,20 @@ namespace SharpBrick.PoweredUp
{
public abstract class BasicMotor : Device
{
protected SingleValueMode<sbyte> _powerMode;
protected SingleValueMode<sbyte, sbyte> _powerMode;
public byte ModeIndexPower { get; protected set; } = 0;

public sbyte Power => _powerMode.SI;
public sbyte PowerPct => _powerMode.Pct;
public IObservable<Value<sbyte>> PowerObservable => _powerMode.Observable;
public IObservable<Value<sbyte, sbyte>> PowerObservable => _powerMode.Observable;

public BasicMotor()
{ }

public BasicMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_powerMode = SingleValueMode<sbyte>(ModeIndexPower);
_powerMode = SingleValueMode<sbyte, sbyte>(ModeIndexPower);

ObserveForPropertyChanged(_powerMode.Observable, nameof(Power), nameof(PowerPct));
}
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106 changes: 53 additions & 53 deletions src/SharpBrick.PoweredUp/Devices/ColorDistanceSensor.cs
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Expand Up @@ -9,62 +9,62 @@

namespace SharpBrick.PoweredUp
{
public class ColorDistanceSensor : Device, IPoweredUpDevice
{
protected SingleValueMode<sbyte> _colorMode;
protected SingleValueMode<sbyte> _proximityMode;
protected SingleValueMode<int> _countMode;
protected SingleValueMode<sbyte> _reflectionMode;
protected SingleValueMode<sbyte> _ambientLightMode;
protected SingleValueMode<sbyte> _lightMode;
protected MultiValueMode<short> _rgbMode;
public class ColorDistanceSensor : Device, IPoweredUpDevice
{
protected SingleValueMode<sbyte, sbyte> _colorMode;
protected SingleValueMode<sbyte, sbyte> _proximityMode;
protected SingleValueMode<int, int> _countMode;
protected SingleValueMode<sbyte, sbyte> _reflectionMode;
protected SingleValueMode<sbyte, sbyte> _ambientLightMode;
protected SingleValueMode<sbyte, sbyte> _lightMode;
protected MultiValueMode<short, short> _rgbMode;

public byte ModeIndexColor { get; protected set; } = 0;
public byte ModeIndexProximity { get; protected set; } = 1;
public byte ModeIndexCount { get; protected set; } = 2;
public byte ModeIndexReflection { get; protected set; } = 3;
public byte ModeIndexAmbientLight { get; protected set; } = 4;
public byte ModeIndexLight { get; protected set; } = 5;
public byte ModeIndexRgb { get; protected set; } = 6;
public byte ModeIndexIRTx { get; protected set; } = 7;
public byte ModeIndexSPEC1 { get; protected set; } = 8;
public byte ModeIndexDebug { get; protected set; } = 9;
public byte ModeIndexCalibration { get; protected set; } = 10;
public byte ModeIndexColor { get; protected set; } = 0;
public byte ModeIndexProximity { get; protected set; } = 1;
public byte ModeIndexCount { get; protected set; } = 2;
public byte ModeIndexReflection { get; protected set; } = 3;
public byte ModeIndexAmbientLight { get; protected set; } = 4;
public byte ModeIndexLight { get; protected set; } = 5;
public byte ModeIndexRgb { get; protected set; } = 6;
public byte ModeIndexIRTx { get; protected set; } = 7;
public byte ModeIndexSPEC1 { get; protected set; } = 8;
public byte ModeIndexDebug { get; protected set; } = 9;
public byte ModeIndexCalibration { get; protected set; } = 10;

public TechnicColor Color => (TechnicColor)_colorMode.SI;
public IObservable<TechnicColor> ColorObservable => _colorMode.Observable.Select(v => (TechnicColor)v.SI);
public IObservable<sbyte> ProximityObservable => _proximityMode.Observable.Select(v => v.SI);
public IObservable<int> CountObservable => _countMode.Observable.Select(v => v.SI);
public IObservable<sbyte> ReflectionObservable => _reflectionMode.Observable.Select(v => v.SI);
public IObservable<sbyte> AmbientLightObservable => _ambientLightMode.Observable.Select(v => v.SI);
public IObservable<(short red, short green, short blue)> RgbObservable => _rgbMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));
public TechnicColor Color => (TechnicColor)_colorMode.SI;
public IObservable<TechnicColor> ColorObservable => _colorMode.Observable.Select(v => (TechnicColor)v.SI);
public IObservable<sbyte> ProximityObservable => _proximityMode.Observable.Select(v => v.SI);
public IObservable<int> CountObservable => _countMode.Observable.Select(v => v.SI);
public IObservable<sbyte> ReflectionObservable => _reflectionMode.Observable.Select(v => v.SI);
public IObservable<sbyte> AmbientLightObservable => _ambientLightMode.Observable.Select(v => v.SI);
public IObservable<(short red, short green, short blue)> RgbObservable => _rgbMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));

