// Override GetHashCode().
public override int GetHashCode()
{
int hashIsAlive = IsAlive.GetHashCode();
int hashIdetifer = Id.GetHashCode();
return(hashIsAlive ^ hashIdetifer);
}
public override int GetHashCode()
{
int hash = 1;
if (IsAlive != false)
{
hash ^= IsAlive.GetHashCode();
}
if (FoodX != 0F)
{
hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(FoodX);
}
if (FoodZ != 0F)
{
hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(FoodZ);
}
if (Hp != 0F)
{
hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(Hp);
}
if (Satiety != 0F)
{
hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(Satiety);
}
if (Reward != 0F)
{
hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(Reward);
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
public override int GetHashCode()
{
int hash = 1;
if (FirstName.Length != 0)
{
hash ^= FirstName.GetHashCode();
}
if (LastName.Length != 0)
{
hash ^= LastName.GetHashCode();
}
if (EmailAddress.Length != 0)
{
hash ^= EmailAddress.GetHashCode();
}
if (IsAlive != false)
{
hash ^= IsAlive.GetHashCode();
}
if (Age != 0)
{
hash ^= Age.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
FPGA.OutputSignal <bool> Bank3,
// WS2812
FPGA.OutputSignal <bool> DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
// SERVO IO is generated inside handlers
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
QuokkaBoard.OutputBank(Bank3);
IsAlive.Blink(LED1);
DeviceControl(DOUT, RXD, TXD);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
IsAlive.Blink(LED1);
Sequential handler = () =>
{
for (byte b = 0; b < 10; b++)
{
UART.RegisteredWrite(115200, b, out internalTXD);
}
UART.RegisteredWrite(115200, 255, out internalTXD);
};
FPGA.Config.OnTimer(TimeSpan.FromSeconds(1), handler);
}
/// <summary>
///
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
public IsAliveResponse Any(IsAlive request)
{
if (request == null)
{
return new IsAliveResponse
{
Description = "传入的参数错误",
Status = (int)Status.InvalidArgument,
ReasonPhrase = Status.InvalidArgument.ToName(),
IsAlive = false
};
}
ApiVersion apiVersion;
if (string.IsNullOrEmpty(request.Version) || !request.Version.TryParse(out apiVersion))
{
return new IsAliveResponse
{
Description = "非法的api版本号",
Status = (int)Status.InvalidApiVersion,
ReasonPhrase = Status.InvalidApiVersion.ToName(),
IsAlive = false
};
}
return new IsAliveResponse
{
IsAlive = true,
Status = (int)Status.Ok,
ReasonPhrase = Status.Ok.ToName(),
Description = "服务可用"
};
}
public override int GetHashCode()
{
return(FirstName.GetHashCode()
^ LastName.GetHashCode()
^ Age.GetHashCode()
^ IsAlive.GetHashCode());
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
IsAlive.Blink(LED1);
Sequential handler = () =>
{
byte[] buff = new byte[11];
for (byte b = 0; b < 10; b++)
{
buff[b] = b;
}
buff[10] = 255;
for (byte i = 0; i < buff.Length; i++)
{
byte data = 0; // TODO: initializer from memory not supported yet
data = buff[i];
UART.Write(115200, data, TXD);
}
};
FPGA.Config.OnTimer(TimeSpan.FromSeconds(1), handler);
}
public static async Task Aggregator(
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
// blinker
FPGA.OutputSignal <bool> LED1,
// WS2812
FPGA.OutputSignal <bool> DOUT
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
IsAlive.Blink(LED1);
bool internalDOUT = false;
FPGA.Config.Link(internalDOUT, DOUT);
byte state = 0;
eCellType[] fieldMatrix = new eCellType[64];
Sequential handler = () =>
{
state++;
FieldMatrix.Reset(fieldMatrix);
switch (state)
{
case 1:
fieldMatrix[0] = eCellType.RedCross;
fieldMatrix[63] = eCellType.GreenCross;
break;
case 2:
FieldMatrix.DrawCross(fieldMatrix, eCellType.GreenCross);
break;
case 3:
FieldMatrix.DrawCross(fieldMatrix, eCellType.RedCross);
break;
case 4:
Position head = new Position(), tail = new Position();
FieldMatrix.Seed(fieldMatrix, head, tail);
break;
default:
state = 0;
break;
}
Graphics.DrawFieldMatrix(1, fieldMatrix, out internalDOUT);
};
FPGA.Config.OnTimer(TimeSpan.FromSeconds(1), handler);
}
/// <summary>
///
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
public IsAliveResponse Any(IsAlive request)
{
if (request == null)
{
return(new IsAliveResponse
{
Description = "传入的参数错误",
Status = (int)Status.InvalidArgument,
ReasonPhrase = Status.InvalidArgument.ToName(),
IsAlive = false
});
}
ApiVersion apiVersion;
if (string.IsNullOrEmpty(request.Version) || !request.Version.TryParse(out apiVersion))
{
return(new IsAliveResponse
{
Description = "非法的api版本号",
Status = (int)Status.InvalidApiVersion,
ReasonPhrase = Status.InvalidApiVersion.ToName(),
IsAlive = false
});
}
return(new IsAliveResponse
{
IsAlive = true,
Status = (int)Status.Ok,
ReasonPhrase = Status.Ok.ToName(),
Description = "服务可用"
});
}
/// <summary>
/// Used to set previous values for every <see cref="AbstractVariable{T}"/>. Must use the same order and logic as the <see cref="Scan"/> method.
