PixelHub Protocol.md

@@ -177,8 +177,8 @@ Type	| Name				| Description
 -------:|-------------------|-------------
 0		| Reset				| Hard-resets the PixelBot. Useful if something has gone wrong, or to reset it's internal state.
 1		| Error				| May be sent by either party. Indicates that one or the other doesn't like a message that was sent by the other party.
-5		| HandshakeRequest	| Sent by a PixelBot upon connection.
+1		| HandshakeRequest	| Sent by a PixelBot upon connection.
-6		| HandshakeResponse	| Sent by the server in response to a `HandshakeRequest`.
+2		| HandshakeResponse	| Sent by the server in response to a `HandshakeRequest`.
 11		| Move				| Instructs a PixelBot to perform a movement.
 12		| CommandOk			| Sent by a pixelbot to indicate that the command sent by the server is ok, and that it will proceed to execute it.
 13 		| CommandComplete	| Sent by a pixelbot to indicate that it has completed executing the command sent previously.

PixelHub-Server/PixelHub/PixelCommand.cs

@@ -2,33 +2,12 @@
 
 namespace PixelHub
 {
-	/// <summary>
+	public enum PixelWheel
-	/// The type of message that you are sending.
-	/// </summary>
-	public enum MessageType
 	{
-		// No command. This is not a valid message type.
+		None,
-		None = -1,
+		Left,
-		// Hard-resets the PixelBot. Useful if something has gone wrong, or to reset it's internal state.
+		Right,
-		Reset = 0,
+		Both
-		// May be sent by either party. Indicates that one or the other doesn't like a message that was sent by the other party.
-		Error = 1,
-		// Sent by a PixelBot upon connection.
-		HandshakeRequest = 5,
-		// Sent by the server in response to a `HandshakeRequest`.
-		HandshakeResponse = 6,
-		// Instructs a PixelBot to perform a movement.
-		Move = 11,
-		// Sent by a pixelbot to indicate that the command sent by the server is ok, and that it will proceed to execute it.
-		CommandOk = 12,
-		// Sent by a pixelbot to indicate that it has completed executing the command sent previously.
-		CommandComplete = 13,
-		// Sent by a pixelbot to indicate that it has failed to complete the execution of a command it received previously.
-		CommandFailed = 14,
-		// Sent by the server to request information from a PixelBot. This could be from sensors, configuration, statistics, etc.
-		InfoRequest = 20,
-		// Sent by a PixelBot in response to an `InfoRequest` message.
-		InfoResponse = 21
 	}
 
 	/// <summary>
@@ -37,25 +16,60 @@ namespace PixelHub
 	public class PixelCommand
 	{
 		/// <summary>
-		/// The protocol version that this message is written in.
+		/// The wheel(s) that should be operated upon.
 		/// </summary>
-		public readonly ushort ProtocolVersion = 1;
+		public PixelWheel Wheel { get; set; }
 
 		/// <summary>
-		/// The type of this message.
+		/// The duration, in milliseconds, that the left wheel should turn for.
 		/// </summary>
-		/// <value>The type of the message.</value>
+		public int DurationLeft { get; set; }
-		public ushort MessageType { get; private set; } = 0;
+		/// <summary>
+		/// The duration, in milliseconds, that the right wheel should turn for.
+		/// </summary>
+		/// <value>The duration right.</value>
+		public int DurationRight { get; set; }
 
 		/// <summary>
-		/// The id of this message, or the message that this message is in direct response to.
+		/// The duration, in milliseconds, that the wheels should turn for.
 		/// </summary>
-		public uint MessageId;
+		/// <description>
+		/// This property sets both the <see cref="DurationLeft" /> and <see cref="DurationRight" /> properties.
+		/// The getter returns the maximum of the two durations.
+		/// </description>
+		public int Duration {
+			get {
+				return Math.Max(DurationLeft, DurationRight);
+			}
+			set {
+				DurationLeft = value;
+				DurationRight = value;
+			}
+		}
 
 		/// <summary>
-		/// The length of the containing message.
+		/// Creates a new <see cref="PixelCommand" /> instance.
 		/// </summary>
-		public uint MessageLength = 0;
+		/// <param name="inWheel">The wheel to turn.</param>
+		/// <param name="inDuration">The duration , in milliseconds, to turn the wheels for.</param>
+		public PixelCommand(PixelWheel inWheel, int inDuration)
+		{
+			Wheel = inWheel;
+			Duration = inDuration;
+		}
 
+		/// <summary>
+		/// Compiles the PixelCommand into a raw command string that cna be understood by the PixelBot.
+		/// </summary>
+		/// <returns>The compiled command, ready to be sent over the wire to the PixelBot.</returns>
+		public string AsCompiledCommand()
+		{
+			return $"Move:L={DurationLeft},Right={DurationRight}";
+		}
+
+		public override string ToString()
+		{
+			return string.Format("PixelCommand: Targets Wheel={0} for Duration={1}ms", Wheel, Duration);
+		}
 	}
 }