/**
* Caller must ensure timeoutMs is nonzero.
* @param timeoutMs How long to wait for response.
* @param handle Handle to CAN Rx Stream.
* @param paramEnum Parameter to look for.
* @param valueReceived [out] Value received in response frame, or zero if not received.
* @return nonzero for error code, zero for OK.
*/
private ErrorCode WaitForParamResponse(int timeoutMs, uint handle, ParamEnum paramEnum, out int valueReceived)
{
ErrorCode status = 0;
/* init the outputs to default values */
valueReceived = 0;
/* loop until timeout or receive if caller wants to check */
while (timeoutMs > 0)
{
/* wait a bit */
System.Threading.Thread.Sleep(1);
/* process received param events. Caller should have opened
* the stream already. */
ProcessStreamMessages(handle);
/* see if response was received */
if (0 == PollForParamResponse(paramEnum, out valueReceived))
{
break; /* leave inner loop */
}
/* decrement */
--timeoutMs;
}
/* if we get here then we timed out */
if (timeoutMs == 0)
{
status = ErrorCode.SIG_NOT_UPDATED;
}
return(status);
}
/** private wrapper to avoid specifying ordinal and subvalue */
ErrorCode ConfigSetWrapper(ParamEnum paramEnum, float value, int timeoutMs)
{
byte subValue = 0;
int ordinal = 0;
return(base.ConfigSetParameter(paramEnum, value, subValue, ordinal, timeoutMs));
}
/**
* Gets a parameter. Generally this is not used.
* This can be utilized in
* - Using new features without updating API installation.
* - Errata workarounds to circumvent API implementation.
* - Allows for rapid testing / unit testing of firmware.
*
* @param param
* Parameter enumeration.
* @param ordinal
* Ordinal of parameter.
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
* @return Value of parameter.
*/
public double ConfigGetParameter(ParamEnum param, int ordinal, int timeoutMs)
{
int retval;
_ll.ConfigGetParameter(param, out retval, ordinal, timeoutMs);
return(retval);
}
/**
* Sets a parameter. Generally this is not used.
* This can be utilized in
* - Using new features without updating API installation.
* - Errata workarounds to circumvent API implementation.
* - Allows for rapid testing / unit testing of firmware.
*
* @param param
* Parameter enumeration.
* @param value
* Value of parameter.
* @param subValue
* Subvalue for parameter. Maximum value of 255.
* @param ordinal
* Ordinal of parameter.
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode ConfigSetParameter(ParamEnum param, float value, int subValue, int ordinal, int timeoutMs)
{
ErrorCode retval = _ll.ConfigSetParameter(param, value, (byte)subValue, ordinal,
timeoutMs);
return(retval);
}
public ErrorCode ConfigGetParameter(ParamEnum paramEnum, out float value, int ordinal = 0, int timeoutMs = Constants.GetParamTimeoutMs)
{
int valueInt;
ErrorCode retval = ConfigGetParameter(paramEnum, 0, out valueInt, 0x00, ordinal, timeoutMs);
/* scaling */
switch (paramEnum)
{
case ParamEnum.eProfileParamSlot_P: /* 10.22 fixed pt value */
case ParamEnum.eProfileParamSlot_I:
case ParamEnum.eProfileParamSlot_D:
case ParamEnum.eProfileParamSlot_F:
value = ((float)valueInt) * FXP_TO_FLOAT_10_22;
break;
case ParamEnum.eNominalBatteryVoltage:
value = ((float)valueInt) * FXP_TO_FLOAT_0_8;
break;
case ParamEnum.eProfileParamSlot_PeakOutput:
value = ((float)valueInt) * 1.0f / 1023.0f;
break;
case ParamEnum.eSelectedSensorCoefficient:
value = ((float)valueInt) * 1.0f / 65536.0f;
break;
default: /* everything else is integral */
value = (float)valueInt;
break;
}
return(retval);
}
public Int32 GetParamResponseInt32(ParamEnum paramEnum, out int value)
{
float dvalue = 0;
int retval = GetParamResponse(paramEnum, out dvalue);
value = (Int32)dvalue;
return retval;
}
//----------------------------------------------------------------------------------------//
/** private wrapper to avoid specifying ordinal */
ErrorCode ConfigSetWrapper(ParamEnum paramEnum, TareType tareType, float angleDeg, int timeoutMs)
{
byte subValue = (byte)tareType;
int ordinal = 0;
return(base.ConfigSetParameter(paramEnum, angleDeg, subValue, ordinal, timeoutMs));
}
/**
* Gets a parameter. Generally this is not used.
