Convert existing devices to ValueModes

#37 non-breaking
sharpbrick · Jul 10, 2020 · 720fedd · 720fedd
1 parent c588e93
commit 720fedd
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Showing 11 changed files with 67 additions and 101 deletions.
diff --git a/examples/SharpBrick.PoweredUp.Examples/Program.cs b/examples/SharpBrick.PoweredUp.Examples/Program.cs
@@ -9,8 +9,6 @@ static async Task Main(string[] args)
         {
             var enableTrace = (args.Length > 0 && args[0] == "--trace");
 
-            //await ; return;
-
             Example.BaseExample example;
 
             //example = new Example.ExampleColors();

diff --git a/src/SharpBrick.PoweredUp/Devices/AbsoluteMotor.cs b/src/SharpBrick.PoweredUp/Devices/AbsoluteMotor.cs
@@ -8,21 +8,20 @@ namespace SharpBrick.PoweredUp
 {
     public abstract class AbsoluteMotor : TachoMotor
     {
+        protected SingleValueMode<short> _absoluteMode;
         public byte ModeIndexAbsolutePosition { get; protected set; } = 3;
 
-        public short AbsolutePosition { get; private set; } = 0;
-        public short AbsolutePositionPct { get; private set; } = 0;
-        public IObservable<Value<short>> AbsolutePositionObservable { get; }
+        public short AbsolutePosition => _absoluteMode.SI;
+        public short AbsolutePositionPct => _absoluteMode.Pct;
+        public IObservable<Value<short>> AbsolutePositionObservable => _absoluteMode.Observable;
 
         public AbsoluteMotor()
         { }
 
         protected AbsoluteMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            AbsolutePositionObservable = CreateSinglePortModeValueObservable<short>(ModeIndexAbsolutePosition);
-
-            ObserveOnLocalProperty(AbsolutePositionObservable, v => AbsolutePosition = v.SI, v => AbsolutePositionPct = v.Pct);
+            _absoluteMode = SingleValueMode<short>(ModeIndexAbsolutePosition);
         }
 
         /// <summary>

diff --git a/src/SharpBrick.PoweredUp/Devices/BasicMotor.cs b/src/SharpBrick.PoweredUp/Devices/BasicMotor.cs
@@ -7,21 +7,20 @@ namespace SharpBrick.PoweredUp
 {
     public abstract class BasicMotor : Device
     {
+        protected SingleValueMode<sbyte> _powerMode;
         public byte ModeIndexPower { get; protected set; } = 0;
 
-        public sbyte Power { get; private set; } = 0;
-        public sbyte PowerPct { get; private set; } = 0;
-        public IObservable<Value<sbyte>> PowerObservable { get; }
+        public sbyte Power => _powerMode.SI;
+        public sbyte PowerPct => _powerMode.Pct;
+        public IObservable<Value<sbyte>> PowerObservable => _powerMode.Observable;
 
         public BasicMotor()
         { }
 
         public BasicMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            PowerObservable = CreateSinglePortModeValueObservable<sbyte>(ModeIndexPower);
-
-            ObserveOnLocalProperty(PowerObservable, v => Power = v.SI, v => PowerPct = v.Pct);
+            _powerMode = SingleValueMode<sbyte>(ModeIndexPower);
         }
 
         /// <summary>

diff --git a/src/SharpBrick.PoweredUp/Devices/Current.cs b/src/SharpBrick.PoweredUp/Devices/Current.cs
@@ -8,28 +8,27 @@ namespace SharpBrick.PoweredUp
 {
     public class Current : Device, IPoweredUpDevice
     {
-        public byte ModeIndexCurrentL { get; } = 0x00;
-        public byte ModeIndexCurrentS { get; } = 0x01;
+        protected SingleValueMode<short> _currentLMode;
+        protected SingleValueMode<short> _currentSMode;
+        public byte ModeIndexCurrentL { get; protected set; } = 0x00;
+        public byte ModeIndexCurrentS { get; protected set; } = 0x01;
 
-        public short CurrentL { get; private set; } = 0;
-        public short CurrentLPct { get; private set; } = 0;
-        public IObservable<Value<short>> CurrentLObservable { get; }
+        public short CurrentL => _currentLMode.SI;
+        public short CurrentLPct => _currentLMode.Pct;
+        public IObservable<Value<short>> CurrentLObservable => _currentLMode.Observable;
 
