public BioloidRegister GetAX12Register(AX12RegisterAdd add)
{
if (ax12Registers.ContainsKey((byte)add) == true)
{
return ax12Registers[(byte)add];
}
else
{
throw new Exception("Non encore implémentée");
}
}
protected virtual void OnWritingError(AX12RegisterAdd add, UInt16 value)
{
// Une copie temporaire est effectuée afin d'éviter une "race condition" si le dernier abonné se désabonne
// immédiatement après le control du null et avant levé de l'évènement
RefreshValue handler = WritingError;
if (handler != null)
{
handler(add, value);
}
}
private Arduino.Communication.DataAccess.ArduinoBus.currentSysexCallback WriteCallback(AX12RegisterAdd add)
{
return new Arduino.Communication.DataAccess.ArduinoBus.currentSysexCallback(
(x, y) =>
{
if (y[2] != 0)
{
OnWritingError(add, y[2]);
}
});
}
/// <summary>
///
/// </summary>
/// <param name="add"></param>
/// <param name="val"></param>
/// <param name="callback"></param>
protected internal void SetXVal(AX12RegisterAdd add, int val, Arduino.Communication.DataAccess.ArduinoBus.currentSysexCallback callback)
{
lock (this.lockref)
{
if (_re == null)
{
_busarduino.SendWriteInstructionMessage(_identifiant_dynamixel, _busarduino.GetAX12Register(add), new byte[] { (byte)(val & 0xFF), (byte)((val >> 8) & 0xFF) }, callback);
}
else
{
_busarduino.SendWriteInstructionMessage(_identifiant_dynamixel, _busarduino.GetAX12Register(add), new byte[] { (byte)(val & 0xFF), (byte)((val >> 8) & 0xFF) });
}
}
}
protected internal void SetXVal(AX12RegisterAdd add, byte val, Arduino.Communication.DataAccess.ArduinoBus.currentSysexCallback callback)
{
lock (lockref)
{
if (callback == null)
{
_busarduino.SendWriteInstructionMessage(_identifiant_dynamixel, _busarduino.GetAX12Register(add), new byte[] { val });
}
else
{
_busarduino.SendWriteInstructionMessage(_identifiant_dynamixel, _busarduino.GetAX12Register(add), new byte[] { val }, callback);
}
}
}
protected internal void GetXVal(AX12RegisterAdd add, Arduino.Communication.DataAccess.ArduinoBus.currentSysexCallback callback)
{
lock (this.lockref)
{
_busarduino.SendReadInstructionMessage(_identifiant_dynamixel, _busarduino.GetAX12Register(add), 0, callback);
}
}
protected override void OnWritingError(AX12RegisterAdd add, ushort value)
{
// Do any circle-specific processing here
// call the base class event invocation method
base.OnWritingError(add, value);
}
public BioloidRegister GetAX12Register(AX12RegisterAdd register)
{
return this.registersActuatorDynamixel.GetAX12Register(register);
}
