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Lego mindstorms EV3 C# library

Home Page: http://www.monobrick.dk/software/ev3firmware/

C# 99.90% Shell 0.10%

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Examples should use ManualResetEvent instead of poll for program termination

Playing a Wav file does not work

Make the build server upload image, dll and documentation to webpage

Crash with invalid LCD pixel checks (fix included)

LCD screen size is 178x128 pixels, valid values MUST be 0-177/0-127, not 0-178/0-128!
Drawing a line/rectangle beyond screen limits no longer crashes.
MonoBrickFirmware.Display.EV3Lcd.cs

protected bool IsPixelInLcd(Point pixel)
{
  return (pixel.X >= 0) && (pixel.Y >= 0) && (pixel.X < width) && (pixel.Y < height);
}
protected bool IsPixelInLcd(int x, int y)
{
 return (x >= 0) && (y >= 0) && (x < width) && (y < height);
}

Same EV3 simulator: EV3MonoBrickSimulator.Stub.LcdStub.cs

// new help method
bool IsPixelInLcd(int x, int y)
{
 return (x >= 0) && (y >= 0) && (x < Width) && (y < Height);
}
public bool IsPixelSet(int x, int y)
{
 if (!IsPixelInLcd(x, y)) return false; // boundary check
 int index = GetIndex(x, y);
 return (Marshal.ReadInt32( IntPtr.Add (lcdBuffer.Pixels, index)) & 0x00ffffff) == 0x000000;
}
public void SetPixel(int x, int y)
{
 if (!IsPixelInLcd(x, y)) return; // boundary check

 int index = GetIndex(x, y);
 Int32 oldValue = Marshal.ReadInt32( IntPtr.Add (lcdBuffer.Pixels, index));
 Int32 newValue = (int)(oldValue & 0xff000000);
 Marshal.WriteInt32 (IntPtr.Add (lcdBuffer.Pixels, index), newValue);
}
public void ClearPixel(int x, int y)
{
 if (!IsPixelInLcd(x, y)) return; // boundary check
 int index = GetIndex(x, y);
 int backGroundValue = Marshal.ReadInt32( IntPtr.Add (backGroundPixBuffer.Pixels, index));
 int oldValue = Marshal.ReadInt32( IntPtr.Add (lcdBuffer.Pixels, index));
 int newValue = (int)(oldValue & 0xff000000) | (int)(backGroundValue & 0x00ffffff);
 Marshal.WriteInt32 (IntPtr.Add (lcdBuffer.Pixels, index), newValue);
}

HiTechnic color sensor should return a enum when reading color

Gyro sensor works only in port 1

When gyro sensor is connected to another port programs hangs in gyrosensor constructor.
Code to reproduce (sensor in port 2):

        public static void Main (string[] args)
        {
            ManualResetEvent terminateProgram = new ManualResetEvent (false);
            GyroMode[] modes = {GyroMode.Angle, GyroMode.AngularVelocity};
            int modeIdx = 0;
            ButtonEvents buts = new ButtonEvents ();
            var gyro = new GyroSensor(SensorPort.In2, GyroMode.Angle);
            LcdConsole.WriteLine("Use gyro on port 2");
            LcdConsole.WriteLine("Up read value");
            LcdConsole.WriteLine("Down rotation count");
            LcdConsole.WriteLine("Left reset");
            LcdConsole.WriteLine("Enter change mode");
            LcdConsole.WriteLine("Esc. terminate");
            buts.EscapePressed += () => { 
                terminateProgram.Set ();
            };
            buts.UpPressed += () => {
                LcdConsole.WriteLine ("Gyro sensor: " + gyro.ReadAsString());
            };
            buts.EnterPressed += () => { 
                modeIdx = (modeIdx+1)%modes.Length;
                gyro.Mode = modes[modeIdx];
                LcdConsole.WriteLine("Mode: " + modes[modeIdx]);
            };
            buts.DownPressed += () => {
                LcdConsole.WriteLine ("Rotation count: " + gyro.RotationCount());
            };
            buts.LeftPressed += () => {
                LcdConsole.WriteLine ("Reset");
                gyro.Reset();
            };
            terminateProgram.WaitOne ();  
        }

Add support for PCF8574 8-bit I/O chip and PCF8591 8-bit ADC chip

Add support for NXT Sound sensor

Remove IColor interface and make EV3 color sensor and NXT color sensor classes public

Remove sensors and motors into separate namespaces

Lcd.IsPixelSet() does not work properly.