-        public short CurrentS { get; private set; } = 0;
-        public short CurrentSPct { get; private set; } = 0;
-        public IObservable<Value<short>> CurrentSObservable { get; }
+        public short CurrentS => _currentSMode.SI;
+        public short CurrentSPct => _currentSMode.Pct;
+        public IObservable<Value<short>> CurrentSObservable => _currentSMode.Observable;
 
         public Current()
         { }
 
         public Current(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            CurrentLObservable = CreateSinglePortModeValueObservable<short>(ModeIndexCurrentL);
-            CurrentSObservable = CreateSinglePortModeValueObservable<short>(ModeIndexCurrentS);
-
-            ObserveOnLocalProperty(CurrentLObservable, v => CurrentL = v.SI, v => CurrentLPct = v.Pct);
-            ObserveOnLocalProperty(CurrentSObservable, v => CurrentS = v.SI, v => CurrentSPct = v.Pct);
+            _currentLMode = SingleValueMode<short>(ModeIndexCurrentL);
+            _currentSMode = SingleValueMode<short>(ModeIndexCurrentS);
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)

diff --git a/src/SharpBrick.PoweredUp/Devices/Device.cs b/src/SharpBrick.PoweredUp/Devices/Device.cs
@@ -68,33 +68,6 @@ protected void BuildModes()
             }
         }
 
-        protected void ObserveOnLocalProperty<T>(IObservable<T> modeObservable, params Action<T>[] updaters)
-        {
-            var disposable = modeObservable.Subscribe(v =>
-            {
-                foreach (var u in updaters)
-                {
-                    u(v);
-                }
-            });
-
-            _compositeDisposable.Add(disposable);
-        }
-
-        protected IObservable<Value<TPayload>> CreateSinglePortModeValueObservable<TPayload>(byte modeIndex)
-            => CreatePortModeValueObservable<TPayload, Value<TPayload>>(modeIndex, pvd => new Value<TPayload>()
-            {
-                Raw = pvd.InputValues[0],
-                SI = pvd.SIInputValues[0],
-                Pct = pvd.PctInputValues[0],
-            });
-
-        protected IObservable<TTarget> CreatePortModeValueObservable<TSource, TTarget>(byte modeIndex, Func<PortValueData<TSource>, TTarget> converter)
-            => _portValueObservable
-                .Where(pvd => pvd.ModeIndex == modeIndex)
-                .Cast<PortValueData<TSource>>()
-                .Select(converter);
-
         public async Task SetupNotificationAsync(byte modeIndex, bool enabled, uint deltaInterval = 5)
         {
             AssertIsConnected();

diff --git a/src/SharpBrick.PoweredUp/Devices/TachoMotor.cs b/src/SharpBrick.PoweredUp/Devices/TachoMotor.cs
@@ -7,28 +7,27 @@ namespace SharpBrick.PoweredUp
 {
     public abstract class TachoMotor : BasicMotor
     {
+        protected SingleValueMode<sbyte> _speedMode;
+        protected SingleValueMode<int> _positionMode;
         public byte ModeIndexSpeed { get; protected set; } = 1;
         public byte ModeIndexPosition { get; protected set; } = 2;
 
-        public sbyte Speed { get; private set; } = 0;
-        public sbyte SpeedPct { get; private set; } = 0;
-        public IObservable<Value<sbyte>> SpeedObservable { get; }
+        public sbyte Speed => _speedMode.SI;
+        public sbyte SpeedPct => _speedMode.Pct;
+        public IObservable<Value<sbyte>> SpeedObservable => _speedMode.Observable;
 
-        public int Position { get; private set; } = 0;
-        public int PositionPct { get; private set; } = 0;
-        public IObservable<Value<int>> PositionObservable { get; }
+        public int Position => _positionMode.SI;
+        public int PositionPct => _positionMode.Pct;
+        public IObservable<Value<int>> PositionObservable => _positionMode.Observable;
 
         public TachoMotor()
         { }
 
         protected TachoMotor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            SpeedObservable = CreateSinglePortModeValueObservable<sbyte>(ModeIndexSpeed);
-            PositionObservable = CreateSinglePortModeValueObservable<int>(ModeIndexPosition);
-
-            ObserveOnLocalProperty(SpeedObservable, v => Speed = v.SI, v => SpeedPct = v.Pct);
-            ObserveOnLocalProperty(PositionObservable, v => Position = v.SI, v => PositionPct = v.Pct);
+            _speedMode = SingleValueMode<sbyte>(ModeIndexSpeed);
+            _positionMode = SingleValueMode<int>(ModeIndexPosition);
         }
 
