public BalboaHotTub Set_LED(string value)
{
LED = (LEDState)Enum.Parse(typeof(LEDState), value);
_panelInfoRawData = null;
return(this);
}
public LedStateViewModel(ISource <LEDState> source, ISource <LEDStateConfig> configSource)
{
Source = source;
ConfigSource = configSource;
Source.OnChange += (LEDState value) => LedState = value;
Switch = new LedSwitchCommand(ConfigSource);
}
/// <summary>
///
/// </summary>
/// <param name="Top_Left"></param>
/// <param name="Top_Right"></param>
/// <param name="Bottom_Left"></param>
/// <param name="Bottom_Right"></param>
public void SetLeds(LEDState Top_Left, LEDState Top_Right, LEDState Bottom_Left, LEDState Bottom_Right)
{
object[] Resolver = new object[]
{
"consolefeatures ver=",
2,
" type=14 params=\"A\\0\\A\\4\\",
1,
"\\",
(uint)Top_Left,
"\\",
1,
"\\",
(uint)Top_Right,
"\\",
1,
"\\",
(uint)Bottom_Left,
"\\",
1,
"\\",
(uint)Bottom_Right,
"\\\""
};
SendTextCommand(string.Concat(Resolver));
}
public static void Command(Dictionary<JointType, Point> jointPoints, Body body)
{
if (!MainWindow.xsocketClient.IsConnected) return;
if (jointPoints[JointType.HandLeft].Y < jointPoints[JointType.ShoulderLeft].Y && jointPoints[JointType.HandRight].Y < jointPoints[JointType.ShoulderRight].Y)
{
//Maybe we need to send a message...
if (body.HandLeftState == HandState.Open && body.HandRightState == HandState.Open)
{
if (LEDState == LEDState.Off)
{
//Turn on LED
LEDState = LEDState.On;
System.Diagnostics.Debug.WriteLine("TURN LED ON AND START SENDING");
MainWindow.xsocketClient.Controller("monitor").Invoke("command", "on");
}
}
if (body.HandLeftState == HandState.Closed && body.HandRightState == HandState.Closed)
{
if (LEDState == LEDState.On)
{
//Turn off LED
LEDState = LEDState.Off;
System.Diagnostics.Debug.WriteLine("TURN LED OFF AND STOP SENDING");
MainWindow.xsocketClient.Controller("monitor").Invoke("command", "off");
}
}
}
}
private bool CheckLightStatus(LEDState ls)
{
//调用函数
lock (m_objDll)
{
Log(DateTime.Now.ToString() + ", 处理看灯开始, Thresthod=[" + MyData.r_thresthod.ToString() + "," +
MyData.b_thresthod.ToString() + "," + MyData.y_thresthod.ToString() + "]");
//判断是否处于结束态， 调用HALCON函数
object[] parm = new object[4];
parm[0] = MyData.b_thresthod;
parm[1] = MyData.r_thresthod;
parm[2] = MyData.y_thresthod;
parm[3] = 0;
int res = (int)(m_dicMethod[MyData.halconCheckLightStatusName].Invoke(obj, parm));
Log(DateTime.Now.ToString() + ", 处理看灯结束, 颜色为value=" + parm[3].ToString());
if (res != (int)ls)
{
Log("灯状态为：【" + res.ToString() + "】, 看灯失败，要看灯的颜色为：" + ((int)ls).ToString());
return(false);
}
Log("灯状态为：【" + res.ToString() + "】， 看灯成功");
return(true);
}
}
public static void Initialize()
{
ledPort = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.Di10, true);
state = LEDState.Initializing;
ledThread = new Thread(ControlLED);
ledThread.Priority = ThreadPriority.BelowNormal;
ledThread.Start();
}
public void SetLeds(LEDState Top_Left, LEDState Top_Right, LEDState Bottom_Left, LEDState Bottom_Right)
{
if (this.activeConnection)
{
this.CallStruct(string.Concat(new object[] {
@"A\0\T\14\A\4\", this.Int, @"\", Top_Left, this.Int, @"\", Top_Right, this.Int, @"\", Bottom_Left, this.Int, @"\", Top_Left, this.Int, @"\", Bottom_Right,
@"\"
}));
this.Recv();
}
}
private void setLEDState(LEDState state)
{
this.state = state;
switch (this.state)
{
case LEDState.ON:
PictureLED.Image = Resource.LedOn;
break;
case LEDState.OFF:
PictureLED.Image = Resource.LedOff;
break;
default:
throw new ArgumentException("Tried to set LED to invalid state.");
}
}
/// <summary>
/// Sets the led (0 to 23)
/// </summary>
/// <param name="ledNo">Led no.</param>