* This can be utilized in
* - Using new features without updating API installation.
* - Errata workarounds to circumvent API implementation.
* - Allows for rapid testing / unit testing of firmware.
*
* @param param
* Parameter enumeration.
* @param ordinal
* Ordinal of parameter.
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
* @return Value of parameter.
*/
public float ConfigGetParameter(ParamEnum param, int ordinal, int timeoutMs = 0)
{
float retval;
_ll.ConfigGetParameter(param, out retval, ordinal, timeoutMs);
return(retval);
}
/// <summary>
/// PLC读取
/// </summary>
public string OpcSyncRead(ParamEnum p)
{
Type type = this.GetType(); //获取类型
System.Reflection.PropertyInfo propertyInfo = type.GetProperty(p.ToString()); //获取指定名称的属性
return(propertyInfo.GetValue(this, null).ToString()); //获取属性值
}
//------------------------------------- ConfigSet* interface -----------------------------------------//
/**
* Send a one shot frame to set an arbitrary signal.
* Most signals are in the control frame so avoid using this API unless you have
* to.
* Use this api for...
* -A motor controller profile signal eProfileParam_XXXs. These are backed up
* in flash. If you are gain-scheduling then call this periodically.
* -Default brake and limit switch signals... eOnBoot_XXXs. Avoid doing this,
* use the override signals in the control frame.
* Talon will automatically send a PARAM_RESPONSE after the set, so
* GetParamResponse will catch the latest value after a couple ms.
*/
private ErrorCode ConfigSetParameterRaw(ParamEnum paramEnum, int value, byte subValue, int ordinal = 0, int timeoutMs = 0)
{
ErrorCode statusTx = ErrorCode.OK; //!< Status code for transmit set request
ErrorCode statusRx = ErrorCode.OK; //!< Status code for receive (if timeoutMs is nonzero)
uint handle = 0; //!< Handle to CAN stream (if timeoutMs is nonzero)
/* sterilize inputs */
if ((int)paramEnum > 0xFFF)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
if (ordinal > 0xF)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
/* If we need to monitor for response, create rx stream */
/* wait for response frame */
if (timeoutMs > 0)
{
/* create a session to get filter rx frames. */
statusRx = OpenSession(ref handle);
/* remove stale entry if caller wants to wait for response. */
_sigs_Value.Remove((uint)paramEnum);
_sigs_SubValue.Remove((uint)paramEnum);
}
/* attempt to send request. Save status code */
statusTx = RequestOrSetParam(true, paramEnum, value, subValue, ordinal, 5); /* max tries is 5 */
/* If caller wants to block, wait for response frame and save status code */
if (timeoutMs > 0)
{
/* caller wants to get response, check our stream health */
if (statusRx != 0)
{
/* stream could not be allocated, this error code will likely
* be passed to caller below (assuming tx was succesful) */
}
else
{
/* stream open did not report an error, continue to poll for response */
int valueReceived;
statusRx = WaitForParamResponse(timeoutMs, handle, paramEnum, out valueReceived);
}
}
/* Close stream */
if (handle != 0)
{
CTRE.Native.CAN.CloseStream(handle);
}
/* return the transmit code first, if this fails then nothing else matters */
if (statusTx != 0)
{
return((ErrorCode)statusTx);
}
return((ErrorCode)statusRx);
}
/**
* Asks TALON to immedietely respond with signal value. This API is only used
* for signals that are not sent periodically.
* This can be useful for reading params that rarely change like Limit Switch
* settings and PIDF values.
* @param param to request.