         /// <summary>

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubAccelerometer.cs b/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubAccelerometer.cs
@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Reactive.Linq;
 using SharpBrick.PoweredUp.Protocol;
 using SharpBrick.PoweredUp.Utils;
 
@@ -9,21 +10,21 @@ namespace SharpBrick.PoweredUp
     // accelerometers measure translation
     public class TechnicMediumHubAccelerometer : Device, IPoweredUpDevice
     {
+        protected MultiValueMode<short> _gravityMode;
+
         public byte ModeIndexGravity { get; protected set; } = 0;
         public byte ModeIndexCalibration { get; protected set; } = 1;
 
-        public (short x, short y, short z) Gravity { get; private set; }
-        public IObservable<(short x, short y, short z)> GravityObservable { get; }
+        public (short x, short y, short z) Gravity => (_gravityMode.SI[0], _gravityMode.SI[1], _gravityMode.SI[2]);
+        public IObservable<(short x, short y, short z)> GravityObservable => _gravityMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));
 
         public TechnicMediumHubAccelerometer()
         { }
 
         public TechnicMediumHubAccelerometer(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            GravityObservable = CreatePortModeValueObservable<short, (short x, short y, short z)>(ModeIndexGravity, pvd => (pvd.SIInputValues[0], pvd.SIInputValues[1], pvd.SIInputValues[2]));
-
-            ObserveOnLocalProperty(GravityObservable, g => Gravity = g);
+            _gravityMode = MultiValueMode<short>(ModeIndexGravity);
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubGyroSensor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubGyroSensor.cs
@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Reactive.Linq;
 using SharpBrick.PoweredUp.Protocol;
 using SharpBrick.PoweredUp.Utils;
 
@@ -9,20 +10,19 @@ namespace SharpBrick.PoweredUp
     // gyroscopes measure rotation
     public class TechnicMediumHubGyroSensor : Device, IPoweredUpDevice
     {
+        protected MultiValueMode<short> _rotationMode;
         public byte ModeIndexRotation { get; protected set; } = 0;
 
-        public (short x, short y, short z) Rotation { get; private set; }
-        public IObservable<(short x, short y, short z)> RotationObservable { get; }
+        public (short x, short y, short z) Rotation => (_rotationMode.SI[0], _rotationMode.SI[1], _rotationMode.SI[2]);
+        public IObservable<(short x, short y, short z)> RotationObservable => _rotationMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));
 
         public TechnicMediumHubGyroSensor()
         { }
 
         public TechnicMediumHubGyroSensor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            RotationObservable = CreatePortModeValueObservable<short, (short x, short y, short z)>(ModeIndexRotation, pvd => (pvd.SIInputValues[0], pvd.SIInputValues[1], pvd.SIInputValues[2]));
-
-            ObserveOnLocalProperty(RotationObservable, r => Rotation = r);
+            _rotationMode = MultiValueMode<short>(ModeIndexRotation);
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubTemperatureSensor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubTemperatureSensor.cs
@@ -8,21 +8,20 @@ namespace SharpBrick.PoweredUp
 {
     public class TechnicMediumHubTemperatureSensor : Device, IPoweredUpDevice
     {
+        protected SingleValueMode<short> _temperatureMode;
         public byte ModeIndexTemperature { get; protected set; } = 0;
 
-        public short Temperature { get; private set; }
-        public short TemperaturePct { get; private set; }
-        public IObservable<Value<short>> TemperatureObservable { get; }
+        public short Temperature => _temperatureMode.SI;
+        public short TemperaturePct => _temperatureMode.Pct;
+        public IObservable<Value<short>> TemperatureObservable => _temperatureMode.Observable;
 
