static void Main(string[] args)
{
using var module = new PiTopModule();
var display = module.Display;
Console.WriteLine("press enter key to render square");
Console.ReadLine();
display.Draw((d, cr) =>
{
var square = new RectangularPolygon(0, 0, cr.Width / 2, cr.Height / 2);
d.Fill(Color.White, square);
});
Console.WriteLine("press enter key to render text");
Console.ReadLine();
var font = SystemFonts.Collection.Find("Roboto").CreateFont(10);
module.Display.Draw((context, cr) => {
context.Clear(Color.Black);
var rect = TextMeasurer.Measure("Diego was here", new RendererOptions(font));
var x = (cr.Width - rect.Width) / 2;
var y = (cr.Height + (rect.Height)) / 2;
context.DrawText("Hello\nWorld", font, Color.White, new PointF(0, 0));
});
Console.WriteLine("press enter key to exit");
Console.ReadLine();
}
static void Main(string[] args)
{
using var pipeline = Pipeline.Create("PiTop", true);
using var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
var threshold = plate
.GetOrCreateDevice <Potentiometer>(AnaloguePort.A0)
.CreateComponent(pipeline, TimeSpan.FromSeconds(0.5));
var distance = plate
.GetOrCreateDevice <UltrasonicSensor>(DigitalPort.D3)
.CreateComponent(pipeline, TimeSpan.FromSeconds(0.2));
var alert = new ValueAlertComponent(pipeline,
new[]
{
plate.GetOrCreateDevice <Led>(DigitalPort.D0),
plate.GetOrCreateDevice <Led>(DigitalPort.D1),
plate.GetOrCreateDevice <Led>(DigitalPort.D2)
});
threshold
.Select(t => t * 50)
.PipeTo(alert.Threshold);
distance
.Select(d => d.Value)
.PipeTo(alert.Value);
pipeline.Run();
}
private static async Task TestLed01()
{
var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
var ports = DigitalPort.D0.GetDigitalPortRange(3);
var leds = ports
.Select(p => plate.GetOrCreateDevice(p, (dp, c) => new Led(dp, c)))
.ToArray();
foreach (var led in leds)
{
led.Off();
}
var pos = 0;
for (var i = 0; i < (leds.Length * 10); i++)
{
leds[pos].Toggle();
pos = (pos + 1) % 3;
await Task.Delay(300);
}
foreach (var led in leds)
{
led.Off();
}
}
public FoundationPlate(PiTopModule module) : base(module)
{
_digitalConnectedDeviceFactory = new ConnectedDeviceFactory <DigitalPort, DigitalPortDeviceBase>(deviceType =>
{
var ctorSignature = new[] { typeof(DigitalPort), typeof(IGpioControllerFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort => (DigitalPortDeviceBase)Activator.CreateInstance(deviceType, devicePort, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_analogueConnectedDeviceFactory = new ConnectedDeviceFactory <AnaloguePort, AnaloguePortDeviceBase>(
deviceType =>
{
var ctorSignature = new[] { typeof(AnaloguePort), typeof(int), typeof(II2CDeviceFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(AnaloguePortDeviceBase)Activator.CreateInstance(deviceType, devicePort, DefaultI2CAddress, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
RegisterForDisposal(_digitalConnectedDeviceFactory);
RegisterForDisposal(_analogueConnectedDeviceFactory);
}
private static Task TestPotentiometer(AnaloguePort port)
{
var cancellationSource = new CancellationTokenSource();
var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
Task.Run(() =>
{
var potentiometer = plate.GetOrCreateDevice <Potentiometer>(port);
Observable
.Interval(TimeSpan.FromSeconds(0.5))
.Select(_ => potentiometer.Position)
.Subscribe(Console.WriteLine);
Console.WriteLine("press enter key to exit");
}, cancellationSource.Token);
return(Task.Run(() =>
{
Console.ReadLine();
module.Dispose();
cancellationSource.Cancel(false);
}, cancellationSource.Token));
}
