public IRouteComponent Find(Pulse pulse, float threshold, ushort samples)
{
if (source.attributes.length() > 4)
{
throw new IllegalRouteOperationException("Cannot find pulses for data longer than 4 bytes");
}
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot find pulses for null data");
}
if (source.eventConfig[0] == (byte)SENSOR_FUSION)
{
throw new IllegalRouteOperationException("Cannot find pulses for sensor fusion data");
}
DataTypeBase processor;
switch (pulse)
{
case Pulse.Width:
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 2 }, 1, 0, false));
break;
case Pulse.Area:
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopySize((byte)4));
break;
case Pulse.Peak:
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
break;
case Pulse.OnDetect:
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, false));
break;
default:
processor = null;
break;
}
byte[] config = new byte[10];
config[0] = 0xb;
config[1] = (byte)(source.attributes.length() - 1);
config[2] = 0x0;
config[3] = (byte)pulse;
Array.Copy(Util.intToBytesLe((int)(threshold * source.scale(state.bridge))), 0, config, 4, 4);
Array.Copy(Util.ushortToBytesLe(samples), 0, config, 8, 2);
return(postCreate(null, new PulseEditorInner(config, processor, state.bridge)));
}
internal GpioPin(byte mask, byte pin, IModuleBoardBridge bridge) : base(bridge)
{
this.mask = mask;
this.pin = pin;
if ((mask & 0x2) == 0x2)
{
adc = new IntegralDataType(GPIO, Util.setRead(READ_AI_ADC), pin, new DataAttributes(new byte[] { 2 }, 1, 0, false));
absRef = new MilliUnitsFloatDataType(GPIO, Util.setRead(READ_AI_ABS_REF), pin, new DataAttributes(new byte[] { 2 }, 1, 0, false));
}
if ((mask & 0x1) == 0x1)
{
digital = new IntegralDataType(GPIO, Util.setRead(READ_DI), pin, new DataAttributes(new byte[] { 1 }, 1, 0, false));
monitor = new IntegralDataType(GPIO, PIN_CHANGE_NOTIFY, pin, new DataAttributes(new byte[] { 1 }, 1, 0, false));
}
}
public IRouteBranchEnd Buffer()
{
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot buffer null data");
}
DataTypeBase processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { }, 0, 0, false));
var config = new BufferConfig(source.attributes.length());
state.dataProcessors.AddLast(Tuple.Create(
source.dataProcessorStateCopy(source, source.attributes),
new NullEditor(config, processor, state.bridge) as EditorImplBase
));
return(new RouteBranchEnd(this));
}
public IRouteComponent Find(Differential differential, float distance)
{
if (source.attributes.length() > 4)
{
throw new IllegalRouteOperationException("Cannot use differential filter for data longer than 4 bytes");
}
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot use differential filter for null data");
}
if (source.eventConfig[0] == (byte)SENSOR_FUSION)
{
throw new IllegalRouteOperationException("Cannot use differential filter on sensor fusion data");
}
DataTypeBase processor;
switch (differential)
{
case Differential.Absolute:
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
break;
case Differential.Differential:
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopySigned(true));
break;
case Differential.Binary:
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, true));
break;
default:
processor = null;
break;
}
byte[] config = new byte[6];
config[0] = 0xc;
config[1] = (byte)(((source.attributes.length() - 1) & 0x3) | (source.attributes.signed ? 0x4 : 0) | ((byte)differential << 3));
Array.Copy(Util.intToBytesLe((int)(distance * source.scale(state.bridge))), 0, config, 2, 4);
return(postCreate(null, new DifferentialEditorInner(config, processor, state.bridge)));
}
public IRouteComponent Limit(Passthrough type, ushort value)
{
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot limit null data");
}