         public TechnicMediumHubTemperatureSensor()
         { }
 
         public TechnicMediumHubTemperatureSensor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            TemperatureObservable = CreateSinglePortModeValueObservable<short>(ModeIndexTemperature);
-
-            ObserveOnLocalProperty(TemperatureObservable, v => Temperature = v.SI, v => TemperaturePct = v.Pct);
+            _temperatureMode = SingleValueMode<short>(ModeIndexTemperature);
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubTiltSensor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicMediumHubTiltSensor.cs
@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Reactive.Linq;
 using System.Threading.Tasks;
 using SharpBrick.PoweredUp.Protocol;
 using SharpBrick.PoweredUp.Protocol.Messages;
@@ -10,26 +11,25 @@ namespace SharpBrick.PoweredUp
 {
     public class TechnicMediumHubTiltSensor : Device, IPoweredUpDevice
     {
+        protected MultiValueMode<short> _positionMode;
+        protected SingleValueMode<int> _impactsMode;
         public byte ModeIndexPosition { get; protected set; } = 0;
         public byte ModeIndexImpacts { get; protected set; } = 1;
         public byte ModeIndexConfig { get; protected set; } = 2;
 
-        public (short x, short y, short z) Position { get; private set; }
-        public int Impacts { get; private set; }
-        public IObservable<(short x, short y, short z)> PositionObservable { get; }
-        public IObservable<Value<int>> ImpactsObservable { get; }
+        public (short x, short y, short z) Position => (_positionMode.SI[0], _positionMode.SI[1], _positionMode.SI[2]);
+        public int Impacts => _impactsMode.SI;
+        public IObservable<(short x, short y, short z)> PositionObservable => _positionMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));
+        public IObservable<Value<int>> ImpactsObservable => _impactsMode.Observable;
 
         public TechnicMediumHubTiltSensor()
         { }
 
         public TechnicMediumHubTiltSensor(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            PositionObservable = CreatePortModeValueObservable<short, (short, short, short)>(ModeIndexPosition, pvd => (pvd.SIInputValues[0], pvd.SIInputValues[1], pvd.SIInputValues[2]));
-            ImpactsObservable = CreateSinglePortModeValueObservable<int>(ModeIndexImpacts);
-
-            ObserveOnLocalProperty(PositionObservable, v => Position = v);
-            ObserveOnLocalProperty(ImpactsObservable, v => Impacts = v.SI);
+            _positionMode = MultiValueMode<short>(ModeIndexPosition);
+            _impactsMode = SingleValueMode<int>(ModeIndexImpacts);
         }
 
         /// <summary>

diff --git a/src/SharpBrick.PoweredUp/Devices/Voltage.cs b/src/SharpBrick.PoweredUp/Devices/Voltage.cs
@@ -8,28 +8,27 @@ namespace SharpBrick.PoweredUp
 {
     public class Voltage : Device, IPoweredUpDevice
     {
+        protected SingleValueMode<short> _voltageLMode;
+        protected SingleValueMode<short> _voltageSMode;
         public byte ModeIndexVoltageL { get; protected set; } = 0;
         public byte ModeIndexVoltageS { get; protected set; } = 1;
 
-        public short VoltageL { get; private set; }
-        public short VoltageLPct { get; private set; }
-        public IObservable<Value<short>> VoltageLObservable { get; }
+        public short VoltageL => _voltageLMode.SI;
+        public short VoltageLPct => _voltageLMode.Pct;
+        public IObservable<Value<short>> VoltageLObservable => _voltageLMode.Observable;
 
-        public short VoltageS { get; private set; }
-        public short VoltageSPct { get; private set; }
-        public IObservable<Value<short>> VoltageSObservable { get; }
+        public short VoltageS => _voltageSMode.SI;
+        public short VoltageSPct => _voltageSMode.Pct;
+        public IObservable<Value<short>> VoltageSObservable => _voltageSMode.Observable;
 
         public Voltage()
         { }
 
         public Voltage(IPoweredUpProtocol protocol, byte hubId, byte portId)
             : base(protocol, hubId, portId)
         {
-            VoltageLObservable = CreateSinglePortModeValueObservable<short>(ModeIndexVoltageL);
-            VoltageSObservable = CreateSinglePortModeValueObservable<short>(ModeIndexVoltageS);
-
-            ObserveOnLocalProperty(VoltageLObservable, v => VoltageL = v.SI, v => VoltageLPct = v.Pct);
-            ObserveOnLocalProperty(VoltageSObservable, v => VoltageS = v.SI, v => VoltageSPct = v.Pct);
+            _voltageLMode = SingleValueMode<short>(ModeIndexVoltageL);
+            _voltageSMode = SingleValueMode<short>(ModeIndexVoltageS);
         }
 
         public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion)