/// <summary>
/// Creates an instacne of a counter from a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>
/// This constructor should be used if an existing <see cref="DigitalSource"/> is to
/// be shared by multiple other objects such as <see cref="Encoder">Encoders</see> or if
/// the <see cref="DigitalSource"/> is not a DIO Channel (for instance a <see cref="AnalogTrigger"/>.
/// <para>The counter will start couting immediately.</para>
/// </remarks>
/// <param name="source">The <see cref="DigitalSource"/> to count.</param>
public Counter(DigitalSource source)
{
if (source == null)
throw new ArgumentNullException(nameof(source), "Digital Source given was null");
InitCounter(Mode.TwoPulse);
SetUpSource(source);
}
public Counter(DigitalSource source)
{
if (source == null)
throw new NullReferenceException("Digital Source given was null");
InitCounter(Mode.TwoPulse);
SetUpSource(source);
}
/// <inheritdoc/>
public override void Dispose()
{
if (ASource != null && m_allocatedA)
{
ASource.Dispose();
m_allocatedA = false;
}
if (BSource != null && m_allocatedB)
{
BSource.Dispose();
m_allocatedB = false;
}
if (IndexSource != null && m_allocatedI)
{
IndexSource.Dispose();
m_allocatedI = false;
}
ASource = null;
BSource = null;
IndexSource = null;
int status = 0;
HAL_FreeEncoder(m_encoder, ref status);
CheckStatus(status);
}
/// <summary>
/// Creates an instance of a Counter object from specified <see cref="DigitalSource">
/// Digital Sources</see> for up and down counts.
/// </summary>
/// <remarks>
/// The counter will start counting immediately.
/// </remarks>
/// <param name="encodingType">The EncodingType for the counter. <see cref="EncodingType.K4X"/> is not supported.</param>
/// <param name="upSource">The <see cref="DigitalSource"/> to use for up counting.</param>
/// <param name="downSource">The <see cref="DigitalSource"/> to use for down counting.</param>
/// <param name="inverted">True to invert the direction of counting.</param>
public Counter(EncodingType encodingType, DigitalSource upSource, DigitalSource downSource, bool inverted)
{
if (encodingType != EncodingType.K2X && encodingType != EncodingType.K1X)
{
throw new ArgumentOutOfRangeException(nameof(encodingType), "Counters only support 1X and 2X decoding!");
}
if (upSource == null)
{
throw new ArgumentNullException(nameof(upSource), "Up Source given was null");
}
if (downSource == null)
{
throw new ArgumentNullException(nameof(downSource), "Down Source given was null");
}
InitCounter(Mode.ExternalDirection);
SetUpSource(upSource);
SetDownSource(downSource);
int status = 0;
if (encodingType == EncodingType.K1X)
{
SetUpSourceEdge(true, false);
HAL_SetCounterAverageSize(m_counter, 1, ref status);
}
else
{
SetUpSourceEdge(true, true);
HAL_SetCounterAverageSize(m_counter, 2, ref status);
}
CheckStatus(status);
SetDownSourceEdge(inverted, true);
}
//External direction is encoder style.
public Counter(EncodingType encodingType, DigitalSource upSource, DigitalSource downSource, bool inverted)
{
InitCounter(Mode.ExternalDirection);
if (encodingType != EncodingType.K2X && encodingType != EncodingType.K1X)
{
throw new ArgumentOutOfRangeException(nameof(encodingType), "Counters only support 1X and 2X decoding!");
}
if (upSource == null)
throw new ArgumentNullException(nameof(upSource), "Up Source given was null");
if (downSource == null)
throw new ArgumentNullException(nameof(downSource), "Down Source given was null");
SetUpSource(upSource);
SetDownSource(downSource);
int status = 0;
if (encodingType == EncodingType.K1X)
{
SetUpSourceEdge(true, false);
SetCounterAverageSize(m_counter, 1, ref status);
}
else
{
SetUpSourceEdge(true, true);
SetCounterAverageSize(m_counter, 2, ref status);
}
CheckStatus(status);
SetDownSourceEdge(inverted, true);
}
/// <summary>
/// Sets the index source for the encoder. Resets based on the <see cref="IndexingType"/> passed.
/// </summary>
/// <param name="source">The <see cref="DigitalSource"/> to set as the encoder index.</param>
/// <param name="type">The state that will cause the encoder to reset.</param>
public void SetIndexSource(DigitalSource source, IndexingType type = IndexingType.ResetOnRisingEdge)
{
int status = 0;
HAL_SetEncoderIndexSource(m_encoder, source.PortHandleForRouting,
(HALAnalogTriggerType)source.AnalogTriggerTypeForRouting, (HALEncoderIndexingType)type, ref status);
CheckStatus(status);
}
/// <summary>
/// Construct an Encoder given A and B Channels.