public static void DisposeDevice(this PiTopModule module, FileSystemCamera device)
{
var factory = module.GetDeviceFactory <FileSystemCameraSettings, FileSystemCamera>();
AssertFactory(factory);
factory.DisposeDevice(device);
}
private static Task TestUltrasoundSensor()
{
var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
var cancellationSource = new CancellationTokenSource();
Task.Run(() =>
{
var sensor =
plate.GetOrCreateDevice <UltrasonicSensor>(DigitalPort.D3, (dp, c) => new UltrasonicSensor(dp, c));
Observable
.Interval(TimeSpan.FromSeconds(0.5))
.Subscribe(_ => { Console.WriteLine(sensor.Distance); });
Console.WriteLine("press enter key to exit");
}, cancellationSource.Token);
return(Task.Run(() =>
{
Console.ReadLine();
module.Dispose();
cancellationSource.Cancel(false);
}, cancellationSource.Token));
}
public static void DisposeDevice <T>(this PiTopModule module, T device)
where T : ICamera
{
var factory = module.GetDeviceFactory <int, ICamera>();
AssertFactory(factory);
factory.DisposeDevice(device);
}
public void can_obtain_plate_from_module()
{
using var module = new PiTopModule(new DummyGpioController());
using var plate = module.GetOrCreatePlate <FoundationPlate>();
plate.Should().NotBeNull();
}
public void can_be_created_via_factory()
{
using var module = new PiTopModule(new DummyGpioController());
module.UseCamera();
using var camera = module.GetOrCreateCamera <FileSystemCamera>(new DirectoryInfo(Path.GetTempPath()));
camera.Should()
.NotBeNull();
}
public void can_load_images()
{
using var dir = DisposableDirectory.CreateTemp();
using var module = new PiTopModule(new DummyGpioController());
module.UseCamera();
using var camera = module.GetOrCreateCamera <FileSystemCamera>(dir.Root);
camera.FrameCount.Should()
.Be(3);
}
public void plate_can_create_led()
{
using var module = new PiTopModule(new DummyGpioController());
using var plate = module.GetOrCreatePlate <FoundationPlate>();
using var led = plate.GetOrCreateDevice <Led>(DigitalPort.D0);
led.Should().NotBeNull();
}
public Potentiometer(AnaloguePort port, int deviceAddress, bool normalizeValue = true) : base(port, deviceAddress)
{
_normalizeValue = normalizeValue;
var(pin1, _) = Port.ToPinPair();
var bus = PiTopModule.CreateI2CDevice(deviceAddress);
_adc = new AnalogueDigitalConverter(bus, pin1);
AddToDisposables(_adc);
}
public void plate_returns_previously_created_devices()
{
using var module = new PiTopModule(new DummyGpioController());
using var plate = module.GetOrCreatePlate <FoundationPlate>();
var led1 = plate.GetOrCreateDevice <Led>(DigitalPort.D0);
var led2 = plate.GetOrCreateDevice <Led>(DigitalPort.D0);
led2.Should().BeSameAs(led1);
}
public void cannot_use_factory_if_is_not_initialised()
{
using var module = new PiTopModule(new DummyGpioController());
var action = new Action(() =>
module.GetOrCreateCamera<FileSystemCamera>(new DirectoryInfo(Path.GetTempPath()))
);
action.Should().Throw<InvalidOperationException>()
.Which
.Message
.Should()
.Match("Cannot find a factory if type PiTop.Abstractions.IConnectedDeviceFactory<PiTop.Camera.FileSystemCameraSettings, PiTop.Camera.FileSystemCamera>, make sure to configure the module calling UseCamera first.");
}
public Wizard(PiTopModule module, IWizardStep <T>[] steps)
{
_steps = steps;
_display = module.Display;
module.UpButton.PressedChanged += (sender, pressed) => {
if (pressed)
{
steps[_currentStep].Up();
}
};
module.DownButton.PressedChanged += (sender, pressed) => {
if (pressed)
{
steps[_currentStep].Down();
}
};
module.SelectButton.PressedChanged += (sender, pressed) => {
