public void InitPin(int pinIndex, PinConfig config, float height, Vector3 localPos)
{
LocalDefaultPos = localPos;
ResetPosition();
_xCoord = localPos.x;
PinIndex = pinIndex;
_moveDown.SetSpeed(config.SlipSpeed);
for (int i = 0; i < _upperColliderObj.Count; i++)
{
_upperColliderObj[i].SetActive(config.HasResetHead);
}
_pitchScale = config.PitchScale;
_mass = config.Mass;
for (int i = 0; i < _collider.Count; i++)
{
_collider[i].sharedMaterial = config.PhysicsMat;
}
_spriteRenderer.sprite = config.PinSprite;
_spriteRenderer.color = config.PinColor;
Vector2 anchorPos = transform.position;
anchorPos.y += height;
_springJoint.connectedAnchor = anchorPos;
}
public ActuatorPins(IEnumerable <int> pinNumbers, PinConfig pconfig, OnOffActuator actuator)
{
foreach (var p in pinNumbers)
{
apins[p] = new ActuatorPin(pconfig, actuator);
}
}
public ActuatorPins(IEnumerable<int> pinNumbers, PinConfig pconfig, OnOffActuator actuator)
{
foreach (var p in pinNumbers)
{
apins[p] = new ActuatorPin(pconfig, actuator);
}
}
/// <summary>
/// Create a configuration
/// </summary>
/// <returns></returns>
public PinConfig CreateConfig()
{
var config = new PinConfig(Pin);
config.Address = (int)tbAddr.Value;
config.Mode = modeControl.Mode;
return config;
}
public PinDialog(PinConfig action)
{
DataContext = new PinDialogVM();
pinActionConfig = action;
InitializeComponent();
PrimerNumPinTextBox.Focus();
}
/// <summary>
/// Default ctor
/// </summary>
internal LocoIOPort(int portNr, PinConfig config)
{
PortNr = portNr;
var mode = config.Mode;
Configuration = (mode != null) ? mode.Name : "?";
Address = (mode != null) ? config.Address : 0;
}
/// <summary>
/// Create a configuration
/// </summary>
/// <returns></returns>
public PinConfig CreateConfig()
{
var config = new PinConfig(Pin);
config.Address = (int)tbAddr.Value;
config.Mode = modeControl.Mode;
return(config);
}
private bool ReadDataBlock(PinConfig config)
{
object pData = new int();
_proSim.ReadFlagValue(config.ByteAddress, config.PinAddress, PointDataTypeConstants.S7_Bit, ref pData);
return((int)pData == 1);
}
private bool ReadOutputPin(PinConfig config)
{
var pData = new Object();
_proSim.ReadOutputPoint(config.ByteAddress, config.PinAddress, PointDataTypeConstants.S7_Bit, ref pData);
return((bool)pData);
}
/// <summary>
/// Initializes the gpio driver.
/// </summary>
/// <param name="pins">The available pins on the device.</param>
/// <param name="scheme">The numbering scheme to use.</param>
/// <returns>The driver.</returns>
internal GpioControllerDriver(InternalLogger logger, PinsWrapper pins, GpioDriver driverName, PinConfig pinConfig, NumberingScheme scheme)
{
Logger = logger ?? throw new ArgumentNullException(nameof(logger));
Pins = pins;
NumberingScheme = scheme;
DriverName = driverName;
PinConfig = pinConfig;
IsDriverInitialized = true;
}
/// <summary>
/// Create a configuration from the settings found in this control.
/// </summary>
public PinConfigList CreateConfig()
{
var list = new PinConfig[16];
for (int i = 0; i < 16; i++)
{
list[i] = pinControls[i].CreateConfig();
}
return(new PinConfigList(list));
}
/// <summary>
/// Connect this control to the given config.
/// </summary>
public void LoadFrom(PinConfig config)
{
try
{
initialized = false;
tbAddr.Value = config.Address;
modeControl.Mode = config.Mode;
}
finally
{
initialized = true;
UpdateUI();
}
}
public void Run()
{
var pins = new int[] { 2, 3, 4 };
var pinConfig = new PinConfig(PinTypeEnum.PWM);
var actuatorPins = new ActuatorPins(pins, pinConfig, 50);
// create a sender to send pin info
messageSender = new OnOffActuatorPinSender(a, actuatorPins);
var code = messageSender.Code;
// upload the code
u.UploadCode(a, code);
a.OnConnected += a_OnConnected;
a.OnDisconnected += a_OnDisconnected;
a.OpenConnection();
}
void Watch()
{
while (true)
{
try
{
var time = Driver.Time(PinConfig.Pin, PinConfig.Reversed, TimeSpan.FromSeconds(60), TimeSpan.FromMilliseconds(100));
if (time > 0)
{
if (PinConfig.StatusChangedAction != null)
{
PinConfig.StatusChangedAction(this.State);
}
}
}
catch (TimeoutException)
{
}
}
}
public void LoadStack(StackData stack, PinConfig config, List <Color> colors)
{
for (int j = 0; j < config.tiles.Count; j++)
{
var tileInfo = config.tiles[j];
{
GameObject tile = pooledGameObjects[0];
pooledGameObjects.RemoveAt(0);
var stackTile = tile.GetComponent <StackTile>();
stackTile.SetData(stack);
stackTile.colorCode = tileInfo.colorIndex;
stackTile.index = tileInfo.size;
stackTile.SetMesh(stack.meshes[tileInfo.size - 1].mesh);
stackTile.SetMaterials(stack.materials.ToArray());
stackTile.SetMaterialColor(colors[tileInfo.colorIndex]);
StackPin stackPin = stackPins[config.pinIndex];
stackTile.pinIndex = stackPin.pinIndex;
stackPin.PushTile(stackTile.gameObject);
}
}
}
public SystemDeviceDriver(InternalLogger logger, PinsWrapper pins, PinConfig pinConfig, NumberingScheme scheme) : base(logger, pins, Enums.GpioDriver.SystemDevicesDriver, pinConfig, scheme)
{
}
private void WriteInputPin(PinConfig config, bool value)
{
_proSim.WriteInputPoint(config.ByteAddress, config.PinAddress, value);
}
/// <summary>
/// Connect this control to the given config.