/// </summary>
/// <remarks>The encoder will start counting immediately.</remarks>
/// <param name="aChannel">The A channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port.</param>
/// <param name="bChannel">The B channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port.</param>
/// <param name="reverseDirection">True if to reverse the output, otherwise false</param>
public Encoder(int aChannel, int bChannel, bool reverseDirection = false)
{
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = false;
ASource = new DigitalInput(aChannel);
BSource = new DigitalInput(bChannel);
InitEncoder(reverseDirection, EncodingType.K4X);
}
/// <summary>
/// Creates an instacne of a counter from a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>
/// This constructor should be used if an existing <see cref="DigitalSource"/> is to
/// be shared by multiple other objects such as <see cref="Encoder">Encoders</see> or if
/// the <see cref="DigitalSource"/> is not a DIO Channel (for instance a <see cref="AnalogTrigger"/>.
/// <para>The counter will start couting immediately.</para>
/// </remarks>
/// <param name="source">The <see cref="DigitalSource"/> to count.</param>
public Counter(DigitalSource source)
{
if (source == null)
{
throw new ArgumentNullException(nameof(source), "Digital Source given was null");
}
InitCounter(Mode.TwoPulse);
SetUpSource(source);
}
public Encoder(int aChannel, int bChannel, bool reverseDirection)
{
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = false;
m_aSource = new DigitalInput(aChannel);
m_bSource = new DigitalInput(bChannel);
InitEncoder(reverseDirection);
}
/// <summary>
/// Sets the index source for the encoder. Resets based on the <see cref="IndexingType"/> passed.
/// </summary>
/// <param name="channel">The DIO channel to set as the encoder index.</param>
/// <param name="type">The state that will cause the encoder to reset.</param>
public void SetIndexSource(int channel, IndexingType type = IndexingType.ResetOnRisingEdge)
{
if (m_allocatedI)
{
throw new AllocationException("Digital Input for Indexing already allocated");
}
IndexSource = new DigitalInput(channel);
m_allocatedI = true;
SetIndexSource(IndexSource, type);
}
private static void SetFilter(DigitalSource input, int channelIndex)
{
if (input != null)
{
int status = 0;
SetFilterSelect(input.Port, channelIndex, ref status);
CheckStatus(status);
int selected = GetFilterSelect(input.Port, ref status);
CheckStatus(status);
if (selected != channelIndex)
throw new InvalidOperationException($"SetFilterSelect for {channelIndex} failed -> {selected}");
}
}
/// <summary>
/// Sets the down source object for the counter.
/// </summary>
/// <param name="source">The DigitalSource to use for counting down.</param>
public void SetDownSource(DigitalSource source)
{
if (m_downSource != null && m_allocatedDownSource)
{
m_downSource.Dispose();
m_allocatedDownSource = false;
}
m_downSource = source;
int status = 0;
HAL_SetCounterDownSource(m_counter, source.PortHandleForRouting, (HALAnalogTriggerType)source.AnalogTriggerTypeForRouting, ref status);
CheckStatus(status);
}
/// <summary>
/// Disable the down counting source of the counter.
/// </summary>
public void ClearDownSource()
{
if (m_downSource != null && m_allocatedDownSource)
{
m_downSource.Dispose();
m_allocatedDownSource = false;
}
m_downSource = null;
int status = 0;
HAL_ClearCounterDownSource(m_counter, ref status);
CheckStatus(status);
}
private static void SetFilter(DigitalSource input, int channelIndex)
{
if (input != null)
{
int status = 0;
HAL_SetFilterSelect(input.PortHandleForRouting, channelIndex, ref status);
CheckStatus(status);
int selected = HAL_GetFilterSelect(input.PortHandleForRouting, ref status);
CheckStatus(status);
if (selected != channelIndex)
{
throw new InvalidOperationException($"SetFilterSelect for {channelIndex} failed -> {selected}");
}
}
}
/// <inheritdoc/>
public override void Dispose()
{
UpdateWhenEmpty = true;
ClearUpSource();
ClearDownSource();
int status = 0;
HAL_FreeCounter(m_counter, ref status);
CheckStatus(status);
m_upSource = null;
m_downSource = null;
m_counter = 0;
}
private void InitCounter(Mode mode)
{
int status = 0;
m_counter = InitializeCounter(mode, ref m_index, ref status);
CheckStatus(status);
m_allocatedUpSource = false;
m_allocatedDownSource = false;
m_upSource = null;
m_downSource = null;
MaxPeriod = 0.5;
m_distancePerPulse = 1;
Report(ResourceType.kResourceType_Counter, (byte)m_index, (byte)mode);
}
private void InitCounter(Mode mode)
{
int status = 0;
m_counter = HAL_InitializeCounter((HALCounterMode)mode, ref m_index, ref status);
CheckStatusForceThrow(status);
m_allocatedUpSource = false;
m_allocatedDownSource = false;
m_upSource = null;
m_downSource = null;
MaxPeriod = 0.5;
DistancePerPulse = 1;
Report(ResourceType.kResourceType_Counter, (byte)m_index, (byte)mode);
}
/// <summary>
/// Construct an Encoder given precreated A and B Channels as <see cref="DigitalSource">DigitalSources</see>.
