Merge branch 'master' into bugfix/no_cache_on_discovery

.gitignore

@@ -433,4 +433,5 @@ $RECYCLE.BIN/
 !.vscode/extensions.json
 /src/SharpBrick.PoweredUp.BlueGigaBLE/.editorconfig
 /examples/SharpBrick.PoweredUp.Examples/Properties/launchSettings.json
-src/SharpBrick.PoweredUp.Cli/Properties/launchSettings.json
+/src/SharpBrick.PoweredUp.Cli/Properties/launchSettings.json
+/src/SharpBrick.PoweredUp.Cli/poweredup.json

README.md

@@ -338,6 +338,7 @@ DI Container Elements
     - [X] Technic Large Angular Motor (Grey)
     - [X] Technic Color Sensor
     - [X] Technic Distance Sensor
+    - [X] Motor WeDo 2.0 Medium (21980)
     - .. other devices depend on availability of hardware / contributions
 - Protocol
   - [X] Message Encoding (98% [spec coverage](docs/specification/coverage.md))

src/SharpBrick.PoweredUp/Devices/Current.cs

@@ -91,6 +91,6 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
 08-00-44-3B-01-05-10-00
 0A-00-44-3B-01-80-01-01-04-00
 ",
-            _ => throw new NotSupportedException(),
+            _ => throw BuildNotSupportedException(softwareVersion, hardwareVersion, systemType),
         }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
 }

src/SharpBrick.PoweredUp/Devices/Device.cs

@@ -186,6 +186,11 @@ protected void AssertIsVirtualPort()
         }
     }
 
+    protected NotSupportedException BuildNotSupportedException(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+    {
+        return new NotSupportedException($"Device '{this.GetType().Name}' does not support Systemtype '{systemType}' on Hardware '{hardwareVersion}' and Software '{ softwareVersion }'");
+    }
+
     #region INotifyPropertyChanged
     public event PropertyChangedEventHandler PropertyChanged;
     protected void OnPropertyChanged(string propertyName)

src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs

@@ -30,6 +30,7 @@ public IPoweredUpDevice CreateConnected(DeviceType deviceType, ILegoWirelessProt
     public Type GetTypeFromDeviceType(DeviceType deviceType)
         => deviceType switch
         {
+            DeviceType.Motor => typeof(SimpleMediumLinearMotor),
             DeviceType.Voltage => typeof(Voltage),
             DeviceType.Current => typeof(Current),
             DeviceType.RgbLight => typeof(RgbLight),
@@ -65,6 +66,7 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
     public static DeviceType GetDeviceTypeFromType(Type type)
         => type.Name switch // fuzzy but will work
         {
+            nameof(SimpleMediumLinearMotor) => DeviceType.Motor,
             nameof(Voltage) => DeviceType.Voltage,
             nameof(Current) => DeviceType.Current,
             nameof(RgbLight) => DeviceType.RgbLight,

src/SharpBrick.PoweredUp/Devices/RgbLight.cs

@@ -157,6 +157,6 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
 08-00-44-32-01-05-00-10
 0A-00-44-32-01-80-03-00-03-00
 ",
-            _ => throw new NotSupportedException(),
+            _ => throw BuildNotSupportedException(softwareVersion, hardwareVersion, systemType)
         }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
 }

src/SharpBrick.PoweredUp/Devices/SimpleMediumLinearMotor.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Utils;
+
+namespace SharpBrick.PoweredUp;
+
+/// <summary>
+/// SimpleMediumLinearMotor, advertised as Motor, only supports power mode, this works for the WoDo 2.0 Medium (LPF2-MMOTOR)
+/// </summary>
+public class SimpleMediumLinearMotor : BasicMotor, IPoweredUpDevice
+{
+    public SimpleMediumLinearMotor()
+        : base()
+    { }
+    public SimpleMediumLinearMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
+        : base(protocol, hubId, portId)
+    { }
+
+    public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+      // Dump taken from LEGO 6290182 - 21980 - Electric, Motor WeDo 2.0 Medium which reports as 'LPF2-MMOTOR'.
+      => @"
+0B-00-43-02-01-01-01-00-00-01-00
+05-00-43-02-02
+11-00-44-02-00-00-4C-50-46-32-2D-4D-4D-4F-54-4F-52
+0E-00-44-02-00-01-00-00-C8-C2-00-00-C8-42
+0E-00-44-02-00-02-00-00-C8-C2-00-00-C8-42
+0E-00-44-02-00-03-00-00-C8-C2-00-00-C8-42
+0A-00-44-02-00-04-00-00-00-00
+08-00-44-02-00-05-00-10
+0A-00-44-02-00-80-01-00-04-00
+".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
+}

src/SharpBrick.PoweredUp/Devices/TechnicMediumHubTiltSensor.cs

@@ -148,6 +148,6 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
 08-00-44-63-02-05-00-10
 0A-00-44-63-02-80-02-00-03-00
 ".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s)),
-            _ => throw new NotSupportedException("SharpBrick.PoweredUp currently does not support this version of the sensor."),
+            _ => throw BuildNotSupportedException(softwareVersion, hardwareVersion, systemType),
         };
 }

