/// <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];
}
}
}