/// </summary>
public void PreScan()
{
PlayerID.PreScan();
Username.PreScan();
IsReplay.PreScan();
if (IsReplay.Value)
{
return;
}
IsAlive.PreScan();
Time.PreScan();
Kills.PreScan();
Gems.PreScan();
ShotsFired.PreScan();
ShotsHit.PreScan();
if (IsAlive.Value)
{
EnemiesAlive.PreScan();
}
if (!IsAlive.Value)
{
DeathType.PreScan();
}
}
public override int GetHashCode()
{
unchecked
{
var hashCode = IsAlive.GetHashCode();
hashCode = (hashCode * 397) ^ Y;
hashCode = (hashCode * 397) ^ X;
return(hashCode);
}
}
public BlockchainApi(string url = null)
{
BaseUrl = url;
_Address = new Address(BaseUrl);
_Assets = new Assets(BaseUrl);
_Balances = new Balances(BaseUrl);
_IsAlive = new IsAlive(BaseUrl);
_Operations = new Operations(BaseUrl);
_Capabilities = new Capabilities(BaseUrl);
_Testing = new Testing(BaseUrl);
_Constants = new Constants(BaseUrl);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
FPGA.OutputSignal <bool> LED2,
FPGA.OutputSignal <bool> LED3,
FPGA.OutputSignal <bool> LED4
)
{
IsAlive.Blink(LED1);
IsAlive.Blink(LED2);
IsAlive.Blink(LED3);
IsAlive.Blink(LED4);
}
public override int GetHashCode()
{
unchecked
{
int hash = base.GetHashCode();
hash = hash * 37 + Key.GetHashCode();
hash = hash * 37 + (Url != null ? Url.GetHashCode() : 0);
hash = hash * 37 + IsAlive.GetHashCode();
hash = hash * 37 + State.GetHashCode();
hash = hash * 37 + (Error != null ? Error.GetHashCode() : 0);
return(hash);
}
}
public async Task IsAlive()
{
var client = new JsonServiceClient(AcDomain.NodeHost.Nodes.ThisNode.Node.AnycmdApiAddress);
var isAlive = new IsAlive
{
Version = "v1"
};
var response = await client.GetAsync(isAlive);
Assert.IsTrue(response.IsAlive);
isAlive.Version = "version2";
response = await client.GetAsync(isAlive);
Assert.IsFalse(response.IsAlive);
Assert.IsTrue(Status.InvalidApiVersion.ToName() == response.ReasonPhrase, response.Description);
}
public Character Initialize <T>(UInt32 id, string name_) where T : Actor, new()
{
if (!isInitialized)
{
isInitialized = true;
name = name_;
tag = "Character";
Actor = new T();
ID = id;
Instances[ID] = this;
Animator = GetComponent <Animator>();
Collider = GetComponent <Collider>();
Rigidbody = gameObject.AddComponent <Rigidbody>();
ActionManager = gameObject.AddComponent <ActionManager>();
ActionManager.Action(ActionType.Normal);
statusCanvas = Instantiate(ObjectManager.StatusCanvas).GetComponent <StatusCanvas>().Initialize(this);
HP.Pairwise().Subscribe(hp =>
{
if (hp.Previous <= 0 && hp.Current > 0)
{
IsAlive.Value = true;
}
if (hp.Previous > 0 && hp.Current <= 0)
{
IsAlive.Value = false;
}
});
IsAlive.Subscribe(isAlive =>
{
if (isAlive)
{
Animator.SetTrigger("Normal");
}
else
{
Animator.SetTrigger("Death");
}
Collider.enabled = CanAct.Value = isAlive;
});
}
return(this);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
// WS2812
FPGA.OutputSignal <bool> DOUT,
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
GameControlsState controlsState = new GameControlsState();
IsAlive.Blink(LED1);
Peripherals.GameControls(
ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT,
K7, K6, K5, K4, K3, K2, K1, K0,
controlsState);
SnakeControl(