src/SharpBrick.PoweredUp/Devices/Voltage.cs

@@ -144,6 +144,6 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
 08-00-44-3C-01-05-10-00
 0A-00-44-3C-01-80-01-01-04-00
 ",
-            _ => throw new NotImplementedException(),
+            _ => throw BuildNotSupportedException(softwareVersion, hardwareVersion, systemType),
         }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
 }

src/SharpBrick.PoweredUp/Protocol/Formatter/PortModeInformationEncoder.cs

@@ -18,7 +18,8 @@ public LegoWirelessMessage Decode(byte hubId, in Span<byte> data)
 
         var message = informationType switch
         {
-            PortModeInformationType.Name => new PortModeInformationForNameMessage(portId, mode, Encoding.ASCII.GetString(payload.Slice(0, payload.IndexOf<byte>(0x00)))),
+            // Here the specs say to use the length field and just pick the remainder of the bytes, no termination.
+            PortModeInformationType.Name => new PortModeInformationForNameMessage(portId, mode, ParseStringIgnoringTrainingNullCharacters(payload)),
             PortModeInformationType.Raw => new PortModeInformationForRawMessage(portId, mode, RawMin: BitConverter.ToSingle(payload.Slice(0, 4)), RawMax: BitConverter.ToSingle(payload.Slice(4, 4))),
             PortModeInformationType.Pct => new PortModeInformationForPctMessage(portId, mode, PctMin: BitConverter.ToSingle(payload.Slice(0, 4)), PctMax: BitConverter.ToSingle(payload.Slice(4, 4))),
             PortModeInformationType.SI => new PortModeInformationForSIMessage(portId, mode, SIMin: BitConverter.ToSingle(payload.Slice(0, 4)), SIMax: BitConverter.ToSingle(payload.Slice(4, 4))),
@@ -34,6 +35,18 @@ public LegoWirelessMessage Decode(byte hubId, in Span<byte> data)
         return message;
     }
 
+    private static string ParseStringIgnoringTrainingNullCharacters(Span<byte> data)
+    {
+        // Most devices pad the name with 0x00
+        var firstNullCharIndex = data.IndexOf<byte>(0x00);
+        var dataToDecode = data;
+        if (firstNullCharIndex != -1) {
+            // Trim everything after the last 0x00.
+            dataToDecode = data.Slice(0, firstNullCharIndex);
+        }
+
+        return Encoding.ASCII.GetString(dataToDecode);
+    }
     private PortModeInformationMessage DecodeMapping(byte portId, byte mode, in Span<byte> data)
         => new PortModeInformationForMappingMessage(
             portId,

src/SharpBrick.PoweredUp/Protocol/Knowledge/ProtocolKnowledge.cs

@@ -49,7 +49,7 @@ public PortModeInfo PortMode(byte hubId, byte portId, byte modeIndex)
 
         if (!(port.Modes.TryGetValue(modeIndex, out var result)))
         {
-            throw new ArgumentException("modeIndex is null", nameof(modeIndex));
+            throw new ArgumentException($"Unknown modeIndex {modeIndex}, on portId {portId} for hubId {hubId}", nameof(modeIndex));
         }
 
         return result;

src/SharpBrick.PoweredUp/Protocol/LegoWirelessProtocol.cs

@@ -46,7 +46,7 @@ await KnowledgeManager.ApplyDynamicProtocolKnowledge(new HubPropertyMessage<Syst
         }, Knowledge, _deviceFactory, UseCachedInformation());
 
         await _kernel.ConnectAsync();
-
+        _logger.LogInformation("Connected to device, getting protocol information");
         await _kernel.ReceiveBytesAsync(async data =>
         {
             try

test/SharpBrick.PoweredUp.Test/Protocol/Formatter/PortModeInformationEncoderTest.cs

@@ -14,6 +14,8 @@ public class PortModeInformationEncoderTest
     [InlineData("11-00-44-00-03-00-41-50-4F-53-00-00-00-00-00-00-00", 0x00, 0x03, PortModeInformationType.Name, "APOS")]
     [InlineData("11-00-44-00-04-00-4C-4F-41-44-00-00-00-00-00-00-00", 0x00, 0x04, PortModeInformationType.Name, "LOAD")]
     [InlineData("11-00-44-00-05-00-43-41-4C-49-42-00-00-00-00-00-00", 0x00, 0x05, PortModeInformationType.Name, "CALIB")]
+    // WeDo 2.0 actually uses full name length
+    [InlineData("11-00-44-00-00-00-4C-50-46-32-2D-4D-4D-4F-54-4F-52", 0x00, 0x00, PortModeInformationType.Name, "LPF2-MMOTOR")]
     public void PortModeInformationEncoder_Decode_Name(string data, byte expectedPort, byte expectedMode, PortModeInformationType expectedType, string expectedText)
     {
         var message = Decode<PortModeInformationForNameMessage>(data);