/// </summary>
public void LoadFrom(PinConfig config)
{
try
{
initialized = false;
tbAddr.Value = config.Address;
modeControl.Mode = config.Mode;
}
finally
{
initialized = true;
UpdateUI();
}
}
public ActuatorPins(IEnumerable <int> pins, PinConfig pin, int onLengthMs) : this(pins, pin, new OnOffActuator(onLengthMs))
{
}
internal WiringPiDriver(InternalLogger logger, PinsWrapper pins, PinConfig pinConfig, NumberingScheme scheme) : base(logger, pins, GpioDriver.WiringPiDriver, pinConfig, scheme)
{
CommandLine = new OSCommandLineInterfacer(OSPlatform.Linux, false, false, false);
}
/// <summary>
/// Use this mode to create a configuration using the
/// given addresses for the given connector.
/// </summary>
public ConnectorConfig CreateConfig(Connector connector, AddressList addresses, int subMode)
{
var pinConfigs = new PinConfig[PinCount];
var pinOffset = GetPinOffset(subMode);
for (int i = 0; i < PinCount; i++)
{
var pin = i + 1 + pinOffset;
if (connector == Connector.Second)
pin += 8;
pinConfigs[i] = new PinConfig(pin);
}
var result = new ConnectorConfig(pinConfigs);
Configure(result, addresses, subMode);
return result;
}
public ActuatorPin(PinConfig pin, OnOffActuator actuator)
: this(pin)
{
this.Actuator = actuator;
}
public ActuatorPins(IEnumerable<int> pins, PinConfig pin, int onLengthMs) : this(pins, pin, new OnOffActuator(onLengthMs)) { }
internal RaspberryIODriver(InternalLogger logger, PinsWrapper pins, PinConfig pinConfig, NumberingScheme scheme) : base(logger, pins, GpioDriver.RaspberryIODriver, pinConfig, scheme)
{
}
/// <summary>
/// Create a configuration from the settings found in this control.
/// </summary>
public PinConfigList CreateConfig()
{
var list = new PinConfig[16];
for (int i = 0; i < 16; i++)
{
list[i] = pinControls[i].CreateConfig();
}
return new PinConfigList(list);
}
public ActuatorPin(PinConfig pin, OnOffActuator actuator)
: this(pin)
{
this.Actuator = actuator;
}
public ActuatorPin(PinConfig pin)
{
this.Pin = pin;
}
public PinValidationService(PinConfig config)
{
_config = config;
}
private T HandleIncoming <T>(byte[] data)
{
switch (data[2])
{
case (127):
byte pin = data[3];
break;
case (100):
SupportedPins = new byte[data.Length - 3];
int ii = 3;
List <byte> supTempt = new List <byte>();
while (ii < 64)
{
byte sp = data[ii];
if (sp == 0)
{
break;
}
supTempt.Add(sp);
ii++;
}
return((T)((object)supTempt.ToArray()));
case (134):
var pc = new PinConfig();
pc.Pin = data[3];
pc.LedCount = data[4];
pc.DeviceClass = data[5];
for (int i = 6; i < 6 + 16; i++)
{
byte t = data[i];
if (t == 13 || t == 0)
{
break;
}
else
{
pc.Name = pc.Name + (char)t;
}
}
return((T)((object)pc));
case (2):
string r = "";
for (int i = 0; i < 16; i++)
{
byte t = data[i + 3];
if (t == 13 || t == 0)
{
break;
}
else
{
r = r + (char)t;
}
}
//Debug.WriteLine("----------------------------------------------");
//Debug.WriteLine(r);
//Debug.WriteLine("----------------------------------------------");
if (!r.StartsWith("MLG4"))
{
return(default);
}
return((T)((object)r.Substring(4).Trim()));
public ActuatorPin(PinConfig pin)
{
this.Pin = pin;
}