public ColorDistanceSensor()
{ }
public ColorDistanceSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_colorMode = SingleValueMode<sbyte>(ModeIndexColor);
_proximityMode = SingleValueMode<sbyte>(ModeIndexProximity);
_countMode = SingleValueMode<int>(ModeIndexCount);
_reflectionMode = SingleValueMode<sbyte>(ModeIndexReflection);
_ambientLightMode = SingleValueMode<sbyte>(ModeIndexAmbientLight);
_lightMode = SingleValueMode<sbyte>(ModeIndexLight);
_rgbMode = MultiValueMode<short>(ModeIndexRgb);
}
public ColorDistanceSensor()
{ }
public ColorDistanceSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_colorMode = SingleValueMode<sbyte, sbyte>(ModeIndexColor);
_proximityMode = SingleValueMode<sbyte, sbyte>(ModeIndexProximity);
_countMode = SingleValueMode<int, int>(ModeIndexCount);
_reflectionMode = SingleValueMode<sbyte, sbyte>(ModeIndexReflection);
_ambientLightMode = SingleValueMode<sbyte, sbyte>(ModeIndexAmbientLight);
_lightMode = SingleValueMode<sbyte, sbyte>(ModeIndexLight);
_rgbMode = MultiValueMode<short, short>(ModeIndexRgb);
}

protected override uint GetDefaultDeltaInterval(byte modeIndex)
=> modeIndex switch
{
0 => 1,
2 => 1,
_ => base.GetDefaultDeltaInterval(modeIndex),
};
protected override uint GetDefaultDeltaInterval(byte modeIndex)
=> modeIndex switch
{
0 => 1,
2 => 1,
_ => base.GetDefaultDeltaInterval(modeIndex),
};

public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
=> ((softwareVersion, hardwareVersion, systemType) switch
{
(_, _, _) => @"
public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
=> ((softwareVersion, hardwareVersion, systemType) switch
{
(_, _, _) => @"
0B-00-43-01-01-07-0B-5F-06-A0-00
07-00-43-01-02-4F-00
12-00-44-01-00-00-43-4F-4C-4F-52-00-00-00-00-00-00-00
Expand Down Expand Up @@ -145,6 +145,6 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
08-00-44-01-0A-05-10-00
0A-00-44-01-0A-80-08-01-05-00
"
}).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
}
}).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
}
}
12 changes: 6 additions & 6 deletions src/SharpBrick.PoweredUp/Devices/Current.cs
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Expand Up @@ -8,27 +8,27 @@ namespace SharpBrick.PoweredUp
{
public class Current : Device, IPoweredUpDevice
{
protected SingleValueMode<short> _currentLMode;
protected SingleValueMode<short> _currentSMode;
protected SingleValueMode<short, short> _currentLMode;
protected SingleValueMode<short, short> _currentSMode;
public byte ModeIndexCurrentL { get; protected set; } = 0x00;
public byte ModeIndexCurrentS { get; protected set; } = 0x01;

public short CurrentL => _currentLMode.SI;
public short CurrentLPct => _currentLMode.Pct;
public IObservable<Value<short>> CurrentLObservable => _currentLMode.Observable;
public IObservable<Value<short, short>> CurrentLObservable => _currentLMode.Observable;

public short CurrentS => _currentSMode.SI;
public short CurrentSPct => _currentSMode.Pct;
public IObservable<Value<short>> CurrentSObservable => _currentSMode.Observable;
public IObservable<Value<short, short>> CurrentSObservable => _currentSMode.Observable;

public Current()
{ }

public Current(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_currentLMode = SingleValueMode<short>(ModeIndexCurrentL);
_currentSMode = SingleValueMode<short>(ModeIndexCurrentS);
_currentLMode = SingleValueMode<short, short>(ModeIndexCurrentL);
_currentSMode = SingleValueMode<short, short>(ModeIndexCurrentS);

ObserveForPropertyChanged(_currentLMode.Observable, nameof(CurrentL), nameof(CurrentLPct));
ObserveForPropertyChanged(_currentSMode.Observable, nameof(CurrentS), nameof(CurrentSPct));
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8 changes: 4 additions & 4 deletions src/SharpBrick.PoweredUp/Devices/Device.cs
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Expand Up @@ -46,10 +46,10 @@ public Device(ILegoWirelessProtocol protocol, byte hubId, byte portId)
BuildModes();
}