controlsState,
DOUT, TXD);
}
public async Task IsAlive()
{
var client = new JsonServiceClient(AcDomain.NodeHost.Nodes.ThisNode.Node.AnycmdApiAddress);
var isAlive = new IsAlive
{
Version = "v1"
};
var response = await client.GetAsync(isAlive);
Assert.IsTrue(response.IsAlive);
isAlive.Version = "version2";
response = await client.GetAsync(isAlive);
Assert.IsFalse(response.IsAlive);
Assert.IsTrue(Status.InvalidApiVersion.ToName() == response.ReasonPhrase, response.Description);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
FPGA.OutputSignal <bool> LED2,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
IsAlive.Blink(LED1);
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
KeysDTO controlsState = new KeysDTO();
Peripherals.Controls(
ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT,
K7, K6, K5, K4, K3, K2, K1, K0,
ref controlsState);
ConfigureReporting(controlsState, TXD, LED2);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
IsAlive.Blink(LED1);
SnakeDBG dbg = new SnakeDBG();
Sequential handler = () =>
{
dbg.C1++;
JSON.SerializeToUART(ref dbg, TXD);
};
FPGA.Config.OnStartup(handler);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
// WS2812
FPGA.OutputSignal <bool> DOUT
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
IndicatorsControlsState controlsState = new IndicatorsControlsState();
IsAlive.Blink(LED1);
Peripherals.IndicatorsControls(
K7, K6, K5, K4, K3, K2, K1, K0,
controlsState);
LEDControl(controlsState);
IndicatorsControl(
controlsState,
DOUT);
}
public void Scan()
{
try
{
// Always scan these values.
PlayerID.Scan();
Username.Scan();
// Always calculate the spawnset in menu or lobby.
// Otherwise you can first normally load a spawnset to set the hash, exit and load an empty spawnset in the menu/lobby, then during playing the empty spawnset change it back to the same original spawnset and upload a cheated score.
if (Time.Value == 0 && Time.ValuePrevious == 0)
{
SpawnsetHash = CalculateCurrentSurvivalHash();
}
// Stop scanning if it is a replay.
IsReplay.Scan();
if (IsReplay.Value)
{
return;
}
IsAlive.Scan();
Time.Scan();
Kills.Scan();
Gems.Scan();
ShotsFired.Scan();
ShotsHit.Scan();
if (IsAlive.Value)
{
// Enemy count might increase on death, so only scan while player is alive.
EnemiesAlive.Scan();
// TODO: Clean up
byte[] bytes = Memory.Read(Process.MainModule.BaseAddress + 0x001F8084, 4, out _);
int ptr = AddressUtils.ToDec(AddressUtils.MakeAddress(bytes));
bytes = Memory.Read(new IntPtr(ptr), 4, out _);
ptr = AddressUtils.ToDec(AddressUtils.MakeAddress(bytes));
bytes = Memory.Read(new IntPtr(ptr) + 0x218, 4, out _);
LevelGems = BitConverter.ToInt32(bytes, 0);
bytes = Memory.Read(new IntPtr(ptr) + 0x224, 4, out _);
Homing = BitConverter.ToInt32(bytes, 0);
HomingLog.Add(Homing);
if (HomingLog.Count > 5)
{
HomingLog.Remove(HomingLog[0]);
}
if (LevelUpTimes[0] == 0 && LevelGems >= 10 && LevelGems < 70)
{
LevelUpTimes[0] = Time.Value;
}
if (LevelUpTimes[1] == 0 && LevelGems == 70)
{
LevelUpTimes[1] = Time.Value;
}
if (LevelUpTimes[2] == 0 && LevelGems == 71)
{
LevelUpTimes[2] = Time.Value;
}
}
else
{
// Only scan death type when dead.