DataTypeBase processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
byte[] config = new byte[4] {
0x1, (byte)(((int)type) & 0x7), 0, 0
};
Array.Copy(Util.ushortToBytesLe(value), 0, config, 2, 2);
DataTypeBase processorState = new IntegralDataType(DATA_PROCESSOR, Util.setRead(DataProcessor.STATE),
new DataAttributes(new byte[] { 2 }, (byte)1, (byte)0, false));
return(postCreate(processorState, new PassthroughEditorInner(config, processor, state.bridge)));
}
public IRouteComponent Find(Threshold threshold, float boundary, float hysteresis)
{
if (source.attributes.length() > 4)
{
throw new IllegalRouteOperationException("Cannot use threshold filter on data longer than 4 bytes");
}
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot use threshold filter on null data");
}
if (source.eventConfig[0] == (byte)SENSOR_FUSION)
{
throw new IllegalRouteOperationException("Cannot use threshold filter on sensor fusion data");
}
DataTypeBase processor;
switch (threshold)
{
case Threshold.Absolute:
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
break;
case Threshold.Binary:
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, true));
break;
default:
processor = null;
break;
}
byte[] config = new byte[8];
config[0] = 0xd;
config[1] = (byte)((source.attributes.length() - 1) & 0x3 | (source.attributes.signed ? 0x4 : 0) | ((byte)threshold << 3));
Array.Copy(Util.intToBytesLe((int)(source.scale(state.bridge) * boundary)), 0, config, 2, 4);
Array.Copy(Util.shortToBytesLe((short)(source.scale(state.bridge) * hysteresis)), 0, config, 6, 2);
return(postCreate(null, new ThresholdEditorInner(config, processor, state.bridge)));
}
public Settings(IModuleBoardBridge bridge) : base(bridge)
{
var info = bridge.lookupModuleInfo(SETTINGS);
if (info.revision >= DISCONNECTED_EVENT_REVISION)
{
disconnectDummyProducer = new IntegralDataType(SETTINGS, DISCONNECT_EVENT, new DataAttributes(new byte[] { }, 0, 0, false));
}
if (info.revision >= BATTERY_REVISION)
{
batteryState = new BatteryStateDataType();
}
if (info.revision >= CHARGE_STATUS_REVISION && (info.extra.Length > 0 && (info.extra[0] & 0x1) == 0x1))
{
powerStatus = new IntegralDataType(SETTINGS, POWER_STATUS, new DataAttributes(new byte[] { 1 }, 1, 0, false));
}
if (info.revision >= CHARGE_STATUS_REVISION && (info.extra.Length > 0 && (info.extra[0] & 0x2) == 0x2))
{
chargeStatus = new IntegralDataType(SETTINGS, CHARGE_STATUS, new DataAttributes(new byte[] { 1 }, 1, 0, false));
}
}
internal virtual Tuple <DataTypeBase, DataTypeBase> transform(DataProcessorConfig config)
{
switch (config.id)
{
case DataProcessorConfig.BufferConfig.ID:
return(Tuple.Create(
new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { }, 0, 0, false)) as DataTypeBase,
dataProcessorStateCopy(this, this.attributes)
));
case DataProcessorConfig.AccumulatorConfig.ID: {
DataProcessorConfig.AccumulatorConfig casted = (DataProcessorConfig.AccumulatorConfig)config;
DataAttributes attributes = new DataAttributes(new byte[] { casted.output }, 1, 0, !casted.counter && this.attributes.signed);
return(Tuple.Create(
casted.counter ? new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, attributes) : dataProcessorCopy(this, attributes),
casted.counter ? new IntegralDataType(null, DATA_PROCESSOR, Util.setRead(DataProcessor.STATE), NO_ID, attributes) :
dataProcessorStateCopy(this, attributes)
));
}
case DataProcessorConfig.AverageConfig.ID:
case DataProcessorConfig.DelayConfig.ID:
case DataProcessorConfig.TimeConfig.ID:
return(Tuple.Create <DataTypeBase, DataTypeBase>(dataProcessorCopy(this, this.attributes.dataProcessorCopy()), null));
case DataProcessorConfig.PassthroughConfig.ID:
return(Tuple.Create(
dataProcessorCopy(this, this.attributes.dataProcessorCopy()),