public SingleValueMode<TPayload> SingleValueMode<TPayload>(byte modeIndex)
=> _modes.TryGetValue(modeIndex, out var mode) ? mode as SingleValueMode<TPayload> : default;
public MultiValueMode<TPayload> MultiValueMode<TPayload>(byte modeIndex)
=> _modes.TryGetValue(modeIndex, out var mode) ? mode as MultiValueMode<TPayload> : default;
public SingleValueMode<TDatasetType, TOutputType> SingleValueMode<TDatasetType, TOutputType>(byte modeIndex)
=> _modes.TryGetValue(modeIndex, out var mode) ? mode as SingleValueMode<TDatasetType, TOutputType> : default;
public MultiValueMode<TDatasetType, TOutputType> MultiValueMode<TDatasetType, TOutputType>(byte modeIndex)
=> _modes.TryGetValue(modeIndex, out var mode) ? mode as MultiValueMode<TDatasetType, TOutputType> : default;

protected void BuildModes()
{
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16 changes: 8 additions & 8 deletions src/SharpBrick.PoweredUp/Devices/DuploTrainBaseColorSensor.cs
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Expand Up @@ -9,10 +9,10 @@ namespace SharpBrick.PoweredUp
{
public class DuploTrainBaseColorSensor : Device, IPoweredUpDevice
{
protected SingleValueMode<sbyte> _colorMode;
protected SingleValueMode<sbyte> _colorTagMode;
protected SingleValueMode<sbyte> _reflectionMode;
protected MultiValueMode<short> _rgbMode;
protected SingleValueMode<sbyte, sbyte> _colorMode;
protected SingleValueMode<sbyte, sbyte> _colorTagMode;
protected SingleValueMode<sbyte, sbyte> _reflectionMode;
protected MultiValueMode<short, short> _rgbMode;

public byte ModeIndexColor { get; protected set; } = 0;
public byte ModeIndexColorTag { get; protected set; } = 1;
Expand All @@ -37,10 +37,10 @@ public DuploTrainBaseColorSensor()
public DuploTrainBaseColorSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_colorMode = SingleValueMode<sbyte>(ModeIndexColor);
_colorTagMode = SingleValueMode<sbyte>(ModeIndexColorTag);
_reflectionMode = SingleValueMode<sbyte>(ModeIndexReflection);
_rgbMode = MultiValueMode<short>(ModeIndexRgb);
_colorMode = SingleValueMode<sbyte, sbyte>(ModeIndexColor);
_colorTagMode = SingleValueMode<sbyte, sbyte>(ModeIndexColorTag);
_reflectionMode = SingleValueMode<sbyte, sbyte>(ModeIndexReflection);
_rgbMode = MultiValueMode<short, short>(ModeIndexRgb);

ObserveForPropertyChanged(_colorMode.Observable, nameof(Color));
ObserveForPropertyChanged(_colorTagMode.Observable, nameof(ColorTag));
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4 changes: 2 additions & 2 deletions src/SharpBrick.PoweredUp/Devices/DuploTrainBaseMotor.cs
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Expand Up @@ -12,7 +12,7 @@ namespace SharpBrick.PoweredUp
{
public class DuploTrainBaseMotor : Device, IPoweredUpDevice
{
public SingleValueMode<int> _onSecMode;
public SingleValueMode<int, int> _onSecMode;

public byte ModeIndexMotor { get; protected set; } = 0;
public byte ModeIndexOnSec { get; protected set; } = 1;
Expand All @@ -26,7 +26,7 @@ public DuploTrainBaseMotor()
public DuploTrainBaseMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_onSecMode = SingleValueMode<int>(ModeIndexOnSec);
_onSecMode = SingleValueMode<int, int>(ModeIndexOnSec);

ObserveForPropertyChanged(_onSecMode.Observable, nameof(OnSeconds));
}
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4 changes: 2 additions & 2 deletions src/SharpBrick.PoweredUp/Devices/DuploTrainBaseSpeaker.cs
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Expand Up @@ -11,7 +11,7 @@ namespace SharpBrick.PoweredUp

public class DuploTrainBaseSpeaker : Device, IPoweredUpDevice
{
protected SingleValueMode<sbyte> _soundMode;
protected SingleValueMode<sbyte, sbyte> _soundMode;

public byte ModeIndexTone { get; protected set; } = 0;
public byte ModeIndexSound { get; protected set; } = 1;
Expand All @@ -23,7 +23,7 @@ public DuploTrainBaseSpeaker()
public DuploTrainBaseSpeaker(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_soundMode = SingleValueMode<sbyte>(ModeIndexSound);
_soundMode = SingleValueMode<sbyte, sbyte>(ModeIndexSound);
}

public async Task<PortFeedback> PlaySoundAsync(DuploTrainBaseSound sound)
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10 changes: 5 additions & 5 deletions src/SharpBrick.PoweredUp/Devices/DuploTrainBaseSpeedometer.cs
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Expand Up @@ -10,15 +10,15 @@ namespace SharpBrick.PoweredUp
{
public class DuploTrainBaseSpeedometer : Device, IPoweredUpDevice
{
protected SingleValueMode<short> _speedMode;
protected SingleValueMode<int> _countMode;
protected SingleValueMode<short, short> _speedMode;
protected SingleValueMode<int, int> _countMode;