*/
public int RequestParam(ParamEnum paramEnum)
{
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
int status = CTRE.Native.CAN.Send(PARAM_REQUEST | GetDeviceNumber(), (uint)paramEnum, 1, 0);
return status;
}
public ErrorCode ConfigGetParameter(ParamEnum paramEnum, out float value, int ordinal = 0, int timeoutMs = Constants.GetParamTimeoutMs)
{
int valueInt;
ErrorCode retval = ConfigGetParameter(paramEnum, 0, out valueInt, 0x00, ordinal, timeoutMs);
// todo scaling?
value = (float)valueInt;
return(retval);
}
protected override void _Init()
{
this.input = new ParamConnection("Input", null);
this.input.description = "The audio signal to process.";
this.genParams.Add(this.input);
this.outputType = new ParamEnum("Mode", "range", outputEnum, enumFull);
this.outputType.description = "The range of the output.";
this.genParams.Add(this.outputType);
}
protected override void _Init()
{
this.input = new ParamConnection("Input", null);
this.input.description = "The audio signal that will be clamped.";
this.genParams.Add(this.input);
this.clampType = new ParamEnum("Mode", "direction", clampEnum, enumFull);
this.clampType.description = "How the audio signal will get clamped.";
this.genParams.Add(this.clampType);
}
public int SetParam(ParamEnum paramEnum, float value, uint timeoutMs = 0)
{
Int32 rawbits = 0;
switch (paramEnum)
{
default: /* everything else is integral */
rawbits = (Int32)value;
break;
}
return SetParamRaw(paramEnum, rawbits, timeoutMs);
}
private int ConfigSetParameter(ParamEnum paramEnum, TareType tareType, float angleDeg, uint timeoutMs = 0)
{
const float deg_per_canunit = 0.015625f;
Int32 deg_3B = ((Int32)(angleDeg / deg_per_canunit));
long paramValue;
paramValue = (long)deg_3B & 0xFFFFFF;
paramValue <<= 8;
paramValue |= (byte)tareType;
return(ConfigSetParameter(paramEnum, (float)paramValue));
}
public int GetParamResponse(ParamEnum paramEnum, out float value)
{
Int32 rawbits = 0;
int retval = GetParamResponseRaw(paramEnum, out rawbits);
switch (paramEnum)
{
default: /* everything else is integral */
value = (float)rawbits;
break;
}
return retval;
}
//------------------------------------- ConfigGet* interface -----------------------------------------//
/**
* Blocking read of a given parameter. Virtual declared so that child classes can override with float return.
* Child classes will understand how to decode raw integral type into human readable floating point values.
* @param paramEnum Enumerated parameter to read.
* @param paramEnum Enumerated parameter to read.
*
*/
/** private get config with all params, status frame requires this */
private ErrorCode ConfigGetParameter(ParamEnum paramEnum, int valueToSend, out int valueReceived, byte subValue, int ordinal, int timeoutMs)
{
ErrorCode err1;
ErrorCode err2 = ErrorCode.OK;
if (timeoutMs != 0)
{
/* remove stale entry if caller wants to wait for response. */
_sigs_Value.Remove((uint)paramEnum);
_sigs_SubValue.Remove((uint)paramEnum);
}
/* send request */
err1 = RequestParam(paramEnum, valueToSend, subValue, ordinal);
/* initialize outputs */
valueReceived = 0;
/* wait for response frame */
if (timeoutMs > 0)
{
/* loop until timeout or receive if caller wants to check */
while (timeoutMs > 0)
{
/* wait a bit */
System.Threading.Thread.Sleep(1);
/* see if response was received */
if (0 == PollForParamResponse(paramEnum, out valueReceived))
{
break; /* leave inner loop */
}
/* decrement */
--timeoutMs;
}
/* if we get here then we timed out */
if (timeoutMs == 0)
{
err2 = ErrorCode.SIG_NOT_UPDATED;
}
}
/* return the first one */
if (err1 == ErrorCode.OK)
{
return(err2);
}
else
{
return(err1);
}
}
//------------------------------------- framing functions -----------------------------------------//
/**
* Asks TALON to immedietely respond with signal value. This API is only used
* for signals that are not sent periodically.
* This can be useful for reading params that rarely change like Limit Switch
* settings and PIDF values.
* @param paramEnum parameter to request.