steps[_currentStep].Confirm(_data);
var nextStep = _currentStep + 1;
if (nextStep < steps.Length)
{
_currentStep = nextStep;
steps[_currentStep].Initialize(_display, _font);
}
else
{
_display.Draw((context, cr) => {
context.Clear(Color.Black);
var rect = TextMeasurer.Measure("Done!", new RendererOptions(_font));
var x = 1;
var y = 1;
context.DrawText("Done!", _font, Color.Aqua, new PointF(x, y));
});
CurrentState = WizardState.Completed;
}
};
module.CancelButton.PressedChanged += (sender, pressed) => {
_display.Draw((context, cr) => {
context.Clear(Color.Black);
var rect = TextMeasurer.Measure("Cancelled.", new RendererOptions(_font));
var x = 1;
var y = 1;
context.DrawText("Cancelled.", _font, Color.Aqua, new PointF(x, y));
});
CurrentState = WizardState.Cancelled;
};
}
public void can_scan_images()
{
using var dir = DisposableDirectory.CreateTemp();
using var module = new PiTopModule(new DummyGpioController());
module.UseCamera();
using var camera = module.GetOrCreateCamera <FileSystemCamera>(dir.Root);
var source1 = camera.CurrentFrameSource;
camera.Advance();
var source2 = camera.CurrentFrameSource;
source2.Name.Should().NotBe(source1.Name);
}
private static Task TestButton(DigitalPort buttonPort, DigitalPort[] ledPorts)
{
var cancellationSource = new CancellationTokenSource();
var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
Task.Run(() =>
{
var button = plate.GetOrCreateDevice <Button>(buttonPort);
foreach (var digitalPort in ledPorts)
{
plate.GetOrCreateDevice <Led>(digitalPort);
}
var leds = plate.DigitalDevices.OfType <Led>().ToArray();
var buttonStream = Observable
.FromEventPattern <bool>(h => button.PressedChanged += h, h => button.PressedChanged -= h);
var pos = -1;
buttonStream
.Where(e => e.EventArgs)
.Select(_ =>
{
var next = ((pos + 1) % leds.Length);
var pair = new { Prev = pos, Next = ((pos + 1) % leds.Length) };
pos = next;
return(pair);
})
.Subscribe(p =>
{
if (p.Prev >= 0)
{
leds[p.Prev].Off();
}
leds[p.Next].On();
});
Console.WriteLine("press enter key to exit");
}, cancellationSource.Token);
return(Task.Run(() =>
{
Console.ReadLine();
module.Dispose();
cancellationSource.Cancel(false);
}, cancellationSource.Token));
}
public static T GetOrCreateCamera <T>(this PiTopModule module, FileSystemCameraSettings settings) where T : FileSystemCamera
{
IConnectedDeviceFactory <FileSystemCameraSettings, FileSystemCamera> factory = null !;
try
{
factory = module.GetDeviceFactory <FileSystemCameraSettings, FileSystemCamera>();
}
catch (KeyNotFoundException
)
{
}
AssertFactory(factory);
return(factory.GetOrCreateDevice <T>(settings));
}
public void cannot_create_a_different_device_on_allocated_pins()
{
using var module = new PiTopModule(new DummyGpioController());
using var plate = module.GetOrCreatePlate <FoundationPlate>();
plate.GetOrCreateDevice <Led>(DigitalPort.D0);
var action = new Action(() =>
{
plate.GetOrCreateDevice <UltrasonicSensor>(DigitalPort.D0);
});
action.Should().Throw <InvalidOperationException>()
.Which
.Message
.Should().Match("Connection D0 is already used by PiTopMakerArchitecture.Foundation.Components.Led device");
}
public static T GetOrCreateCamera <T>(this PiTopModule module, int index)
where T : ICamera
{
IConnectedDeviceFactory <int, ICamera> factory = null !;
try
{
factory = module.GetDeviceFactory <int, ICamera>();
}
catch (KeyNotFoundException
)
{
}
AssertFactory(factory);
return(factory.GetOrCreateDevice <T>(index));
}
static void Main(string[] args)
{
using var module = new PiTopModule();