public byte ModeIndexSpeed { get; protected set; } = 0;
public byte ModeIndexCount { get; protected set; } = 1;

public short Speed => _speedMode.SI;
public short SpeedPct => _speedMode.Pct;
public IObservable<Value<short>> SpeedObservable => _speedMode.Observable;
public IObservable<Value<short, short>> SpeedObservable => _speedMode.Observable;

public int Count => _countMode.SI;
public IObservable<int> CountObservable => _countMode.Observable.Select(v => v.SI);
Expand All @@ -29,8 +29,8 @@ public DuploTrainBaseSpeedometer()
public DuploTrainBaseSpeedometer(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_speedMode = SingleValueMode<short>(ModeIndexSpeed);
_countMode = SingleValueMode<int>(ModeIndexCount);
_speedMode = SingleValueMode<short, short>(ModeIndexSpeed);
_countMode = SingleValueMode<int, int>(ModeIndexCount);

ObserveForPropertyChanged(_speedMode.Observable, nameof(Speed), nameof(SpeedPct));
ObserveForPropertyChanged(_countMode.Observable, nameof(Count));
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8 changes: 4 additions & 4 deletions src/SharpBrick.PoweredUp/Devices/MarioHubAccelerometer.cs
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Expand Up @@ -9,8 +9,8 @@ namespace SharpBrick.PoweredUp
{
public class MarioHubAccelerometer : Device, IPoweredUpDevice
{
protected MultiValueMode<sbyte> _rawMode;
protected MultiValueMode<short> _gestMode;
protected MultiValueMode<sbyte, sbyte> _rawMode;
protected MultiValueMode<short, short> _gestMode;

public byte ModeIndexRaw { get; protected set; } = 0;
public byte ModeIndexGesture { get; protected set; } = 1;
Expand All @@ -26,8 +26,8 @@ public MarioHubAccelerometer()
public MarioHubAccelerometer(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_rawMode = MultiValueMode<sbyte>(ModeIndexRaw);
_gestMode = MultiValueMode<short>(ModeIndexGesture);
_rawMode = MultiValueMode<sbyte, sbyte>(ModeIndexRaw);
_gestMode = MultiValueMode<short, short>(ModeIndexGesture);

//ObserveForPropertyChanged(_rawMode.Observable, nameof(Coins));
}
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4 changes: 2 additions & 2 deletions src/SharpBrick.PoweredUp/Devices/MarioHubPants.cs
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Expand Up @@ -10,7 +10,7 @@ namespace SharpBrick.PoweredUp
// https://github.com/bricklife/LEGO-Mario-Reveng/blob/master/IOType-0x4a.md
public class MarioHubPants : Device, IPoweredUpDevice
{
protected SingleValueMode<sbyte> _pantsMode;
protected SingleValueMode<sbyte, sbyte> _pantsMode;

public byte ModeIndexPants { get; protected set; } = 0;

Expand All @@ -23,7 +23,7 @@ public MarioHubPants()
public MarioHubPants(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_pantsMode = SingleValueMode<sbyte>(ModeIndexPants);
_pantsMode = SingleValueMode<sbyte, sbyte>(ModeIndexPants);

ObserveForPropertyChanged(_pantsMode.Observable, nameof(Pants));
}
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8 changes: 4 additions & 4 deletions src/SharpBrick.PoweredUp/Devices/MarioHubTagSensor.cs
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Expand Up @@ -10,8 +10,8 @@ namespace SharpBrick.PoweredUp
{
public class MarioHubTagSensor : Device, IPoweredUpDevice
{
protected MultiValueMode<short> _tagMode;
protected MultiValueMode<sbyte> _rgbMode;
protected MultiValueMode<short, short> _tagMode;
protected MultiValueMode<sbyte, sbyte> _rgbMode;

public byte ModeIndexTag { get; protected set; } = 0;
public byte ModeIndexRgb { get; protected set; } = 1;
Expand All @@ -31,8 +31,8 @@ public MarioHubTagSensor()
public MarioHubTagSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{
_tagMode = MultiValueMode<short>(ModeIndexTag);
_rgbMode = MultiValueMode<sbyte>(ModeIndexRgb);
_tagMode = MultiValueMode<short, short>(ModeIndexTag);
_rgbMode = MultiValueMode<sbyte, sbyte>(ModeIndexRgb);

ObserveForPropertyChanged(_tagMode.Observable, nameof(Barcode));
ObserveForPropertyChanged(_tagMode.Observable, nameof(ColorNo));
Expand Down
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