74 lines
3.0 KiB
C#
74 lines
3.0 KiB
C#
using System;
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namespace RoboidControl {
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/// <summary>
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/// A sensor which can detect touches
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/// </summary>
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public class DigitalSensor : Thing {
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/// <summary>
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/// Create a digital sensor without communication abilities
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/// </summary>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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public DigitalSensor(bool invokeEvent = true) : base(Type.Switch, invokeEvent) { }
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/// <summary>
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/// Create a digital sensor for a participant
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/// </summary>
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/// <param name="owner">The owning participant</param>
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/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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public DigitalSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.Switch, thingId, invokeEvent) { }
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/// <summary>
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/// Create a new child digital sensor
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/// </summary>
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/// <param name="parent">The parent thing</param>
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/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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public DigitalSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.Switch, thingId, invokeEvent) { }
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/// <summary>
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/// Value which is true when the sensor is touching something, false otherwise
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/// </summary>
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private bool _state = false;
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public bool state {
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get { return _state; }
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set {
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if (_state != value) {
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_state = value;
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}
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stateUpdated = true;
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}
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}
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private bool stateUpdated = false;
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#if UNITY_5_3_OR_NEWER
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/// @copydoc Passer::RoboidControl::Thing::CreateComponent
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public override void CreateComponent() {
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this.component = Unity.DigitalSensor.Create(this);
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this.component.core = this;
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}
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#endif
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/// <summary>
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/// Function used to generate binary data for this digital sensor
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/// </summary>
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/// <returns>A byte array with the binary data</returns>
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/// <remark>The byte array will be empty when the digital status has not changed</remark>
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public override byte[] GenerateBinary() {
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if (!stateUpdated)
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return Array.Empty<byte>();
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byte[] bytes = new byte[1];
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bytes[0] = (byte)(state ? 1 : 0);
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stateUpdated = false;
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return bytes;
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}
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/// <summary>
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/// Function used to process binary data received for this digital sensor
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/// </summary>
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/// <param name="bytes">The binary data to process</param>
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public override void ProcessBinary(byte[] bytes) {
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this.state |= (bytes[0] == 1);
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}
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}
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} |