DeathType.Scan();
}
if (string.IsNullOrEmpty(SpawnsetHash))
{
SpawnsetHash = CalculateCurrentSurvivalHash();
}
}
catch (Exception ex)
{
Logging.Log.Error("Scan failed", ex);
}
}
public bool Equals(Cell otherCell)
{
return(IsAlive.Equals(otherCell.IsAlive) && PositionX.Equals(otherCell.PositionX) && PositionY.Equals(otherCell.PositionY));
}
public override string ToString()
{
return("{IsAlive:" + IsAlive.ToString() + ",PositionX:" + PositionX.ToString() + ",PositionY:" + PositionY.ToString() + "}");
}
public static async Task Aggregator(
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
// blinker
FPGA.OutputSignal <bool> LED1,
FPGA.OutputSignal <bool> LED2,
FPGA.OutputSignal <bool> LED3,
FPGA.OutputSignal <bool> LED4,
// WS2812
FPGA.OutputSignal <bool> DOUT,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
GameControlsState controlsState = new GameControlsState();
IsAlive.Blink(LED1);
IsAlive.Blink(LED2);
IsAlive.Blink(LED3);
IsAlive.Blink(LED4);
Peripherals.GameControls(
ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT,
K7, K6, K5, K4, K3, K2, K1, K0,
controlsState);
LEDControl(controlsState.keyCode, DOUT);
byte data = 0;
Sequential handler = () =>
{
UART.Write(115200, data, TXD);
data++;
};
FPGA.Config.OnTimer(TimeSpan.FromSeconds(1), handler);
}
public override bool Equals(object obj)
{
return(obj is Cell other && (X.Equals(other.X) && Y.Equals(other.Y) && IsAlive.Equals(other.IsAlive)));
}
void Awake()
{
_currentPlayerParameter = new ReactiveProperty <PlayerParameters>(DefaultPlayerParameter);
cameraMultiTarget = GetComponent <CameraMultiTargetObjective>();
_onInitializeAsyncSubject.Subscribe(_ =>
{
IsAlive.Where(x => x).Skip(1)
.Subscribe(__ =>
{
//生き返ったら座標を書き換える
var p = _respawnPoints[UnityEngine.Random.Range(0, _respawnPoints.Length)];
transform.position = p;
});
//画面外に出たら死ぬ
this.ObserveEveryValueChanged(x => x.transform.position.y)
.Where(x => x < -3 && this.IsAlive.Value)
.Subscribe(__ => Kill(NonPlayerAttacker.Default))
.AddTo(this);
//ダメージを受けたら誰からのダメージか記憶する
OnDamaged
.Do(x => _lastDamagedAttacker = x.Attacker)
.Throttle(TimeSpan.FromSeconds(3))
.Subscribe(__ => _lastDamagedAttacker = null);
IsAlive.Subscribe(x => cameraMultiTarget.EnableTracking = x);
//死んだ
OnDead
.Subscribe(__ =>
{
//死んだら4秒後に復活
Observable.Timer(TimeSpan.FromSeconds(2))
.Subscribe(___ => _isAlive.Value = true);
});
this.OnTriggerEnterAsObservable()
.Where(__ => IsAlive.Value)
.Subscribe(x =>
{
var i = x.GetComponent <ItemBase>();
if (i != null)
{
_pickUpItemSubject.OnNext(i.ItemEffect);
i.PickedUp();
}
});
this.OnTriggerEnterAsObservable()
.Where(__ => IsAlive.Value)
.Subscribe(x =>
{
var i = x.GetComponent <ItemBase>();
if (i != null)
{
_pickUpItemSubject.OnNext(i.ItemEffect);
i.PickedUp();
}
});
});
}
public void setAlive(bool alive)
{
IsAlive.Equals(alive);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// IO banks for Quokka board, not needed for another boards
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
FPGA.OutputSignal <bool> Bank5,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
QuokkaBoard.OutputBank(Bank5);
IsAlive.Blink(LED1);
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
const int servosCount = 3;
byte[] servosData = new byte[servosCount];
Sequential servoHandler = () =>
{
uint instanceId = FPGA.Config.InstanceId();
var servoOutputPin = new FPGA.OutputSignal <bool>();
byte value = 0;
bool servoOutput = false;
byte requestValue = 0;
FPGA.Config.Link(servoOutput, servoOutputPin);
while (true)
{
requestValue = servosData[instanceId];
if (requestValue != value)
{
if (requestValue < value)
{
value--;
}
else
{
value++;
}
}
MG996R.Write(value, out servoOutput);
}
};
FPGA.Config.OnStartup(servoHandler, servosCount);
Sequential readHandler = () =>
{
byte counter = 0;
byte step = 5;
while (true)
{
while (counter < 180)
{
servosData[0] = counter;
servosData[1] = counter;
servosData[2] = counter;
counter += step;
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(100));
}
while (counter > 0)
{
servosData[0] = counter;
servosData[1] = counter;
servosData[2] = counter;
counter -= step;
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(100));
}
}
};
FPGA.Config.OnStartup(readHandler);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// banks
