/// <summary>
/// Sets the FRCDigitalIOSignal at dioIndex. Should only be used to override robot IO.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="dioIndex">The index of the digital out signal to set.</param>
public void SetDigitalOutSignal(FRCRobot robot, long dioIndex, bool dioValue)
{
try
{
FRCDigitalIOType dioType = (FRCDigitalIOType)robot.IOTypes[FREIOTypeConstants.frDOutType];
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)dioType.Signals[dioIndex];
dioSignal.Value = dioValue;
}
catch (Exception e) { }
}
/// <summary>
/// Получение списка сигналов и передача в список Signals
/// </summary>
/// <param name="robot">экземпляр подключения к роботу</param>
/// <param name="ioTypeConstant">константа типа сигналов</param>
/// <returns>возвращаемое значение-текущая задача</returns>
private async Task GetSignalsIO(FRCRobot robot, FREIOTypeConstants ioTypeConstant)
{
Task task = new Task(() =>
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
try
{
if (robot.IsConnected)
{
Signals.Clear();
switch (ioTypeConstant)
{
//DIN DOUT
case FREIOTypeConstants.frDOutType:
case FREIOTypeConstants.frDInType:
FRCDigitalIOType dioTypeIn = (FRCDigitalIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCDigitalIOSignal item in dioTypeIn.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//UI UO
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOType TypeUO = (FRCUOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCUOPIOSignal item in TypeUO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//SI SO
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOType TypeSO = (FRCSOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCSOPIOSignal item in TypeSO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//FLAG
case FREIOTypeConstants.frFlagType:
FRCFlagType TypeFlag = (FRCFlagType)robot.IOTypes[ioTypeConstant];
foreach (FRCFlagSignal item in TypeFlag.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//RO RI
case FREIOTypeConstants.frRDOutType:
case FREIOTypeConstants.frRDInType:
FRCRobotIOType TypeRI = (FRCRobotIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCRobotIOSignal item in TypeRI.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
}
}
}
catch (Exception e)
{
MessageBox.Show(e.Message, "Ошибка", MessageBoxButton.OK, MessageBoxImage.Error);
}
}));
}, TaskCreationOptions.LongRunning);
task.Start();
await task;
}