/// <param name="state">State.</param>
public void SetLed(uint ledNo, LEDState state)
{
if (ledNo > 23)
{
throw new Exception("led must be between 0 and 23");
}
long r, c;
r = Math.DivRem(ledNo, 4, out c) * 2;
if (ledNo >= 12)
{
c += 4;
}
if (r > 4)
{
r -= 6;
}
switch (state)
{
case LEDState.Off:
base.SetLed((uint)r, (uint)c, false);
base.SetLed((uint)r + 1, (uint)c, false);
break;
case LEDState.Red:
base.SetLed((uint)r, (uint)c, true);
base.SetLed((uint)r + 1, (uint)c, false);
break;
case LEDState.Yellow:
base.SetLed((uint)r, (uint)c, true);
base.SetLed((uint)r + 1, (uint)c, true);
break;
case LEDState.Green:
base.SetLed((uint)r, (uint)c, false);
base.SetLed((uint)r + 1, (uint)c, true);
break;
}
}
public BalboaHotTub ToggleLEDState()
{
switch (LED)
{
case LEDState.Off:
LED = LEDState.Cycle;
break;
case LEDState.Purple:
case LEDState.Blue:
case LEDState.Red:
case LEDState.Green:
case LEDState.Cycle:
case LEDState.Fade:
LED = LEDState.Off;
break;
default:
throw new ArgumentOutOfRangeException();
}
_panelInfoRawData = null;
return(this);
}
public static void Main()
{
/* Initialize Display Module elements */
InitDisplayModule();
/* Initialize Talon and Victor with various configurations */
InitMotors();
/* LED Variables */
float _Brightness = 0.25f; /* Default LED Brightness */
Boolean On = true; /* Color Flashing state */
byte i = 0; /* Color Duration track variable for flashing */
int colorDelay = 0; /* Color Duration track variable for Sequence speed */
/* State variables */
DriveState MotionState = DriveState.MotionMagicTalon;
LEDState OperationState = LEDState.Pigeon;
/* Buttons and boolean for motor control */
Boolean lastButton1 = false;
Boolean lastButton2 = false;
Boolean lastButton3 = false;
Boolean lastbutton4 = false;
while (true)
{
/* Check gamepad connection */
if (_Gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
OperationState = LEDState.Controller;
}
else
{
OperationState = LEDState.Pigeon;
}
if (OperationState == LEDState.Controller)
{
CTRE.Phoenix.Watchdog.Feed();
if (_Battery.IsLow())
{
_labelTitle.SetText("Low voltage");
_labelTitle.SetColor(DisplayModule.Color.Red);
}
else
{
_labelTitle.SetText("Controller");
_labelTitle.SetColor(DisplayModule.Color.Green);
}
/* Get gamepad values */
float LeftX = _Gamepad.GetAxis(0);
float LeftY = _Gamepad.GetAxis(1);
float RightY = _Gamepad.GetAxis(5);
float RightX = _Gamepad.GetAxis(2);
/* Deadband gamepad values */
CTRE.Phoenix.Util.Deadband(ref LeftX);
CTRE.Phoenix.Util.Deadband(ref LeftY);
CTRE.Phoenix.Util.Deadband(ref RightX);
CTRE.Phoenix.Util.Deadband(ref RightY);
/* Update Guages */
UpdateGauge(_leftX, LeftX);
UpdateGauge(_leftY, LeftY);
UpdateGauge(_rightX, RightX);
UpdateGauge(_rightY, RightY);
/* Update Crosshairs */
_leftCrossHair.SetPosition((int)(30 + 15 * LeftX), 100 + (int)(15 * LeftY));
_rightCrossHair.SetPosition((int)(100 + 15 * RightX), 100 + (int)(15 * RightY));
/* Get single button presses to control MotionState */
Boolean Button1 = _Gamepad.GetButton(1);
Boolean Button2 = _Gamepad.GetButton(2);
Boolean Button3 = _Gamepad.GetButton(3);
Boolean Button4 = _Gamepad.GetButton(4);
if (Button1 && !lastButton1)
{
MotionState = DriveState.MotionMagicTalon;
}
else if (Button2 && !lastButton2)
{
MotionState = DriveState.PercentOutputBoth;
}
else if (Button3 && !lastButton3)
{
MotionState = DriveState.MotionMagicVictor;
}
else if (Button4 && !lastbutton4)
{
MotionState = DriveState.SensorReset;
}
lastButton1 = Button1;
lastButton2 = Button2;
lastButton3 = Button3;
lastbutton4 = Button4;
/* Controls Motoroutput based on MotionState */
MotorDriveControl(-LeftY, MotionState);