/// </summary>
/// <remarks>The encoder will start counting immediately.</remarks>
/// <param name="aSource">The A channel <see cref="DigitalSource"/></param>
/// <param name="bSource">The B channel <see cref="DigitalSource"/></param>
/// <param name="reverseDirection">True if to reverse the output, otherwise false</param>
public Encoder(DigitalSource aSource, DigitalSource bSource, bool reverseDirection = false)
{
m_allocatedA = false;
m_allocatedB = false;
m_allocatedI = false;
if (aSource == null)
{
throw new ArgumentNullException(nameof(aSource), "Digital Source A was null");
}
ASource = aSource;
if (bSource == null)
{
throw new ArgumentNullException(nameof(bSource), "Digital Source B was null");
}
BSource = bSource;
InitEncoder(reverseDirection, EncodingType.K4X);
}
public void SetIndexSource(DigitalSource source)
{
SetIndexSource(source, IndexingType.ResetOnRisingEdge);
}
public void SetIndexSource(DigitalSource source, IndexingType type)
{
int status = 0;
bool activeHigh = (type == IndexingType.ResetWhileHigh) || (type == IndexingType.ResetOnRisingEdge);
bool edgeSensitive = (type == IndexingType.ResetOnFallingEdge) || (type == IndexingType.ResetOnRisingEdge);
SetEncoderIndexSource(m_encoder, (uint)source.ChannelForRouting,
source.AnalogTriggerForRouting, activeHigh, edgeSensitive, ref status);
CheckStatus(status);
}
public override void Dispose()
{
if (m_aSource != null && m_allocatedA)
{
m_aSource.Dispose();
m_allocatedA = false;
}
if (m_bSource != null && m_allocatedB)
{
m_bSource.Dispose();
m_allocatedB = false;
}
if (m_indexSource != null && m_allocatedI)
{
m_indexSource.Dispose();
m_allocatedI = false;
}
m_aSource = null;
m_bSource = null;
m_indexSource = null;
if (m_counter != null)
{
m_counter.Dispose();
m_counter = null;
}
else
{
int status = 0;
FreeEncoder(m_encoder, ref status);
CheckStatus(status);
}
}
public Encoder(DigitalSource aSource, DigitalSource bSource, DigitalSource indexSource) :
this(aSource, bSource, indexSource, false)
{
}
/// <summary>
/// Removes this filter from the given digital input.
/// </summary>
/// <param name="input">The <see cref="DigitalSource"/> to stop filtering.</param>
public void Remove(DigitalSource input)
{
SetFilter(input, 0);
}
public void ClearDownSource()
{
if (m_downSource != null && m_allocatedDownSource)
{
m_downSource.Dispose();
m_allocatedDownSource = false;
}
m_downSource = null;
int status = 0;
ClearCounterDownSource(m_counter, ref status);
CheckStatus(status);
}
/// <summary>
/// Construct a <see cref="GearTooth"/> sensor given a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>No direction sensing is assumed.</remarks>
/// <param name="source">An existing <see cref="DigitalSource"/> object
/// (such as a <see cref="DigitalInput"/></param>
public GearTooth(DigitalSource source) : this(source, false)
{
}
/// <summary>
/// Construct a <see cref="GearTooth"/> sensor given a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>This should be used when sharing digital inputs</remarks>
/// <param name="source">An existing <see cref="DigitalSource"/> object
/// (such as a <see cref="DigitalInput"/></param>
/// <param name="directionSensitive">True to enable direction sensing.</param>
public GearTooth(DigitalSource source, bool directionSensitive) : base(source)
{
DirectionSensing = directionSensitive;
}
/// <summary>
/// Removes this filter from the given digital input.