* @param value
* @param subValue
* @param ordinal
*/
private ErrorCode RequestOrSetParam(bool bIsSet, ParamEnum paramEnum, int value, byte subValue, int ordinal, int retryMax)
{
if (ordinal < 0x0)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
if (ordinal > 0xF)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
byte paramEnum_h8 = (byte)((int)paramEnum >> 4);
byte paramEnum_l4 = (byte)((int)paramEnum & 0xF);
ulong frame = 0;
frame = subValue;
frame <<= 8;
frame |= 0x00;
frame <<= 8;
frame |= (byte)(value >> 0x00);
frame <<= 8;
frame |= (byte)(value >> 0x08);
frame <<= 8;
frame |= (byte)(value >> 0x10);
frame <<= 8;
frame |= (byte)(value >> 0x18);
frame <<= 8;
frame |= (byte)(ordinal | (paramEnum_l4 << 4));
frame <<= 8;
frame |= (byte)(paramEnum_h8);
uint baseId = bIsSet ? PARAM_SET : PARAM_REQUEST;
ErrorCode status = ErrorCode.OK;
do
{
status = (ErrorCode)CTRE.Native.CAN.Send(baseId | GetDeviceNumber(), frame, 8, 0);
/* If transmit successful, exit while loop */
if (status == 0)
{
break;
}
--retryMax;
} while (retryMax >= 0);
return(status);
}
public JawsParam()
{
Name = "Jaws";
Color1 = RndColor();
Color2 = RndColor();
paramsList = new List <AParamValue>();
Teeth = new ParamEnum()
{
FullName = "Teeth",
ShortName = "Tth",
values = new List <string>
{
"grass",
"all",
"meat"
}
};
paramsList.Add(Teeth);
SkinTextureOctave = new ParamValue()
{
FullName = "SkinTextureOctave",
ShortName = "SkOc",
Min = 1f,
Max = 3f,
Step = 1f,
Level = 1,
};
paramsList.Add(SkinTextureOctave);
SkinTextureFreq = new ParamValue()
{
FullName = "SkinTextureFreq",
ShortName = "SkFr",
Min = 0.05f,
Max = 0.5f,
Level = 6,
Step = 1f,
};
paramsList.Add(SkinTextureFreq);
JawsLevel = new ParamValue()
{
FullName = "Jaws Level",
ShortName = "JwLv",
Min = 1f,
Max = 2f,
Step = 0.5f,
Level = 1,
};
paramsList.Add(JawsLevel);
}
public override PxPre.Phonics.GenBase SpawnGenerator(
float freq,
float beatsPerSec,
int samplesPerSec,
float amp,
WiringDocument spawnFrom,
WiringCollection collection)
{
if (this.input.IsConnected() == false)
{
return(ZeroGen());
}
PxPre.Phonics.GenBase gb =
this.input.Reference.SpawnGenerator(
freq,
beatsPerSec,
samplesPerSec,
amp,
spawnFrom,
collection);
float offset = this.offset.GetWavelength(freq, beatsPerSec);
float record = this.recordAmt.GetWavelength(freq, beatsPerSec);
PxPre.Phonics.GenCycle.OffsetPass offsetType = PxPre.Phonics.GenCycle.OffsetPass.Pass;
switch (this.offsetType.value)
{
default:
case (int)PxPre.Phonics.GenCycle.OffsetPass.Pass:
offsetType = PxPre.Phonics.GenCycle.OffsetPass.Pass;
break;
case (int)PxPre.Phonics.GenCycle.OffsetPass.Silent:
offsetType = PxPre.Phonics.GenCycle.OffsetPass.Silent;
break;
case (int)PxPre.Phonics.GenCycle.OffsetPass.Hold:
offsetType = PxPre.Phonics.GenCycle.OffsetPass.Hold;
break;
}
return
(new PxPre.Phonics.GenCycle(
(int)(offset * samplesPerSec),
(int)(record * samplesPerSec),
offsetType,
gb));
}
/*---------------------setters and getters that use the param
* request/response-------------*/
/**
* Send a one shot frame to set an arbitrary signal.
* Most signals are in the control frame so avoid using this API unless you have
* to.
* Use this api for...
* -A motor controller profile signal eProfileParam_XXXs. These are backed up
* in flash. If you are gain-scheduling then call this periodically.
* -Default brake and limit switch signals... eOnBoot_XXXs. Avoid doing this,
* use the override signals in the control frame.
* Talon will automatically send a PARAM_RESPONSE after the set, so
* GetParamResponse will catch the latest value after a couple ms.