new IntegralDataType(DATA_PROCESSOR, Util.setRead(DataProcessor.STATE), NO_ID, new DataAttributes(new byte[] { 2 }, 1, 0, false)) as DataTypeBase
));
case DataProcessorConfig.MathConfig.ID: {
DataProcessorConfig.MathConfig casted = (DataProcessorConfig.MathConfig)config;
DataTypeBase processor = null;
switch (casted.op)
{
case Add:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopySize(4));
break;
case Multiply:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopySize(Math.Abs(casted.rhs) < 1 ? this.attributes.sizes[0] : (byte)4));
break;
case Divide:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopySize(Math.Abs(casted.rhs) < 1 ? (byte)4 : this.attributes.sizes[0]));
break;
case Subtract:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopySigned(true));
break;
case AbsValue:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopySigned(false));
break;
case Modulus:
processor = dataProcessorCopy(this, this.attributes.dataProcessorCopy());
break;
case Exponent:
processor = new ByteArrayDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, this.attributes.dataProcessorCopySize(4));
break;
case LeftShift:
processor = new ByteArrayDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY,
this.attributes.dataProcessorCopySize((byte)Math.Min(this.attributes.sizes[0] + (casted.rhs / 8), 4)));
break;
case RightShift:
processor = new ByteArrayDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY,
this.attributes.dataProcessorCopySize((byte)Math.Max(this.attributes.sizes[0] - (casted.rhs / 8), 1)));
break;
case Sqrt:
processor = new ByteArrayDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, this.attributes.dataProcessorCopySigned(false));
break;
case Constant:
DataAttributes attributes = new DataAttributes(new byte[] { 4 }, (byte)1, (byte)0, casted.rhs >= 0);
processor = new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, attributes);
break;
}
if (processor != null)
{
return(Tuple.Create <DataTypeBase, DataTypeBase>(processor, null));
}
break;
}
case DataProcessorConfig.PulseConfig.ID: {
DataProcessorConfig.PulseConfig casted = (DataProcessorConfig.PulseConfig)config;
DataTypeBase processor = null;
switch (casted.mode)
{
case Width:
processor = new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 2 }, 1, 0, false));
break;
case Area:
processor = dataProcessorCopy(this, attributes.dataProcessorCopySize(4));
break;
case Peak:
processor = dataProcessorCopy(this, attributes.dataProcessorCopy());
break;
case OnDetect:
processor = new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, false));
break;
}
if (processor != null)
{
return(Tuple.Create <DataTypeBase, DataTypeBase>(processor, null));
}
break;
}
case DataProcessorConfig.ComparisonConfig.ID: {
DataTypeBase processor = null;
if (config is DataProcessorConfig.SingleValueComparisonConfig)
{
processor = dataProcessorCopy(this, attributes.dataProcessorCopy());
}
else if (config is DataProcessorConfig.MultiValueComparisonConfig)
{
DataProcessorConfig.MultiValueComparisonConfig casted = (DataProcessorConfig.MultiValueComparisonConfig)config;
if (casted.mode == ComparisonOutput.PassFail || casted.mode == ComparisonOutput.Zone)
{
processor = new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, false));
}
else
{
processor = dataProcessorCopy(this, attributes.dataProcessorCopy());
}
}
if (processor != null)
{
return(Tuple.Create <DataTypeBase, DataTypeBase>(processor, null));
}
break;
}
case DataProcessorConfig.ThresholdConfig.ID: {
DataProcessorConfig.ThresholdConfig casted = (DataProcessorConfig.ThresholdConfig)config;
switch (casted.mode)
{
case Threshold.Absolute:
return(Tuple.Create <DataTypeBase, DataTypeBase>(dataProcessorCopy(this, attributes.dataProcessorCopy()), null));
case Threshold.Binary:
