AForge.Robotics.Lego.RCXBrick.Connect C# (CSharp) Метод

        public bool Connect( IRTowerType towerType )
        {
            lock ( sync )
            {
                // check if we are already connected
                if ( stack != IntPtr.Zero )
                    return true;

                uint status;

                // create stack
                status = GhostAPI.GhCreateStack(
                    ( towerType == IRTowerType.USB ) ? "LEGO.Pbk.CommStack.Port.USB" : "LEGO.Pbk.CommStack.Port.RS232",
                    "LEGO.Pbk.CommStack.Protocol.IR",
                    "LEGO.Pbk.CommStack.Session",
                    out stack );

                if ( !GhostAPI.PBK_SUCCEEDED( status ) )
                    return false;

                // select first available device
                StringBuilder sb = new StringBuilder( 200 );
                status = GhostAPI.GhSelectFirstDevice( stack, sb, sb.Length );

                if ( !GhostAPI.PBK_SUCCEEDED( status ) )
                {
                    Disconnect( );
                    return false;
                }

                // open stack, set interleave, set wait mode and check if the brick is alive
                if (
                    !GhostAPI.PBK_SUCCEEDED( GhostAPI.GhOpen( stack ) ) ||
                    !GhostAPI.PBK_SUCCEEDED( GhostAPI.GhSetWaitMode( stack, IntPtr.Zero ) ) ||
                    !GhostAPI.PBK_SUCCEEDED( GhostAPI.GhSetInterleave( stack, 1, 0 ) ) ||
                    !IsAlive( )
                    )
                {
                    Disconnect( );
                    return false;
                }
            }

            return true;
        }