*/
public int SetParamRaw(ParamEnum paramEnum, int rawBits, uint timeoutMs = 0)
{
/* caller is using param API. Open session if it hasn'T been done. */
if (0 == _can_h)
{
OpenSessionIfNeedBe();
}
/* wait for response frame */
if (timeoutMs != 0)
{
/* remove stale entry if caller wants to wait for response. */
_sigs.Remove((uint)paramEnum);
}
/* frame set request and send it */
UInt64 frame = ((UInt64)rawBits) & 0xFFFFFFFF;
frame <<= 8;
frame |= (byte)paramEnum;
uint arbId = PARAM_SET | GetDeviceNumber();
int status = CTRE.Native.CAN.Send(arbId, frame, 5, 0);
/* wait for response frame */
if (timeoutMs > 0)
{
int readBits;
/* loop until timeout or receive if caller wants to check */
while (timeoutMs > 0)
{
/* wait a bit */
System.Threading.Thread.Sleep(1);
/* see if response was received */
if (0 == GetParamResponseRaw(paramEnum, out readBits))
{
break; /* leave inner loop */
}
/* decrement */
--timeoutMs;
}
/* if we get here then we timed out */
if (timeoutMs == 0)
{
status = (int)Codes.CTR_SigNotUpdated;
}
}
return(status);
}
/**
* Checks cached CAN frames and updating solicited signals.
*/
int PollForParamResponse(ParamEnum paramEnum, out Int32 rawBits)
{
int retval = 0;
/* grab the solicited signal value */
if (_sigs_Value.Contains((uint)paramEnum) == false)
{
retval = (int)ErrorCode.SIG_NOT_UPDATED;
rawBits = 0; /* default value if signal was not received */
}
else
{
Object value = _sigs_Value[(uint)paramEnum];
uint temp = (uint)value;
rawBits = Sterilize(temp);
}
return(retval);
}
protected override void _Init()
{
this.input = new ParamConnection("Input", null);
this.input.description = "The audio signal to record and playback.";
this.genParams.Add(this.input);
this.offset = new ParamTimeLen("Offset", 0.0f, ParamTimeLen.TimeLenType.Seconds, ParamTimeLen.WidgetTime);
this.offset.description = "The amount of time to pass before recording. What kind of behaviour to perform during this time is controlled by the Offset Ty parameter.";
this.genParams.Add(this.offset);
this.offsetType = new ParamEnum("Offset Ty", "Offset Type", offsetEnum, 0);
this.offsetType.description = "How to process the audio signal while offsetting.";
this.genParams.Add(this.offsetType);
this.recordAmt = new ParamTimeLen("Amount", 1.0f, ParamTimeLen.TimeLenType.Seconds, ParamTimeLen.WidgetTime);
this.recordAmt.description = "The amount of time to record.";
this.genParams.Add(this.recordAmt);
}
/**
* Checks cached CAN frames and updating solicited signals.
*/
public int GetParamResponseRaw(ParamEnum paramEnum, out Int32 rawBits)
{
int retval = 0;
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
/* grab the solicited signal value */
if (_sigs.Contains((uint)paramEnum) == false)
{
retval = (int)Codes.CTR_SigNotUpdated;
rawBits = 0; /* default value if signal was not received */
}
else
{
Object value = _sigs[(uint)paramEnum];
uint temp = (uint)value;
rawBits = (int)temp;
}
return retval;
}
/**
* Checks cached CAN frames and updating solicited signals.
*/
int PollForParamResponse(ParamEnum paramEnum, out Int32 rawBits)
{
int retval = 0;
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
/* grab the solicited signal value */
if (_sigs_Value.Contains((uint)paramEnum) == false)
{
retval = (int)ErrorCode.SIG_NOT_UPDATED;
rawBits = 0; /* default value if signal was not received */
}
else
{
Object value = _sigs_Value[(uint)paramEnum];
uint temp = (uint)value;
rawBits = (int)temp;
}
return(retval);
}
//------------------------------------- framing functions -----------------------------------------//
/**
* Asks TALON to immedietely respond with signal value. This API is only used
* for signals that are not sent periodically.
* This can be useful for reading params that rarely change like Limit Switch
* settings and PIDF values.
* @param param to request.
