Add SetColorAsync method to ColorDistanceSensor (#204)

#203 non-breaking

Author: tthiery

examples/SharpBrick.PoweredUp.Examples/ExampleColorDistanceSensor.cs

@@ -16,6 +16,13 @@ public override async Task ExecuteAsync()
         {
             var colorDistSensor = twoPortHub.B.GetDevice<ColorDistanceSensor>();
 
+            foreach (var color in Enum.GetValues<ColorDistanceSensorColor>())
+            {
+                await colorDistSensor.SetColorAsync(color);
+
+                await Task.Delay(TimeSpan.FromSeconds(1));
+            }
+
             var observers = new[] {
                     colorDistSensor.ColorObservable
                         .Subscribe(color => Log.LogInformation("Color: {0}", color)),

src/SharpBrick.PoweredUp/Devices/ColorDistanceSensor.cs

@@ -2,9 +2,9 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Reactive.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Protocol.Messages;
 using SharpBrick.PoweredUp.Utils;
 
 namespace SharpBrick.PoweredUp;
@@ -61,6 +61,27 @@ protected override uint GetDefaultDeltaInterval(byte modeIndex)
            _ => base.GetDefaultDeltaInterval(modeIndex),
        };
 
+    public async Task<PortFeedback> SetColorAsync(ColorDistanceSensorColor colorLedMode)
+    {
+        AssertIsConnected();
+
+        await _protocol.SendMessageAsync(new PortInputFormatSetupSingleMessage(_portId, ModeIndexLight, 10000, false)
+        {
+            HubId = _hubId,
+        });
+
+        var response = await _protocol.SendPortOutputCommandAsync(new GenericWriteDirectModeDataMessage(
+            _portId,
+            PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
+            ModeIndexLight,
+            new byte[] { (byte)colorLedMode })
+        {
+            HubId = _hubId,
+        });
+
+        return response;
+    }
+
     public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
         => ((softwareVersion, hardwareVersion, systemType) switch
         {

src/SharpBrick.PoweredUp/Enums/ColorDistanceSensorColor.cs

@@ -0,0 +1,10 @@
+namespace SharpBrick.PoweredUp;
+
+public enum ColorDistanceSensorColor
+{
+    None = 0,
+    Blue = 3,
+    Green = 5,
+    Red = 9,
+    White = 10,
+}