return(Tuple.Create <DataTypeBase, DataTypeBase>(new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY,
new DataAttributes(new byte[] { 1 }, 1, 0, true)), null));
}
break;
}
case DataProcessorConfig.DifferentialConfig.ID: {
DataProcessorConfig.DifferentialConfig casted = (DataProcessorConfig.DifferentialConfig)config;
switch (casted.mode)
{
case Differential.Absolute:
return(Tuple.Create <DataTypeBase, DataTypeBase>(dataProcessorCopy(this, attributes.dataProcessorCopy()), null));
case Differential.Differential:
throw new InvalidOperationException("Differential processor in 'difference' mode must be handled by subclasses");
case Differential.Binary:
return(Tuple.Create <DataTypeBase, DataTypeBase>(new IntegralDataType(this, DATA_PROCESSOR, DataProcessor.NOTIFY, new DataAttributes(new byte[] { 1 }, 1, 0, true)), null));
}
break;
}
case DataProcessorConfig.PackerConfig.ID: {
DataProcessorConfig.PackerConfig casted = (DataProcessorConfig.PackerConfig)config;
return(Tuple.Create <DataTypeBase, DataTypeBase>(dataProcessorCopy(this, attributes.dataProcessorCopyCopies(casted.count)), null));
}
case DataProcessorConfig.AccounterConfig.ID: {
DataProcessorConfig.AccounterConfig casted = (DataProcessorConfig.AccounterConfig)config;
return(Tuple.Create <DataTypeBase, DataTypeBase>(dataProcessorCopy(this, new DataAttributes(new byte[] { casted.length, attributes.length() }, 1, 0, attributes.signed)), null));
}
}
throw new InvalidOperationException("Unable to determine the DataTypeBase object for config: " + Util.arrayToHexString(config.Build()));
}
public AccelerometerBmi160(IModuleBoardBridge bridge) : base(bridge)
{
stepCounterDataType = new IntegralDataType(ACCELEROMETER, Util.setRead(STEP_COUNTER_DATA), new DataAttributes(new byte[] { 2 }, 1, 0, false));
stepDetectorDataType = new IntegralDataType(ACCELEROMETER, STEP_DETECTOR_INTERRUPT, new DataAttributes(new byte[] { 1 }, 1, 0, false));
}
private RouteComponent applyMath(MathOp op, float rhs)
{
bool multiChnlMath = state.bridge.getFirmware().CompareTo(MULTI_CHANNEL_MATH) >= 0;
if (!multiChnlMath && source.attributes.length() > 4)
{
throw new IllegalRouteOperationException("Cannot apply math operations on multi-channel data for firmware prior to " + MULTI_CHANNEL_MATH.ToString());
}
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot apply math operations to null data");
}
if (source.eventConfig[0] == (byte)SENSOR_FUSION)
{
throw new IllegalRouteOperationException("Cannot apply math operations to sensor fusion data");
}
DataTypeBase processor;
switch (op)
{
case MathOp.Add: {
DataAttributes newAttrs = source.attributes.dataProcessorCopySize(4);
newAttrs.signed = source.attributes.signed || (!source.attributes.signed && rhs < 0);
processor = source.dataProcessorCopy(source, newAttrs);
break;
}
case MathOp.Multiply: {
DataAttributes newAttrs = source.attributes.dataProcessorCopySize((byte)(Math.Abs(rhs) < 1 ? source.attributes.sizes[0] : 4));
newAttrs.signed = source.attributes.signed || (!source.attributes.signed && rhs < 0);
processor = source.dataProcessorCopy(source, newAttrs);
break;
}
case MathOp.Divide: {
DataAttributes newAttrs = source.attributes.dataProcessorCopySize((byte)(Math.Abs(rhs) < 1 ? 4 : source.attributes.sizes[0]));
newAttrs.signed = source.attributes.signed || (!source.attributes.signed && rhs < 0);
processor = source.dataProcessorCopy(source, newAttrs);
break;
}
case MathOp.Modulus: {
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
break;
}
case MathOp.Exponent: {
processor = new ByteArrayDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY,
source.attributes.dataProcessorCopySize((byte)4));
break;
}
case MathOp.LeftShift: {
processor = new ByteArrayDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY,