*/
private ErrorCode RequestParam(ParamEnum paramEnum, int value, byte subValue, int ordinal)
{
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
if (ordinal < 0x0)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
if (ordinal > 0xF)
{
return(ErrorCode.CAN_INVALID_PARAM);
}
byte paramEnum_h8 = (byte)((int)paramEnum >> 4);
byte paramEnum_l4 = (byte)((int)paramEnum & 0xF);
ulong frame = 0;
frame = subValue;
frame <<= 8;
frame |= 0x00;
frame <<= 8;
frame |= (byte)(value >> 0x00);
frame <<= 8;
frame |= (byte)(value >> 0x08);
frame <<= 8;
frame |= (byte)(value >> 0x10);
frame <<= 8;
frame |= (byte)(value >> 0x18);
frame <<= 8;
frame |= (byte)(ordinal | (paramEnum_l4 << 4));
frame <<= 8;
frame |= (byte)(paramEnum_h8);
ErrorCode status = (ErrorCode)CTRE.Native.CAN.Send(PARAM_REQUEST | GetDeviceNumber(), frame, 8, 0);
return(status);
}
public int SetParam(ParamEnum paramEnum, float value, uint timeoutMs = 0)
{
Int32 rawbits = 0;
switch (paramEnum)
{
case ParamEnum.eProfileParamSlot0_P: /* unsigned 10.22 fixed pt value */
case ParamEnum.eProfileParamSlot0_I:
case ParamEnum.eProfileParamSlot0_D:
case ParamEnum.eProfileParamSlot1_P:
case ParamEnum.eProfileParamSlot1_I:
case ParamEnum.eProfileParamSlot1_D:
{
UInt32 urawbits;
if (value > 1023) /* bounds check doubles that are outside u10.22 */
value = 1023;
else if (value < 0)
value = 0;
urawbits = (UInt32)(value * FLOAT_TO_FXP_10_22); /* perform unsign arithmetic */
rawbits = (int)urawbits; /* copy bits over. SetParamRaw just stuffs into CAN frame with no sense of signedness */
}
break;
case ParamEnum.eProfileParamSlot1_F: /* signed 10.22 fixed pt value */
case ParamEnum.eProfileParamSlot0_F:
if (value > 512) /* bounds check doubles that are outside s10.22 */
value = 512;
else if (value < -512)
value = -512;
rawbits = (Int32)(value * FLOAT_TO_FXP_10_22);
break;
case ParamEnum.eProfileParamVcompRate: /* unsigned 0.8 fixed pt value volts per ms */
/* within [0,1) volts per ms.
Slowest ramp is 1/256 VperMilliSec or 3.072 seconds from 0-to-12V.
Fastest ramp is 255/256 VperMilliSec or 12.1ms from 0-to-12V.
*/
if (value <= 0)
{
/* negative or zero (disable), send raw value of zero */
rawbits = 0;
}
else {
/* nonzero ramping */
rawbits = (int)(value * FLOAT_TO_FXP_0_8);
/* since whole part is cleared, cap to just under whole unit */
if (rawbits > (FLOAT_TO_FXP_0_8 - 1))
rawbits = (int)(FLOAT_TO_FXP_0_8 - 1);
/* since ramping is nonzero, cap to smallest ramp rate possible */
if (rawbits == 0)
{
/* caller is providing a nonzero ramp rate that's too small
to serialize, so cap to smallest possible */
rawbits = 1;
}
}
break;
default: /* everything else is integral */
rawbits = (Int32)value;
break;
}
return SetParamRaw(paramEnum, rawbits, timeoutMs);
}
public Int32 GetParamResponseInt32(ParamEnum paramEnum, out int value)
{
float dvalue = 0;
int retval = GetParamResponse(paramEnum, out dvalue);
value = (Int32)dvalue;
return retval;
}
/// <summary>
/// Sets a parameter. Generally this is not used.
/// This can be utilized in
/// - Using new features without updating API installation.
/// - Errata workarounds to circumvent API implementation.
/// - Allows for rapid testing / unit testing of firmware.
/// </summary>
/// <param name="param">Parameter enumeration.</param>
/// <param name="value">Value of parameter.</param>
/// <param name="subValue">Subvalue for parameter.Maximum value of 255.</param>
/// <param name="ordinal">Ordinal of parameter.</param>
/// <param name="timeoutMs">Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.</param>
/// <returns>Error Code generated by function. 0 indicates no error.</returns>
public ErrorCode ConfigSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
{
return(ConfigSetParameter((int)param, value, subValue, ordinal, timeoutMs));
}
public static void paramMethod(int i, [In] int j, [Out] int k, [Optional] int l, [In, Out] int m, ParamEnum n = ParamEnum.Foo)
{
}
public static void paramMethod(int i, [In] int j, [Out] int k, [Optional] int l, [In, Out] int m, [DefaultParameterValue(ParamEnum.Foo)] ParamEnum n)
{
}
/**
* Asks TALON to immedietely respond with signal value. This API is only used
* for signals that are not sent periodically.