if (LeftX != 0 || LeftY != 0)
{
/** Left joystick in use, stop color cycling and give user control */
/* Grab brightness from the right joystick ([-1,1] + 1 * 0.5 => [0,1]) */
float Brightness = (RightY - 1f) * -0.5f;
_Brightness = Brightness;
/* Update LED strip with left joystick, right joystick, and brightness */
UpdateLedStrip(Brightness, LeftX, LeftY);
}
else
{
/** Left joystick not in use, start color cycling */
/* You can change the sequence in ColorSequencer.cs by ordering the premade colors or creating your own values */
colorDelay++;
if (colorDelay >= 3)
{
_ColorSequencer.Process();
colorDelay = 0;
}
/* Go through a color sequence at half brightness when idle */
UpdateLedStrip(_Brightness, _ColorSequencer.Red, _ColorSequencer.Green, _ColorSequencer.Blue);
}
}
else if (OperationState == LEDState.Pigeon)
{
if (_Battery.IsLow())
{
_labelTitle.SetText("Low Batt...");
_labelTitle.SetColor(DisplayModule.Color.Red);
}
else
{
_labelTitle.SetText("Pigeon");
_labelTitle.SetColor(DisplayModule.Color.Magenta);
}
/* Check status of Pigeon to see if it is connected */
CTRE.Phoenix.Sensors.PigeonState _PigeonState = _Pigeon.GetState();
if (_PigeonState == CTRE.Phoenix.Sensors.PigeonState.Ready)
{
/** Pigeon connected, giver user tilt control */
/* Pull Yaw, Pitch, and Roll from Pigeon */
float[] YPR = new float[3];
_Pigeon.GetYawPitchRoll(YPR);
float Pitch = YPR[1];
float Roll = YPR[2];
CTRE.Phoenix.Util.Cap(Pitch, 90);
CTRE.Phoenix.Util.Cap(Roll, 90);
float Brightness = 0.5f;
/* Update LED strip */
UpdateLedStrip(Brightness, Pitch / 90, Roll / 90, true);
}
else
{
/* Pigeon is not Ready/Available, so flash us */
i++;
if (i >= 100)
{
On = !On;
i = 0;
}
/* Decide if strip is white or off */
if (On == true)
{
UpdateLedStrip(1, 255, 255, 255); /* White */
}
else if (On == false)
{
UpdateLedStrip(1, 0, 0, 0); /* Off */
}
}
}
int idx = GetFirstButton(_Gamepad);
if (idx < 0)
{
_labelRow1.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
_labelRow2.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
_labelRow3.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
float[] ypr = new float[3];
_Pigeon.GetYawPitchRoll(ypr);
_labelRow1.SetText("Yaw:" + ypr[0]);
_labelRow2.SetText("Pitch:" + ypr[1]);
_labelRow3.SetText("Roll:" + ypr[2]);
}
else
{
switch (idx % 4)
{
case 0: _labelRow1.SetColor(DisplayModule.Color.Cyan); break;
case 1: _labelRow1.SetColor(DisplayModule.Color.Green); break;
case 2: _labelRow1.SetColor(DisplayModule.Color.Red); break;
case 3: _labelRow1.SetColor(DisplayModule.Color.Yellow); break;
}
_labelRow1.SetText("Pressed Button " + idx);
_labelRow2.SetText("");
_labelRow3.SetText("");
}
/* Let he program to sleep for a little */
Thread.Sleep(5);
}
}
/// <summary>
/// Sets the xbox LED state.
/// </summary>
/// <param name="state1">First LED state.</param>
/// <param name="state2">Second LED state.</param>
/// <param name="state3">Third LED state.</param>
/// <param name="state4">Fourth LED state.</param>
public void SetLEDState(LEDState state1, LEDState state2, LEDState state3, LEDState state4)
{
byte State = 0;
State |= (byte)state1;
State |= (byte)((byte)state2 >> 1);
State |= (byte)((byte)state3 >> 2);
State |= (byte)((byte)state4 >> 3);
CallAddressEx(Kernel.HalWriteSMBusValue, null, false, SMBusDevices.PIC, PICCommand.LedRegister, 0, State);
CallAddressEx(Kernel.HalWriteSMBusValue, null, false, SMBusDevices.PIC, PICCommand.LedMode, 0, LEDSubCommand.Custom);
Thread.Sleep(10);
}
internal async void Activate()
{
this.LedState = await Source.GetValue();
Source.Enable();
}
public LEDMessage(Int16 pin, LEDState state)
{
Pin = pin;
State = state;
}
