Added StartSpeed, StartPower, StartSpeedForTime

tthiery · tthiery · commit 689e3b1eaba3 · 2020-06-07T00:43:59.000+02:00
- Added Encoder, Unit Tests
- Added Code to BasicMotor and Technic Motors
diff --git a/examples/message-trace/Program.cs b/examples/message-trace/Program.cs
@@ -157,6 +157,20 @@ await protocol.ReceiveMessageAsync(message =>
                 await rgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);
                 //await rgbLight.SetRgbColorsAsync(0xFF, 0x00, 0x00);
 
+                var motor = new TechnicXLargeLinearMotor(protocol, 0);
+
+                await motor.StartSpeedForTimeAsync(3000, 90, 100, PortOutputCommandSpecialSpeed.Hold, PortOutputCommandSpeedProfile.None);
+                // await motor.StartSpeedAsync(100, 90, PortOutputCommandSpeedProfile.None);
+
+                // await Task.Delay(2000);
+
+                // await motor.StartSpeedAsync(127, 90, PortOutputCommandSpeedProfile.None);
+
+                // await motor.StartSpeedAsync(-100, 90, PortOutputCommandSpeedProfile.None);
+                // await Task.Delay(2000);
+
+                // await motor.StartSpeedAsync(0, 90, PortOutputCommandSpeedProfile.None);
+
                 Console.ReadLine();
 
                 logger.LogInformation("Switch off device");
diff --git a/src/SharpBrick.PoweredUp/Devices/BasicMotor.cs b/src/SharpBrick.PoweredUp/Devices/BasicMotor.cs
@@ -0,0 +1,60 @@
+using System;
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Protocol.Messages;
+
+namespace SharpBrick.PoweredUp.Devices
+{
+    public abstract class BasicMotor
+    {
+        protected readonly PoweredUpProtocol _protocol;
+        protected readonly byte _portId;
+
+        public BasicMotor()
+        { }
+        public BasicMotor(PoweredUpProtocol protocol, byte portId)
+        {
+            _protocol = protocol ?? throw new ArgumentNullException(nameof(protocol));
+            _portId = portId;
+        }
+
+        public async Task StartPowerAsync(sbyte power)
+        {
+            await _protocol.SendMessageAsync(new PortOutputCommandStartPowerMessage()
+            {
+                PortId = _portId,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Power = power,
+            });
+        }
+
+        public async Task StartSpeedAsync(sbyte speed, byte maxPower, PortOutputCommandSpeedProfile profile)
+        {
+            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedMessage()
+            {
+                PortId = _portId,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Speed = speed,
+                MaxPower = maxPower,
+                Profile = profile,
+            });
+        }
+
+        public async Task StartSpeedForTimeAsync(ushort time, sbyte speed, byte maxPower, PortOutputCommandSpecialSpeed endState, PortOutputCommandSpeedProfile profile)
+        {
+            await _protocol.SendMessageAsync(new PortOutputCommandStartSpeedForTimeMessage()
+            {
+                PortId = _portId,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Time = time,
+                Speed = speed,
+                MaxPower = maxPower,
+                EndState = endState,
+                Profile = profile,
+            });
+        }
+    }
+}
diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicLargeLinearMotor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicLargeLinearMotor.cs
@@ -1,14 +1,20 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using SharpBrick.PoweredUp.Knowledge;
-using SharpBrick.PoweredUp.Protocol.Messages;
+using SharpBrick.PoweredUp.Protocol;
 using SharpBrick.PoweredUp.Utils;
 
 namespace SharpBrick.PoweredUp.Devices
 {
-    public class TechnicLargeLinearMotor : IPowerdUpDevice
+    public class TechnicLargeLinearMotor : BasicMotor, IPowerdUpDevice
     {
+        public TechnicLargeLinearMotor()
+            : base()
+        { }
+        public TechnicLargeLinearMotor(PoweredUpProtocol protocol, byte portId)
+            : base(protocol, portId)
+        { }
+
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version sw, Version hw)
             => @"
 0B-00-43-00-01-0F-06-1E-00-1F-00
diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicXLargeLinearMotor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicXLargeLinearMotor.cs
@@ -1,14 +1,21 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using SharpBrick.PoweredUp.Knowledge;
-using SharpBrick.PoweredUp.Protocol.Messages;
+using SharpBrick.PoweredUp.Protocol;
 using SharpBrick.PoweredUp.Utils;
 
 namespace SharpBrick.PoweredUp.Devices
 {
-    public class TechnicXLargeLinearMotor : IPowerdUpDevice
+
+    public class TechnicXLargeLinearMotor : BasicMotor, IPowerdUpDevice
     {
+        public TechnicXLargeLinearMotor()
+            : base()
+        { }
+        public TechnicXLargeLinearMotor(PoweredUpProtocol protocol, byte portId)
+            : base(protocol, portId)
+        { }
+
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version sw, Version hw)
             => @"
 0B-00-43-02-01-0F-06-1E-00-1F-00
diff --git a/src/SharpBrick.PoweredUp/Protocol/Formatter/PortOutputCommandEncoder.cs b/src/SharpBrick.PoweredUp/Protocol/Formatter/PortOutputCommandEncoder.cs
@@ -10,8 +10,11 @@ public ushort CalculateContentLength(PoweredUpMessage message)
             {
                 PortOutputCommandMessage portOutputMessage => 3 + portOutputMessage switch
                 {
+                    PortOutputCommandStartSpeedMessage msg => 3,
+                    PortOutputCommandStartSpeedForTimeMessage msg => 6,
                     PortOutputCommandWriteDirectModeDataMessage directWriteModeDataMessage => 1 + directWriteModeDataMessage switch
                     {
+                        PortOutputCommandStartPowerMessage msg => 1,
                         PortOutputCommandSetRgbColorNoMessage msg => 1,
                         PortOutputCommandSetRgbColorNo2Message msg => 3,
 
@@ -38,11 +41,30 @@ public void Encode(PortOutputCommandMessage message, in Span<byte> data)
 
             switch (message)
             {
+                case PortOutputCommandStartSpeedMessage msg:
+                    data[3] = (byte)msg.Speed;
+                    data[4] = msg.MaxPower;
+                    data[5] = (byte)msg.Profile;
+
+                    break;
+
+                case PortOutputCommandStartSpeedForTimeMessage msg:
+                    BitConverter.TryWriteBytes(data.Slice(3, 2), msg.Time);
+                    data[5] = (byte)msg.Speed;
+                    data[6] = msg.MaxPower;
+                    data[7] = (byte)msg.EndState;
+                    data[8] = (byte)msg.Profile;
+
+                    break;
                 case PortOutputCommandWriteDirectModeDataMessage directWriteModeDataMessage:
                     data[3] = directWriteModeDataMessage.Mode;
 
                     switch (directWriteModeDataMessage)
                     {
+                        case PortOutputCommandStartPowerMessage msg:
+                            data[4] = (byte)msg.Power;
+                            break;
+
                         case PortOutputCommandSetRgbColorNoMessage msg:
                             data[4] = (byte)msg.ColorNo;
                             break;
diff --git a/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandMessage.cs b/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandMessage.cs
@@ -66,7 +66,7 @@ public class PortOutputCommandStartSpeedMessage : PortOutputCommandMessage
     {
         public PortOutputCommandStartSpeedMessage() : base(PortOutputSubCommand.StartSpeed) { }
         public sbyte Speed { get; set; }
-        public sbyte MaxPower { get; set; }
+        public byte MaxPower { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
@@ -76,30 +76,30 @@ public class PortOutputCommandStartSpeed2Message : PortOutputCommandMessage
         public PortOutputCommandStartSpeed2Message() : base(PortOutputSubCommand.StartSpeed2) { }
         public sbyte Speed1 { get; set; }
         public sbyte Speed2 { get; set; }
-        public sbyte MaxPower { get; set; }
+        public byte MaxPower { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
     // spec chapter: 3.27.7
     public class PortOutputCommandStartSpeedForTimeMessage : PortOutputCommandMessage
     {
         public PortOutputCommandStartSpeedForTimeMessage() : base(PortOutputSubCommand.StartSpeedForTime) { }
-        public short Time { get; set; }
+        public ushort Time { get; set; }
         public sbyte Speed { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
     // spec chapter: 3.27.8
     public class PortOutputCommandStartSpeedForTime2Message : PortOutputCommandMessage
     {
         public PortOutputCommandStartSpeedForTime2Message() : base(PortOutputSubCommand.StartSpeedForTime2) { }
-        public short Time { get; set; }
+        public ushort Time { get; set; }
         public sbyte Speed1 { get; set; }
         public sbyte Speed2 { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
@@ -109,8 +109,8 @@ public class PortOutputCommandStartSpeedForDegreesMessage : PortOutputCommandMes
         public PortOutputCommandStartSpeedForDegreesMessage() : base(PortOutputSubCommand.StartSpeedForDegrees) { }
         public int Degrees { get; set; }
         public sbyte Speed { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
@@ -121,8 +121,8 @@ public PortOutputCommandStartSpeedForDegrees2Message() : base(PortOutputSubComma
         public int Degrees { get; set; }
         public sbyte Speed1 { get; set; }
         public sbyte Speed2 { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
@@ -132,8 +132,8 @@ public class PortOutputCommandGotoAbsolutePositionMessage : PortOutputCommandMes
         public PortOutputCommandGotoAbsolutePositionMessage() : base(PortOutputSubCommand.GotoAbsolutePosition) { }
         public int AbsPos { get; set; }
         public sbyte Speed { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
     // spec chapter: 3.27.12
@@ -143,8 +143,8 @@ public PortOutputCommandGotoAbsolutePosition2Message() : base(PortOutputSubComma
         public int AbsPos1 { get; set; }
         public int AbsPos2 { get; set; }
         public sbyte Speed { get; set; }
-        public sbyte MaxPower { get; set; }
-        public byte EndState { get; set; }
+        public byte MaxPower { get; set; }
+        public PortOutputCommandSpecialSpeed EndState { get; set; }
         public PortOutputCommandSpeedProfile Profile { get; set; }
     }
 
diff --git a/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandSpecialSpeed.cs b/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandSpecialSpeed.cs
@@ -0,0 +1,9 @@
+namespace SharpBrick.PoweredUp.Protocol.Messages
+{
+    public enum PortOutputCommandSpecialSpeed : byte
+    {
+        Float = 0,
+        Hold = 126,
+        Brake = 127,
+    }
+}
diff --git a/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandSpeedProfile.cs b/src/SharpBrick.PoweredUp/Protocol/Messages/PortOutputCommandSpeedProfile.cs
@@ -1,7 +1,11 @@
+using System;
+
 namespace SharpBrick.PoweredUp.Protocol.Messages
 {
+    [Flags]
     public enum PortOutputCommandSpeedProfile : byte
     {
+        None = 0x00,
         AccelerationProfile = 0x01,
         DeccelerationProfile = 0x02,
     }
diff --git a/test/SharpBrick.PoweredUp.Test/Protocol/Formatter/PortOutputCommandEncoderTest.cs b/test/SharpBrick.PoweredUp.Test/Protocol/Formatter/PortOutputCommandEncoderTest.cs
@@ -1,4 +1,5 @@
 using System;
+using SharpBrick.PoweredUp.Devices;
 using SharpBrick.PoweredUp.Protocol.Messages;
 using SharpBrick.PoweredUp.Utils;
 using Xunit;
@@ -7,6 +8,51 @@ namespace SharpBrick.PoweredUp.Protocol.Formatter
 {
     public class PortOutputCommandEncoderTest
     {
+        [Theory]
+        [InlineData("09-00-81-00-11-07-64-5A-03", 0, 100, 90, PortOutputCommandSpeedProfile.AccelerationProfile | PortOutputCommandSpeedProfile.DeccelerationProfile)]
+        [InlineData("09-00-81-00-11-07-7F-5A-03", 0, 127, 90, PortOutputCommandSpeedProfile.AccelerationProfile | PortOutputCommandSpeedProfile.DeccelerationProfile)]
+        [InlineData("09-00-81-00-11-07-9C-5A-03", 0, -100, 90, PortOutputCommandSpeedProfile.AccelerationProfile | PortOutputCommandSpeedProfile.DeccelerationProfile)]
+        [InlineData("09-00-81-00-11-07-00-5A-03", 0, 0, 90, PortOutputCommandSpeedProfile.AccelerationProfile | PortOutputCommandSpeedProfile.DeccelerationProfile)]
+        public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedMessage(string expectedData, byte port, sbyte speed, byte maxPower, PortOutputCommandSpeedProfile profile)
+            => PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedMessage()
+            {
+                PortId = port,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Speed = speed,
+                MaxPower = maxPower,
+                Profile = profile,
+            });
+
+        [Theory]
+        [InlineData("0C-00-81-00-11-09-B8-0B-5A-64-7E-00", 0, 3000, 90, 100, PortOutputCommandSpecialSpeed.Hold, PortOutputCommandSpeedProfile.None)]
+        public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedForTimeMessage(string expectedData, byte port, ushort time, sbyte speed, byte maxPower, PortOutputCommandSpecialSpeed endState, PortOutputCommandSpeedProfile profile)
+            => PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedForTimeMessage()
+            {
+                PortId = port,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Time = time,
+                Speed = speed,
+                MaxPower = maxPower,
+                EndState = endState,
+                Profile = profile,
+            });
+
+        [Theory]
+        [InlineData("08-00-81-00-11-51-00-64", 0, 100)]
+        [InlineData("08-00-81-00-11-51-00-7F", 0, 127)]
+        [InlineData("08-00-81-00-11-51-00-9C", 0, -100)]
+        [InlineData("08-00-81-00-11-51-00-00", 0, 0)]
+        public void PortOutputCommandEncoder_Encode_PortOutputCommandStartPowerMessage(string expectedData, byte port, sbyte power)
+            => PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartPowerMessage()
+            {
+                PortId = port,
+                StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
+                CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
+                Power = power
+            });
+
         [Theory]
         [InlineData("0A-00-81-32-11-51-01-00-FF-00", 50, 0x00, 0xFF, 0x00)]
         public void PortOutputCommandEncoder_Encode_PortOutputCommandSetRgbColorNo2Message(string expectedData, byte port, byte r, byte g, byte b)

Original file line number	Diff line number	Diff line change
`@@ -1,7 +1,11 @@`
	`1`	`+using System;`
	`2`	`+`
`1`	`3`	`namespace SharpBrick.PoweredUp.Protocol.Messages`
`2`	`4`	`{`
	`5`	`+ [Flags]`
`3`	`6`	`public enum PortOutputCommandSpeedProfile : byte`
`4`	`7`	`{`
	`8`	`+ None = 0x00,`
`5`	`9`	`AccelerationProfile = 0x01,`
`6`	`10`	`DeccelerationProfile = 0x02,`
`7`	`11`	`}`