/// </summary>
/// <param name="input">The <see cref="DigitalSource"/> to stop filtering.</param>
public void Remove(DigitalSource input)
{
SetFilter(input, 0);
}
/// <summary>
/// Assigns the <see cref="DigitalSource"/> to this glitch filter
/// </summary>
/// <param name="input">The <see cref="DigitalSource"/> to add.</param>
public void Add(DigitalSource input)
{
SetFilter(input, m_channelIndex + 1);
}
public SWave_Encoder(DigitalSource Asource, DigitalSource Bsource, DigitalSource Indexsource)
: base(Asource, Bsource, Indexsource)
{
}
/// <summary>
/// Construct an Encoder given precreated A, B, and Index Channels as <see cref="DigitalSource">DigitalSources</see>.
/// </summary>
/// <remarks>The encoder will start counting immediately.</remarks>
/// <param name="aSource">The A channel <see cref="DigitalSource"/></param>
/// <param name="bSource">The B channel <see cref="DigitalSource"/></param>
/// <param name="indexSource">The Index channel <see cref="DigitalSource"/></param>
/// <param name="reverseDirection">True if to reverse the output, otherwise false</param>
public Encoder(DigitalSource aSource, DigitalSource bSource,
DigitalSource indexSource, bool reverseDirection = false)
{
m_allocatedA = false;
m_allocatedB = false;
m_allocatedI = false;
if (aSource == null)
throw new ArgumentNullException(nameof(aSource), "Digital Source A was null");
m_aSource = aSource;
if (bSource == null)
throw new ArgumentNullException(nameof(bSource), "Digital Source B was null");
m_aSource = aSource;
m_bSource = bSource;
m_indexSource = indexSource;
InitEncoder(reverseDirection);
SetIndexSource(indexSource);
}
public override void Dispose()
{
UpdateWhenEmpty = true;
ClearUpSource();
ClearDownSource();
int status = 0;
FreeCounter(m_counter, ref status);
CheckStatus(status);
m_upSource = null;
m_downSource = null;
m_counter = IntPtr.Zero;
}
public Encoder(DigitalSource aSource, DigitalSource bSource,
bool reverseDirection, EncodingType encodingType)
{
m_allocatedA = false;
m_allocatedB = false;
m_allocatedI = false;
m_encodingType = encodingType;
if (aSource == null)
throw new NullReferenceException("Digital Source A was null");
m_aSource = aSource;
if (bSource == null)
throw new NullReferenceException("Digital Source B was null");
m_aSource = aSource;
m_bSource = bSource;
InitEncoder(reverseDirection);
}
public void SetDownSource(DigitalSource source)
{
if (m_downSource != null && m_allocatedDownSource)
{
m_downSource.Dispose();
m_allocatedDownSource = false;
}
m_downSource = source;
int status = 0;
SetCounterDownSource(m_counter, (uint)source.ChannelForRouting, source.AnalogTriggerForRouting, ref status);
CheckStatus(status);
}
public Encoder(DigitalSource aSource, DigitalSource bSource,
DigitalSource indexSource, bool reverseDirection)
{
m_allocatedA = false;
m_allocatedB = false;
m_allocatedI = false;
if (aSource == null)
throw new NullReferenceException("Digital Source A was null");
m_aSource = aSource;
if (bSource == null)
throw new NullReferenceException("Digital Source B was null");
m_aSource = aSource;
m_bSource = bSource;
m_indexSource = indexSource;
InitEncoder(reverseDirection);
SetIndexSource(indexSource);
}
/// <summary>
/// Construct a <see cref="GearTooth"/> sensor given a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>This should be used when sharing digital inputs</remarks>
/// <param name="source">An existing <see cref="DigitalSource"/> object
/// (such as a <see cref="DigitalInput"/></param>
/// <param name="directionSensitive">True to enable direction sensing.</param>
public GearTooth(DigitalSource source, bool directionSensitive) : base(source)
{
DirectionSensing = directionSensitive;
}
/// <summary>
/// Assigns the <see cref="DigitalSource"/> to this glitch filter
/// </summary>
/// <param name="input">The <see cref="DigitalSource"/> to add.</param>
public void Add(DigitalSource input)
{
SetFilter(input, m_channelIndex + 1);
}
/// <summary>
/// Construct a <see cref="GearTooth"/> sensor given a <see cref="DigitalSource"/>.
/// </summary>
/// <remarks>No direction sensing is assumed.</remarks>
/// <param name="source">An existing <see cref="DigitalSource"/> object
/// (such as a <see cref="DigitalInput"/></param>
public GearTooth(DigitalSource source) : this(source, false)
{
}
public SWave_Encoder(DigitalSource Asource, DigitalSource Bsource, bool Reverse)
: base(Asource, Bsource, Reverse)
{
}