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
FPGA.OutputSignal <bool> Bank5,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
QuokkaBoard.OutputBank(Bank5);
IsAlive.Blink(LED1);
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
const int servosCount = 3;
byte[] servosData = new byte[servosCount];
Sequential servoHandler = () =>
{
uint instanceId = FPGA.Config.InstanceId();
var servoOutputPin = new FPGA.OutputSignal <bool>();
byte value = 0;
bool servoOutput = false;
byte requestValue = 0;
FPGA.Config.Link(servoOutput, servoOutputPin);
while (true)
{
requestValue = servosData[instanceId];
if (requestValue != value)
{
if (requestValue < value)
{
value--;
}
else
{
value++;
}
}
MG996R.Write(value, out servoOutput);
}
};
FPGA.Config.OnStartup(servoHandler, servosCount);
Sequential readHandler = () =>
{
byte data = 0;
byte counter = 0;
while (true)
{
data = UART.Read(115200, RXD);
if (data == 255 || counter == 255)
{
// begin of packet or overflow
counter = 0;
}
else
{
if (counter < servosCount)
{
servosData[counter] = data;
}
counter++;
}
}
};
FPGA.Config.OnStartup(readHandler);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// IO banks for Quokka board, not needed for another boards
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
FPGA.OutputSignal <bool> Bank5,
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
QuokkaBoard.OutputBank(Bank5);
IsAlive.Blink(LED1);
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
const int servosCount = 4;
byte[] servosData = new byte[servosCount]
{
90, // main panel starts lookup up
90, // main panel starts lookup up
50, // sensor panel starts at beginning of measurement cycle
50, // sensor panel starts at beginning of measurement cycle
};
object servosLock = new object();
bool autoScan = true;
Sequential servoHandler = () =>
{
uint instanceId = FPGA.Config.InstanceId();
var servoOutputPin = new FPGA.OutputSignal <bool>();
byte value = 0;
bool servoOutput = false;
byte requestValue = 0;
FPGA.Config.Link(servoOutput, servoOutputPin);
while (true)
{
requestValue = servosData[instanceId];
if (FPGA.Config.InstanceId() <= 1)
{
// large panel moves with smoothing
if (requestValue != value)
{
if (requestValue < value)
{
value--;
}
else
{
value++;
}
}
}
else
{
value = requestValue;
}
MG996R.Write(value, out servoOutput);
}
};
FPGA.Config.OnStartup(servoHandler, servosCount);
Sequential autoScanHandler = () =>
{
while (true)
{
if (!autoScan)
{
continue;
}
byte s2Delta = 5;
sbyte s3Delta = 5;
ushort maxChannel1Value = 0;
byte s2Max = 0, s3Max = 0;
// reset sensor panel to center
for (byte i = 2; i < servosCount; i++)
{
servosData[i] = 90;
}
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(50));
byte s3 = 50;
for (byte s2 = 50; s2 <= 130; s2 += s2Delta)
{
servosData[2] = s2;
while (s3 >= 50 && s3 <= 130)
{
servosData[3] = s3;
// TODO: barrier sync all servo handlers
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(50));
ushort adcChannel1Value = 0, adcChannel2Value = 0;
ADC102S021.Read(out adcChannel1Value, out adcChannel2Value, ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT);
if (adcChannel1Value > maxChannel1Value)
{
s2Max = s2;
s3Max = s3;
maxChannel1Value = adcChannel1Value;
byte[] buff = new byte[3];
byte tmp;
buff[0] = 255;
buff[1] = s2Max;
buff[2] = s3Max;
for (byte i = 0; i < buff.Length; i++)
{
tmp = buff[i];
UART.Write(115200, tmp, internalTXD);
}
}
s3 = (byte)(s3 + s3Delta);
}
s3Delta = (sbyte)(-s3Delta);
s3 = (byte)(s3 + s3Delta); // compensate for overshoot
}
servosData[1] = (byte)(180 - s2Max); // should be mirrored around 90 as servo is backwards
servosData[0] = s3Max; // same value
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(1000));
}
};
FPGA.Config.OnStartup(autoScanHandler);
SetServos request = new SetServos();
FPGA.Signal <bool> requestDeserialized = new FPGA.Signal <bool>();
JSON.DeserializeFromUART <SetServos>(ref request, RXD, requestDeserialized);
Sequential onRequest = () =>
{
autoScan = request.autoRun == 0 ? false : true;
servosData[0] = request.s0;
servosData[1] = request.s1;
servosData[2] = request.s2;
servosData[3] = request.s3;
};
FPGA.Config.OnSignal(requestDeserialized, onRequest);
}
