/// <summary>
/// Sets multiple channel values at once.
/// </summary>
void INavioPwmDevice.SetChannels(int number, IList <PwmPulse> values, int count)
{
// Thread-safe lock
lock (_lock)
{
// Validate
if (number < 1 || number > PwmChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(number));
}
if (values == null)
{
throw new ArgumentNullException(nameof(values));
}
if (count < 1 || number + count > PwmChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(count));
}
// Build device values, check frequency and detect change
var changed = false;
var channelValues = new List <Pca9685ChannelValue>();
for (var index = 0; index < count; index++)
{
// Get value and convert to channel value
var value = values[index];
channelValues.Add(Pca9685ChannelValue.FromWidthMs(value.Width, value.Frequency, 0));
// Check frequency
if (value.Frequency != _device.Frequency)
{
throw new ArgumentOutOfRangeException(nameof(value.Frequency));
}
// Check value
var oldValue = _pwmChannels[number + index - 1];
if (value != oldValue)
{
changed = true;
}
}
// Do nothing when unchanged
if (!changed)
{
return;
}
// Write new value
_device.WriteChannels(PwmChannelIndex + number - 1, channelValues);
// Update properties
for (var index = 0; index < count; index++)
{
_pwmChannels[index] = values[index];
}
}
}
/// <summary>
/// Reads the PWM channels from the device then updates the related properties.
/// </summary>
void INavioPwmDevice.Read()
{
// Thread-safe lock
lock (_lock)
{
// Read channels together (BGR ordered)
var channels = _device.ReadChannels(PwmChannelIndex, PwmChannelCount);
// Update channel properties
var frequency = _device.Frequency;
for (int index = 0; index < PwmChannelCount; index++)
{
var widthTicks = channels[index].Width;
var widthMs = Pca9685ChannelValue.CalculateWidthMs(frequency, widthTicks);
_pwmChannels[index] = PwmPulse.FromWidth(frequency, widthMs);
}
}
}
/// <summary>
/// Sets the LED <see cref="INavioLedDevice.Red"/>, <see cref="INavioLedDevice.Green"/> and
/// <see cref="INavioLedDevice.Blue"/> values together (in one operation).
/// </summary>
/// <param name="red">Red value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
/// <param name="green">Green value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
/// <param name="blue">Blue value in the range 0-<see cref="INavioLedDevice.MaximumValue"/>.</param>
void INavioLedDevice.SetRgb(int red, int green, int blue)
{
// Thread-safe lock
lock (_lock)
{
// Validate
if (red < 0 || red > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(red));
}
if (green < 0 || green > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(green));
}
if (blue < 0 || blue > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(blue));
}
// Invert values
var inverseRed = ~red & 0x0fff;
var inverseGreen = ~green & 0x0fff;
var inverseBlue = ~blue & 0x0fff;
// Set all three LED channels together (BGR order)
var values = new Pca9685ChannelValue[]
{
Pca9685ChannelValue.FromWidth(inverseBlue),
Pca9685ChannelValue.FromWidth(inverseGreen),
Pca9685ChannelValue.FromWidth(inverseRed)
};
_device.WriteChannels(0, values);
// Update cached values
_ledBlue = blue;
_ledGreen = green;
_ledRed = red;
}
}
/// <summary>
/// Reads the LED & PWM channels from the device then updates the related properties.
/// </summary>
public void Read()
{
// Thread-safe lock
lock (_lock)
{
// Read all PWM and LED channels
_device.ReadAll();
// Update LED properties
_ledRed = ~_device.Channels[LedRedChannelIndex].Width & 0xfff;
_ledGreen = ~_device.Channels[LedGreenChannelIndex].Width & 0xfff;
_ledBlue = ~_device.Channels[LedGreenChannelIndex].Width & 0xfff;
// Update PWM properties
var frequency = _device.Frequency;
for (int index = 0, pwmIndex = PwmChannelIndex; index < PwmChannelCount; index++, pwmIndex++)
{
var widthTicks = _device.Channels[pwmIndex].Width;
var widthMs = Pca9685ChannelValue.CalculateWidthMs(frequency, widthTicks);
_pwmChannels[index] = PwmPulse.FromWidth(frequency, widthMs);
}
}
}