* This can be useful for reading params that rarely change like Limit Switch
* settings and PIDF values.
* @param param to request.
*/
public int RequestParam(ParamEnum paramEnum)
{
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
int status = CTRE.Native.CAN.Send(PARAM_REQUEST | GetDeviceNumber(), (uint)paramEnum, 1, 0);
return status;
}
/*---------------------setters and getters that use the param
* request/response-------------*/
/**
* Send a one shot frame to set an arbitrary signal.
* Most signals are in the control frame so avoid using this API unless you have
* to.
* Use this api for...
* -A motor controller profile signal eProfileParam_XXXs. These are backed up
* in flash. If you are gain-scheduling then call this periodically.
* -Default brake and limit switch signals... eOnBoot_XXXs. Avoid doing this,
* use the override signals in the control frame.
* Talon will automatically send a PARAM_RESPONSE after the set, so
* GetParamResponse will catch the latest value after a couple ms.
*/
public int SetParamRaw(ParamEnum paramEnum, int rawBits, uint timeoutMs = 0)
{
/* caller is using param API. Open session if it hasn'T been done. */
if (0 == _can_h) OpenSessionIfNeedBe();
/* wait for response frame */
if (timeoutMs != 0)
{
/* remove stale entry if caller wants to wait for response. */
_sigs.Remove((uint)paramEnum);
}
/* frame set request and send it */
UInt64 frame = ((UInt64)rawBits) & 0xFFFFFFFF;
frame <<= 8;
frame |= (byte)paramEnum;
uint arbId = PARAM_SET | GetDeviceNumber();
int status = CTRE.Native.CAN.Send(arbId, frame, 5, 0);
/* wait for response frame */
if(timeoutMs > 0)
{
int readBits;
/* loop until timeout or receive if caller wants to check */
while (timeoutMs > 0)
{
/* wait a bit */
System.Threading.Thread.Sleep(1);
/* see if response was received */
if(0 == GetParamResponseRaw(paramEnum, out readBits))
break; /* leave inner loop */
/* decrement */
--timeoutMs;
}
/* if we get here then we timed out */
if (timeoutMs == 0)
status = (int)Codes.CTR_SigNotUpdated;
}
return status;
}
/**
* Checks cached CAN frames and updating solicited signals.
*/
public int GetParamResponseRaw(ParamEnum paramEnum, out Int32 rawBits)
{
int retval = 0;
/* process received param events. We don't expect many since this API is not
* used often. */
ProcessStreamMessages();
/* grab the solicited signal value */
if (_sigs.Contains((uint)paramEnum) == false)
{
retval = (int)Codes.CTR_SigNotUpdated;
rawBits = 0; /* default value if signal was not received */
}
else
{
Object value = _sigs[(uint)paramEnum];
uint temp = (uint)value;
rawBits = (int)temp;
}
return retval;
}
public int GetParamResponse(ParamEnum paramEnum, out float value)
{
Int32 rawbits = 0;
int retval = GetParamResponseRaw(paramEnum, out rawbits);
switch (paramEnum)
{
case ParamEnum.eProfileParamSlot0_P: /* 10.22 fixed pt value */
case ParamEnum.eProfileParamSlot0_I:
case ParamEnum.eProfileParamSlot0_D:
case ParamEnum.eProfileParamSlot0_F:
case ParamEnum.eProfileParamSlot1_P:
case ParamEnum.eProfileParamSlot1_I:
case ParamEnum.eProfileParamSlot1_D:
case ParamEnum.eProfileParamSlot1_F:
case ParamEnum.eCurrent:
case ParamEnum.eTemp:
case ParamEnum.eBatteryV:
value = ((float)rawbits) * FXP_TO_FLOAT_10_22;
break;
case ParamEnum.eProfileParamVcompRate:
value = ((float)rawbits) * FXP_TO_FLOAT_0_8;
break;
default: /* everything else is integral */
value = (float)rawbits;
break;
}
return retval;
}