var display = module.Display;
Console.WriteLine("press enter key to render");
Console.ReadLine();
display.Draw(d =>
{
var square = new RectangularPolygon(display.Width / 4, display.Height / 4, display.Width / 2, display.Height / 2);
d.Fill(Color.White, square);
});
Console.WriteLine("press enter key to exit");
Console.ReadLine();
}
public LEDService()
{
_module = new PiTopModule();
_plate = _module.GetOrCreatePlate <FoundationPlate>();
_green = _plate.GetOrCreateDevice <Led>(DigitalPort.D0);
_green.DisplayProperties.Add(new NamedCssColor("green"));
_amber = _plate.GetOrCreateDevice <Led>(DigitalPort.D1);
_amber.DisplayProperties.Add(new NamedCssColor("gold"));
_red = _plate.GetOrCreateDevice <Led>(DigitalPort.D2);
_red.DisplayProperties.Add(new NamedCssColor("red"));
_green.Off();
_amber.Off();
_red.Off();
}
static void Main(string[] args)
{
using var module = new PiTopModule()
.UseCamera();
var count = OpenCvCamera.GetCameraCount();
Console.WriteLine($"Found {count} cameras available");
var camera = module.GetOrCreateCamera <OpenCvCamera>(0);
var file = new FileInfo("./test.png");
var frame = camera.GetFrameAsMat();
frame.SaveImage(file.FullName);
module.DisposeDevice(camera);
Console.WriteLine($"Dumping frame at {file.FullName}");
}
public static PiTopModule UseCamera(this PiTopModule module)
{
module.AddDeviceFactory <int, ICamera>(deviceType =>
{
var ctorSignature = new[] { typeof(int) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(cameraIndex =>
(ICamera)Activator.CreateInstance(deviceType, cameraIndex) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
module.AddDeviceFactory <FileSystemCameraSettings, FileSystemCamera>(deviceType =>
{
return(settings => new FileSystemCamera(settings));
});
return(module);
}
public static T GetOrCreateCamera <T>(this PiTopModule module, DirectoryInfo directory, string imageFileSearchPattern = "*.png") where T : FileSystemCamera
{
return(module.GetOrCreateCamera <T>(
new FileSystemCameraSettings(directory, imageFileSearchPattern)));
}
private static Task TestSemaphore(DigitalPort ultrasonicSensorPort, DigitalPort greenLedPort, DigitalPort yellowLedPort, DigitalPort redLedPort, int greenThreshold, int yellowThreshold, int redThreshold)
{
var module = new PiTopModule();
var plate = module.GetOrCreatePlate <FoundationPlate>();
var cancellationSource = new CancellationTokenSource();
var greenLed = plate.GetOrCreateDevice <Led>(greenLedPort);
greenLed.DisplayProperties.Add(new NamedCssColor("green"));
var yellowLed = plate.GetOrCreateDevice <Led>(yellowLedPort);
yellowLed.DisplayProperties.Add(new NamedCssColor("yellow"));
var redLed = plate.GetOrCreateDevice <Led>(redLedPort);
redLed.DisplayProperties.Add(new NamedCssColor("red"));
ClearLeds();
Task.Run(() =>
{
var sensor = plate.GetOrCreateDevice <UltrasonicSensor>(ultrasonicSensorPort);
Observable
.Interval(TimeSpan.FromSeconds(0.5))
.Subscribe(_ =>
{
var distance = sensor.Distance.Value;
switch (distance)
{
case { } x when x > greenThreshold:
greenLed.On();
yellowLed.Off();
redLed.Off();
break;
case { } x when x <greenThreshold && x> yellowThreshold:
greenLed.Off();
yellowLed.On();
redLed.Off();
break;
case { } x when x < redThreshold:
greenLed.Off();
yellowLed.Off();
redLed.On();
break;
}
});
Console.WriteLine("press enter key to exit");
}, cancellationSource.Token);
return(Task.Run(() =>
{
Console.ReadLine();
module.Dispose();
ClearLeds();
cancellationSource.Cancel(false);
}, cancellationSource.Token));
void ClearLeds()
{
greenLed.Off();
yellowLed.Off();
redLed.Off();
}
}