source.attributes.dataProcessorCopySize((byte)Math.Min(source.attributes.sizes[0] + ((int)rhs / 8), 4)));
break;
}
case MathOp.RightShift: {
processor = new ByteArrayDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY,
source.attributes.dataProcessorCopySize((byte)Math.Max(source.attributes.sizes[0] - ((int)rhs / 8), 1)));
break;
}
case MathOp.Subtract: {
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopySigned(true));
break;
}
case MathOp.Sqrt: {
processor = new ByteArrayDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, source.attributes.dataProcessorCopySigned(false));
break;
}
case MathOp.AbsValue: {
DataAttributes copy = source.attributes.dataProcessorCopySigned(false);
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopySigned(false));
break;
}
case MathOp.Constant:
DataAttributes attributes = new DataAttributes(new byte[] { 4 }, 1, 0, source.attributes.signed);
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, attributes);
break;
default:
processor = null;
break;
}
float scaledRhs;
switch (op)
{
case MathOp.Add:
case MathOp.Modulus:
case MathOp.Subtract:
scaledRhs = rhs * source.scale(state.bridge);
break;
case MathOp.Sqrt:
case MathOp.AbsValue:
scaledRhs = 0;
break;
default:
scaledRhs = rhs;
break;
}
byte[] config = new byte[multiChnlMath ? 8 : 7];
config[0] = 0x9;
config[1] = (byte)((processor.attributes.sizes[0] - 1) & 0x3 | ((source.attributes.sizes[0] - 1) << 2) | (source.attributes.signed ? 0x10 : 0));
config[2] = (byte)((byte)op + 1);
Array.Copy(Util.intToBytesLe((int)scaledRhs), 0, config, 3, 4);
if (multiChnlMath)
{
config[7] = (byte)(source.attributes.sizes.Length - 1);
}
return(postCreate(null, new MapEditorInner(config, processor, state.bridge)));
}
public IRouteComponent Filter(Comparison op, ComparisonOutput output, params float[] references)
{
if (source.attributes.length() > 4)
{
throw new IllegalRouteOperationException("Cannot compare data longer than 4 bytes");
}
if (source.attributes.length() <= 0)
{
throw new IllegalRouteOperationException("Cannot compare null data");
}
if (source.eventConfig[0] == (byte)SENSOR_FUSION)
{
throw new IllegalRouteOperationException("Cannot compare sensor sensor fusion data");
}
if (state.bridge.getFirmware().CompareTo(MULTI_COMPARISON_MIN_FIRMWARE) < 0)
{
float scaledReference = references[0] * source.scale(state.bridge);
byte[] config = new byte[8];
config[0] = 0x6;
config[1] = (byte)(source.attributes.signed || references[0] < 0 ? 1 : 0);
config[2] = (byte)op;
config[3] = 0;
Array.Copy(Util.intToBytesLe((int)(scaledReference)), 0, config, 4, 4);
return(postCreate(null, new SingleValueComparatorEditor(config, source.dataProcessorCopy(source, source.attributes.dataProcessorCopy()), state.bridge)));
}
bool anySigned = false;
foreach (float it in references)
{
anySigned |= it < 0;
}
bool signed = source.attributes.signed || anySigned;
DataTypeBase processor;
if (output == ComparisonOutput.PassFail || output == ComparisonOutput.Zone)
{
DataAttributes newAttrs = new DataAttributes(new byte[] { 1 }, 1, 0, false);
processor = new IntegralDataType(source, DATA_PROCESSOR, DataProcessor.NOTIFY, newAttrs);
}
else
{
processor = source.dataProcessorCopy(source, source.attributes.dataProcessorCopy());
}
{
//scope conflict with 'config' variable name
byte[] config = new byte[2 + references.Length * source.attributes.length()];
config[0] = 0x6;
config[1] = (byte)((signed ? 1 : 0) | ((source.attributes.length() - 1) << 1) | ((int)op << 3) | ((int)output << 6));
byte[] referenceValues = MultiValueComparatorEditor.fillReferences(source.scale(state.bridge), source, references);
Array.Copy(referenceValues, 0, config, 2, referenceValues.Length);
return(postCreate(null, new MultiValueComparatorEditor(config, processor, state.bridge)));
}
}