To fix requires to change the first line of the function from
int index = (x / 8) + y * 23;
to
int index = (x / 8) + y * bytesPrLine

(see SetPixel for details);

Update homepage with user profiles

Also add forum support
Rename MonoBrick to MonoBrick Communication library

Uart and Analog base classes should be renamed to abstraction

Startup App fails on Resource reference

Add support for HiTechnic tilt sensor

MonoBrick logo is wrong - should not be the Mono logo

Mindsensors' GlideWheel sensor (and possibly other sensors from MS) doesn't work

I implemented class for data collection from Mindsensors' GlideWheel, datasheet is here.

However, the ReadRegister(bool register, int length) is returns byte[] which consiststs of first byte containing register number equivalent to the first argument of ReadRegister() and the rest of bytes contain zeroes.

I suppose this is a monoev3 related bug since:

The physical sensor works in EV3 graphical SDK as expected
Other manufacturers' sensors work on tested EV3 as expected (tested with Hi-Technic Gyro and Lego Color sensor)
Other users are having this issue as well with other Mindsensors' sensors

Code including Main() for testing purposes follows:

using System;
using MonoBrickFirmware;
using MonoBrickFirmware.Display.Dialogs;
using MonoBrickFirmware.Display;
using MonoBrickFirmware.Movement;
using MonoBrickFirmware.Sensors;
using System.Threading;
using System.Collections;
using MonoBrickFirmware.UserInput;

namespace MonoBrickHelloWorld
{
    class MainClass
    {
        public static void Main (string[] args)
        {
            EventWaitHandle stopped = new ManualResetEvent (false);
            MindsensorsAngleSensor NewSensor = new MindsensorsAngleSensor(SensorPort.In1);
            HiTecGyroSensor gyro = new HiTecGyroSensor(SensorPort.In2);
            NewSensor.ResetAngle();
            ButtonEvents buts = new ButtonEvents ();

            buts.EscapePressed += () => { 
                stopped.Set ();
            };

            buts.EnterPressed += () => {
                LcdConsole.WriteLine(Convert.ToString(NewSensor.ReadAngle()));
                LcdConsole.WriteLine(Convert.ToString(gyro.ReadAngularAcceleration()));
            };

            stopped.WaitOne ();
        }
    }

    public class MindsensorsAngleSensor : I2CSensor
    {
        internal enum GlideWheelRegister : byte
        {
            ResetCommand = (byte)'r', Command = 0x41, Angle = 0x42, RAW = 0x46, RevolutionsPerMinute = 0x4A
        };

        public MindsensorsAngleSensor (SensorPort Port) : base (Port, (byte)0x30, I2CMode.LowSpeed9V)
        {
            base.Initialise();
        }

        private static int byte4toInt(byte[] b){
            return (int)b[0] + ((int)b[1] << 8) + ((int)b[2] << 16) + ((int)b[3] << 32); 
        }

        public void ResetAngle()
        {
            byte[] BytesToWrite = {(byte)0};
            BytesToWrite[0] = (byte)GlideWheelRegister.ResetCommand;
            WriteRegister((byte)GlideWheelRegister.Command, BytesToWrite);
            return;
        }

        public int ReadAngle ()
        {
            return byte4toInt(ReadRegister((byte)GlideWheelRegister.Angle, 4));
        }

        public int ReadRAW ()
        {
            return byte4toInt(ReadRegister((byte)GlideWheelRegister.RAW, 4));
        }

        public override string ReadAsString()
        {
            return("Angle: " + Convert.ToString(ReadAngle()) + " RAW: " + Convert.ToString(ReadRAW()));
        }

        public override string GetSensorName()
        {
            return "Mindsensors GlideWheel";
        }

        public override int NumberOfModes()
        {
            return 1;
        }

        public override void SelectNextMode()
        {
            return;
        }

        public override void SelectPreviousMode()
        {
            return;
        }

        public override string SelectedMode()
        {
            return ("Mode 1");
        }
    }
}

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