QueueThread Dynamic and Singleton

MonoBrickFirmware/MonoBrickFirmware.csproj

@@ -35,6 +35,7 @@
   <ItemGroup />
   <ItemGroup>
     <Compile Include="Native\Libc.cs" />
+    <Compile Include="Tools\EventNode.cs" />
     <Compile Include="Tools\QueueThread.cs" />
     <Compile Include="Display\Console.cs" />
     <Compile Include="Display\Basics.cs" />
@@ -172,11 +173,5 @@
       <LogicalName>font.profont_7</LogicalName>
     </EmbeddedResource>
   </ItemGroup>
-  <ItemGroup>
-    <Folder Include="FileSystem\" />
-    <Folder Include="Settings\" />
-    <Folder Include="FirmwareUpdate\" />
-    <Folder Include="Device\" />
-    <Folder Include="Display\Dialogs\UserInput\" />
-  </ItemGroup>
+  <ItemGroup />
 </Project>

MonoBrickFirmware/Sensors/EV3ColorSensor.cs

@@ -5,31 +5,30 @@
 namespace MonoBrickFirmware.Sensors
 {
 	public class EV3ColorSensor : UartSensor{
-
-		/// <summary>
-		/// Initializes a new instance of the NXTColorSensor class in color mode
-		/// </summary>
-		public EV3ColorSensor (SensorPort port) : this(port, ColorMode.Color)
-		{
-
-		}
-
-		/// <summary>
-		/// Initializes a new instance of the NXTColorSensor class.
-		/// </summary>
-		/// <param name="mode">Mode.</param>
-		public EV3ColorSensor (SensorPort port, ColorMode mode) :  base(port)
-		{
-			base.Initialise(base.uartMode);
-			Mode = mode;
-
-		}
-
-		/// <summary>
-		/// Gets or sets the color mode.
-		/// </summary>
-		/// <value>The color mode.</value>
-		public ColorMode Mode {
+        /// <summary>
+        /// Initializes a new instance of the EV3ColorSensor class in color mode
+        /// </summary>
+        /// <param name="pollInteval">refresh rate for pollThread</param>
+        public EV3ColorSensor(SensorPort port, int pollInterval = 50) : this(port, ColorMode.Color, pollInterval)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the EV3ColorSensor class.
+        /// </summary>
+        /// <param name="mode">Mode.</param>
+        /// <param name="pollInteval">refresh rate for pollThread</param>
+        public EV3ColorSensor(SensorPort port, ColorMode mode, int pollInterval = 50) : base(port, pollInterval)
+        {
+            base.Initialise(base.uartMode);
+            Mode = mode;
+        }
+
+        /// <summary>
+        /// Gets or sets the color mode.
+        /// </summary>
+        /// <value>The color mode.</value>
+        public ColorMode Mode {
 			get{return SensorModeToColorMode(base.uartMode);}
 			set{
 				base.SetMode(ColorModeToSensorMode(value));
@@ -80,7 +79,7 @@ public int ReadRaw ()
 		/// <summary>
 		/// Read the intensity of the reflected or ambient light in percent. In color mode the color index is returned
 		/// </summary>
-		public int Read()
+		public override int Read()
 		{
 			int value = 0;
 			switch (Mode)

MonoBrickFirmware/Sensors/EV3GyroSensor.cs

@@ -25,30 +25,29 @@ public enum GyroMode {
 	/// Class for the EV3 Gyro sensor
 	/// </summary>
 	public class EV3GyroSensor :UartSensor{
-
-		/// <summary>
-		/// Initializes a new instance of the Gyro sensor.
-		/// </summary>
-		public EV3GyroSensor (SensorPort port) : this(port, GyroMode.Angle)
-		{
-
-		}
-
-		/// <summary>
-		/// Initializes a new instance of the Gyro sensor.
-		/// </summary>
-		/// <param name="mode">Mode.</param>
-		public EV3GyroSensor (SensorPort port, GyroMode mode) :  base(port)
-		{
-			base.Initialise(base.uartMode);
-			Mode = mode;
-		}
-
-		/// <summary>
-		/// Gets or sets the Gyro mode. 
-		/// </summary>
-		/// <value>The mode.</value>
-		public GyroMode Mode {
+
+        /// <summary>
+        /// Initializes a new instance of the Gyro sensor.
+        /// </summary>
+        public EV3GyroSensor(SensorPort port, int pollInterval = 50) : this(port, GyroMode.Angle, pollInterval)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the Gyro sensor.
+        /// </summary>
+        /// <param name="mode">Mode.</param>
+        public EV3GyroSensor(SensorPort port, GyroMode mode, int pollInterval = 50) : base(port, pollInterval)
+        {
+            base.Initialise(base.uartMode);
+            Mode = mode;
+        }
+
+        /// <summary>
+        /// Gets or sets the Gyro mode. 
+        /// </summary>
+        /// <value>The mode.</value>
+        public GyroMode Mode {
 			get{return (GyroMode) base.uartMode;}
 			set{SetMode((UARTMode) value);}
 		}
@@ -106,7 +105,7 @@ public int RotationCount ()
 		/// <summary>
 		/// Read the gyro sensor value. The returned value depends on the mode. 
 		/// </summary>
-		public int Read ()
+		public override int Read ()
 		{
 			if (Mode == GyroMode.Angle) {
 				return BitConverter.ToInt16(ReadBytes(2),0)%360;

MonoBrickFirmware/Sensors/EV3IRSensor.cs

@@ -68,26 +68,25 @@ public class BeaconLocation{
 	/// </summary>
 	public class EV3IRSensor : UartSensor{
 
-		/// <summary>
-		/// Initializes a new instance of the <see cref="MonoBrickFirmware.Sensors.EV3IRSensor"/> class.
-		/// </summary>
-		/// <param name="port">Port.</param>
-		public EV3IRSensor (SensorPort port) : this(port, IRMode.Proximity)
-		{
-
-		}
-
-		/// <summary>
-		/// Initializes a new instance of the <see cref="MonoBrickFirmware.Sensors.EV3IRSensor"/> class.
-		/// </summary>
-		/// <param name="port">Senosr port.</param>
-		/// <param name="mode">IR Mode.</param>
-		public EV3IRSensor (SensorPort port, IRMode mode) :  base(port)
-		{
-			base.Initialise(base.uartMode);
-			Mode = mode;
-			Channel = IRChannel.One;
-		}
+		 /// <summary>
+        /// Initializes a new instance of the <see cref="MonoBrickFirmware.Sensors.EV3IRSensor"/> class.
+        /// </summary>
+        /// <param name="port">Port.</param>
+        public EV3IRSensor(SensorPort port, int pollInterval = 50) : this(port, IRMode.Proximity, pollInterval)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonoBrickFirmware.Sensors.EV3IRSensor"/> class.
+        /// </summary>
+        /// <param name="port">Senosr port.</param>
+        /// <param name="mode">IR Mode.</param>
+        public EV3IRSensor(SensorPort port, IRMode mode, int pollInterval = 50) : base(port, pollInterval)
+        {
+            base.Initialise(base.uartMode);
+            Mode = mode;
+            Channel = IRChannel.One;
+        }
 
 		/// <summary>
 		/// Gets or sets the IR mode. 
@@ -125,7 +124,7 @@ public override string ReadAsString ()
 		/// Read the sensor value. The returned value depends on the mode. Distance in proximity mode. 
 		/// Remote command number in remote mode. Beacon location in seek mode. 
 		/// </summary>
-		public int Read(){
+		public override int Read(){
 			int value = 0;
 			switch ((IRMode)base.uartMode)
 			{

MonoBrickFirmware/Sensors/EV3UltraSonicSensor.cs

@@ -7,29 +7,28 @@ namespace MonoBrickFirmware.Sensors
 	/// Class for the EV3 ultrasonic sensor
 	/// </summary>
 	public class EV3UltrasonicSensor : UartSensor{
-		/// <summary>
-		/// Initializes a new instance of the EV3 Ultrasonic Sensor.
-		/// </summary>
-		public EV3UltrasonicSensor (SensorPort port) : this(port, UltraSonicMode.Centimeter)
-		{
-
-		}
-
-		/// <summary>
-		/// Initializes a new instance of the EV3 Ultrasonic Sensor.
-		/// </summary>
-		/// <param name="mode">Mode.</param>
-		public EV3UltrasonicSensor (SensorPort port, UltraSonicMode mode) :  base(port)
-		{
-			base.Initialise(base.uartMode);
-			Mode = mode;
-		}
-
-		/// <summary>
-		/// Gets or sets the Gyro mode. 
-		/// </summary>
-		/// <value>The mode.</value>
-		public UltraSonicMode Mode {
+        /// <summary>
+        /// Initializes a new instance of the EV3 Ultrasonic Sensor.
+        /// </summary>
+        public EV3UltrasonicSensor(SensorPort port, int pollInterval = 50) : this(port, UltraSonicMode.Centimeter, pollInterval)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the EV3 Ultrasonic Sensor.
+        /// </summary>
+        /// <param name="mode">Mode.</param>
+        public EV3UltrasonicSensor(SensorPort port, UltraSonicMode mode, int pollInterval = 50) : base(port, pollInterval)
+        {
+            base.Initialise(base.uartMode);
+            Mode = mode;
+        }
+
+        /// <summary>
+        /// Gets or sets the Gyro mode. 
+        /// </summary>
+        /// <value>The mode.</value>
+        public UltraSonicMode Mode {
 			get{return (UltraSonicMode) base.uartMode;}
 			set{SetMode((UARTMode) value);}
 		}
@@ -59,7 +58,7 @@ public override string ReadAsString ()
 		/// <summary>
 		/// Read the sensor value. Result depends on the mode
 		/// </summary>
-		public int Read ()
+		public override int Read ()
 		{
 			if (Mode == UltraSonicMode.Listen) 
 			{

MonoBrickFirmware/Sensors/SensorFactory.cs

@@ -158,6 +158,11 @@ public override string ReadAsString ()
 		{
 			return "";
 		}
+
+        public override int Read()
+        {
+            return 0;
+        }
 
         /// <summary>
         /// Gets the name of the sensor.

MonoBrickFirmware/Sensors/UARTSensor.cs

@@ -3,6 +3,8 @@
 using System.Collections.Generic;
 using MonoBrickFirmware.Native;
 using MonoBrickFirmware.Tools;
+using System.Threading;
+using System.ComponentModel;
 
 namespace MonoBrickFirmware.Sensors
 {
@@ -51,17 +53,56 @@ public abstract class UartSensor:ISensor
 		protected const int NumberOfSensorPorts = SensorManager.NumberOfSensorPorts;
 		protected SensorPort port;
 		protected UARTMode uartMode{get; private set;}
-
-		public UartSensor (SensorPort port)
-		{
-			this.port = port;
-			uartMemory = SensorManager.Instance.UartMemory;
-			UartDevice = SensorManager.Instance.UartDevice;
-		}
-
-		public abstract string ReadAsString ();
-
-		public abstract void SelectNextMode();
+
+        private int pollTime = 50;
+        private EventWaitHandle stopPolling = new ManualResetEvent(false);
+        private QueueThread queue = QueueThread.Instance;
+        private Thread pollThread = null;
+        public UartSensor(SensorPort port, int pollTime = 50)
+        {
+            this.port = port;
+            this.pollTime = pollTime;
+            uartMemory = SensorManager.Instance.UartMemory;
+            UartDevice = SensorManager.Instance.UartDevice;
+            pollThread = new Thread(sensorPollThread);
+            pollThread.Start();
+        }
+
+        /// <summary>
+        /// Stop polling this instance
+        /// </summary>
+        public void Kill()
+        {
+            stopPolling.Set();
+            pollThread.Join();
+        }
+
+
+        /// <summary>
+        /// thread that checks the sensor' state, and raises the propertyChanged event in queue when it is changed.
+        /// </summary>
+        private void sensorPollThread()
+        {
+            Thread.CurrentThread.IsBackground = true;
+            int lastState = Read();
+            while (!stopPolling.WaitOne(pollTime))
+            {
+                int currenState = Read();
+                if (currenState != lastState)
+                {
+                    queue.Enqueue(propertyChangedEvent, this, new PropertyChangedEventArgs(GetSensorName()));
+                    lastState = currenState;
+                }
+            }
+        }
+
+        public event PropertyChangedEventHandler propertyChangedEvent;
+
+        public abstract string ReadAsString();
+
+        public abstract int Read();
+
+        public abstract void SelectNextMode();
 
 		public abstract string GetSensorName();
 

MonoBrickFirmware/Tools/EventNode.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace MonoBrickFirmware.Tools
+{
+    public class EventNode
+    {
+        private Delegate EventToRaise;
+        private Object[] Parameters;
+
+        public EventNode(Delegate Event, Object[] Parameters)
+        {
+            this.EventToRaise = Event;
+            this.Parameters = Parameters;
+        }
+
+        public Delegate eventToRaise {
+            get { return this.EventToRaise; }
+        }
+        public Object[] parameters {
+            get { return this.Parameters; }
+        }
+    }
+}