public void SetActiveDevice(IHardwareInterface iface)
{
if (!connectedList.Contains(iface))
{
return;
}
// Don't handle a second activation if the interface
// has already been activated
if (activeDevice != null && activeDevice.HardwareInterface == iface)
{
return;
}
// Activate new device
Type DeviceType = null;
Type ifaceType = iface.GetType();
foreach (Type t in this.InterfaceActivators.Keys)
{
if (ifaceType == t || ifaceType.IsSubclassOf(t) || ifaceType.GetInterfaces().Contains(t))
{
DeviceType = InterfaceActivators[t];
break;
}
}
if (DeviceType == null)
{
Logger.Error("Unsupported interface type " + iface.GetType().FullName);
return;
}
try
{
IDevice newDevice = (IDevice)Activator.CreateInstance(DeviceType, iface);
if (activeDevice != null)
{
if (DeviceConnected != null)
{
DeviceConnected(activeDevice, false);
}
if (activeDevice is IDisposable)
{
(activeDevice as IDisposable).Dispose();
}
}
activeDevice = newDevice;
if (DeviceConnected != null)
{
DeviceConnected(activeDevice, true);
}
}
catch (Exception e)
{
Logger.Error("Failed to create device: " + e.Message);
}
}
public Motor(byte id)
{
this.hardwareInterface = ServiceLocator.Get <IHardwareInterface>();
this.id = id;
this.pwm = 0;
}
private void DisposeHardwareInterface()
{
ServiceLocator.Unregister <IHardwareInterface>(this.hardwareInterface);
this.hardwareInterface.Close();
this.hardwareInterface = null;
this.logger.LogDebug("Disposed hardware interface");
}
private void InitializeHardwareInterface(string port, int baudRate)
{
this.hardwareInterface = new TeensyInterface(port, baudRate);
//this.hardwareInterface = new VoidInterface();
this.hardwareInterface.Open();
ServiceLocator.Register <IHardwareInterface>(this.hardwareInterface);
this.logger.LogDebug("Initialized hardware interface");
}
public Joystick(int id, int minValue, int maxValue)
{
this.hardwareInterface = ServiceLocator.Get <IHardwareInterface>();
this.id = id;
this.value = (int)this.Map(0.5f, 0.0f, 1.0f, minValue, maxValue);
this.minValue = minValue;
this.maxValue = maxValue;
this.hardwareInterface.joystickValueReceived += OnJoystickValueReceived;
}
private static void Chipleser_verbinden()
{
var ergebnis = Chipleser.Initialisiere_Chipleser(OnChipAufgelegt, OnChipEntfernt, OnReaderGetrennt, OnMehrereChips);
if (ergebnis == null)
{
var dialogResult = Kein_Reader_gefunden_Dialog_ausgeben();
if (dialogResult == DialogResult.Retry)
{
Chipleser_verbinden();
}
else
{
Beenden();
}
}
else
{
_chipleser = ergebnis.Item1;
var verbindungsinfo = ergebnis.Item2;
Console.Write(@"Verbinde mit Chipleser... ");
var openPortResult = _chipleser.Open();
if (openPortResult.Ergebnis == Ergebnis.Erfolg)
{
var meldung = $"Verbunden: {verbindungsinfo}";
Console.WriteLine(meldung);
Balloninfo("Com-Ports", meldung, 2000);
}
else
{
Console.WriteLine(openPortResult.Meldung);
var dialogResult = Kein_Zugriff_auf_Port_Dialog_ausgeben(openPortResult.Meldung);
if (dialogResult == DialogResult.Retry)
{
Chipleser_verbinden();
}
else
{
Beenden();
}
}
}
}
public Servo(byte id, bool winding, IAngle rootAngle, IAngle minAngle, IAngle maxAngle)
{
this.hardwareInterface = ServiceLocator.Get <IHardwareInterface>();
this.id = id;
this.winding = winding;
this.rootAngle = rootAngle;
this.minAngle = minAngle;
this.maxAngle = maxAngle;
this.targetAngle = new Radians(0.0f);
this.angle = new Radians(0.0f);
this.ledState = false;
this.speed = 1023 / 4;
this.hardwareInterface.servoPositionUpdated += OnServoPositionUpdated;
//this.SetTargetAngle(rootAngle);
//this.FlushState();
}
private void OnInterfaceChanged(IHardwareInterface hardwareInterface, bool connected)
{
if (connected)
{
connectedList.Add(hardwareInterface);
#if WINDOWS
lastSmartScopeDetectedThroughWinUsb = DateTime.Now;
#endif
}
else
{
if (connectedList.Contains(hardwareInterface))
{
connectedList.Remove(hardwareInterface);
}
#if WINDOWS
lastSmartScopeDetectedThroughWinUsb = null;
#endif
}
/* If application handles interface preferences, pass it the updated
* list of connected interfaces for it to decide who to call SetActiveDevice
* with
*/
if (InterfaceChanged != null)
{
InterfaceChanged(this, connectedList);
}
/* Else activate the lastly connected interface */
else
{
SetActiveDevice(connectedList.Last());
}
}
public ShutdownCommand(IHardwareInterface hardwareInterface) : base(1)
{
this.hardwareInterface = hardwareInterface;
}
public DCMotorsCommand(IHardwareInterface hardwareInterface) : base(1)
{
this.hardwareInterface = hardwareInterface;
}
public ServoCommand(IHardwareInterface hardwareInterface) : base(1)
{
this.hardwareInterface = hardwareInterface;
}
public RemoteTimeout(IHardwareInterface hardwareInterface) : base(0)
{
this.hardwareInterface = hardwareInterface;
}
public UpdateLoadCellValue(IHardwareInterface hardwareInterface) : base(4)
{
this.hardwareInterface = hardwareInterface;
}
public ModusCommand(IHardwareInterface hardwareInterface) : base(1)
{
this.hardwareInterface = hardwareInterface;
}
public ReceiveJoystickPosition(IHardwareInterface hardwareInterface) : base(2)
{
this.hardwareInterface = hardwareInterface;
}
public UpdateServoPosition(IHardwareInterface hardwareInterface) : base(3)
{
this.hardwareInterface = hardwareInterface;
}
