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if ( cmd == REV2 ) speed = -SPEED2; if ( cmd == REV3 ) speed = -SPEED3; if ( cmd == REV4 ) speed = -SPEED4; return speed*sign(DIRECTION); } // this function converts the received command // opcode into the corresponding direction. // This is handy for using joysticks as one-shot digital controls short DecodeDir(short cmd) { if ( cmd == STOP ) return 0; if ( cmd == FWD1 ) return 1; if ( cmd == FWD2 ) return 1; if ( cmd == FWD3 ) return 1; if ( cmd == FWD4 ) return 1; if ( cmd == REV1 ) return -1; if ( cmd == REV2 ) return -1; if ( cmd == REV3 ) return -1; if ( cmd == REV4 ) return -1; } // this subroutine actuates the command received // * if continuous is true, the TOOL motor is run // while the remote buttons are pressed, // * if continuous is false, the TOOL motor is run stepping sub Mode0Actions(byte Lc, byte Rc, byte fun, bool continuous) { // float wheels if both Xc are equal to STOP if (Rc == STOP) Float(R_WHEEL); if (Lc == STOP) Float(L_WHEEL); if (Rc == Lc) { // if the speed of the wheels is the same, // run motors in sync OnFwdSync(WHEELS,DecodeSpeed(Rc),0); } else { // else run motor at the speed // given by the DecodeSpeed function OnFwd(R_WHEEL,DecodeSpeed(Rc)); OnFwd(L_WHEEL,DecodeSpeed(Lc)); } // if the commands can be continuous if (continuous) {

Essentially, attribute-based Dependency Injection allows for the decoration of a particular class, property, or field with an attribute that will define the necessary dependencies for that particular class or member. Now the GameDayPrep class would look like Listing 3-9. Listing 3-9. Attribute-Based Dependency Injection Example public class GameDayPrep { private IFood m_Food; private IContactCollection m_Contacts; private IBeverage m_Beverage; [Factory("FoodClass")] public IFood Food { set { m_Food = value; } } [Factory("ContactCollectionClass")] public IContactCollection ContactCollection { set { m_ContactCollection = value; } } [Factory("BeverageClass")] public IBeverage Beverage { set {

m_Beverage = value; } }

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/** * The player object that plays the tune. */ private Player myPlayer; /** * Whether the player wants to pause the music. */ private boolean myShouldPause; /** * Whether the system wants to pause the music. */ private boolean myGamePause; /** * The tune played by the game, stored as an array * of bytes in BNF notation. */ private byte[] myTune = { // first set the version ToneControl.VERSION, 1, // set the tempo ToneControl.TEMPO, 30, // define the first line of the song ToneControl.BLOCK_START, 0, 69,8, 69,8, 69,8, 71,8, 73,16, 71,16, 69,8, 73,8, 71,8, 71,8, 69,32, ToneControl.BLOCK_END, 0, // define the other line of the song ToneControl.BLOCK_START, 1, 71,8, 71,8, 71,8, 71,8, 66,16, 66,16, 71,8, 69,8, 68,8, 66,8, 64,32, ToneControl.BLOCK_END, 1, // play the song ToneControl.PLAY_BLOCK, 0, ToneControl.PLAY_BLOCK, 0, ToneControl.PLAY_BLOCK, 1, ToneControl.PLAY_BLOCK, 0, }; //----------------------------------------------------------

switch (fun) { case 0: Off(TOOL); break; case 1: OnFwd(TOOL,50); break; case 2: OnRev(TOOL,100); break; } } // if the commands are one-shot else { switch (fun) { case 1: PlayTone(1000,10); RotateMotorPID(TOOL,100,180,50,30,70); break; case 2: PlayTone(2000,10); RotateMotorPID(TOOL,100,-360,50,30,70); break; } } } // these are a kind of state variables to allow the one-shot // functions' activation (avoid machine-gun effect) short oldRf,oldLf; // similar to Mode0Actions, but you can use joysticks // to perform one-shot functions, as you do with the triggers sub Mode1Actions(byte Lc, byte Rc, byte fun, bool continuous) { short R_action, L_action; R_action = DecodeDir(Rc); L_action = DecodeDir(Lc); // function activated by the right joystick // can be one-shot or continuous if ( (R_action!=oldRf) || continuous )

public void DoGameDayPrep() { //Build up Factory.BuildUp(typeof(GameDayPrep)); //Load fridge with frosty beverage m_Beverage.Load(Fridge.Get()); //Invite friends m_Contacts.Message = "Come watch the football game with me. "I got pizza and frosty beverage. "; m_Contacts.SendInvite(); //Order pizza m_Food.Order("Sausage"); } } The example in Listing 3-9 uses attributes to define the Dependency Injections required for the Food, Beverage, and ContactCollection objects. In this scenario, a static method called BuildUp takes a System.Type parameter. This parameter is used to reflect the GameDayPrep class so that any dependencies that are discovered can be, well, injected.

{ if (R_action>0) { PlayTone(1000,10); } if (R_action<0) { PlayTone(1500,10); } } // function activated by the left joystick // can be one-shot or continuous if ( (L_action!=oldLf) || continuous ) { if (L_action>0) { PlayTone(2000,10); } if (L_action<0) { PlayTone(3000,10); } } oldRf = R_action; oldLf = L_action; // if the commands can be continuous if (continuous) { switch (fun) { case 0: Off(TOOL); break; case 1: OnFwd(TOOL,50); break; case 2: OnRev(TOOL,50); break; } } // if the commands are one-shot else { switch (fun)

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