/// <summary>
/// Get value from pin instance
/// </summary>
/// <typeparam name="T">Value type</typeparam>
/// <param name="inPin">Pin instance</param>
/// <returns>Value of type <see cref="T"/></returns>
public T GetValue <T>(DataPin inPin)
{
if (inPin == null)
{
return(default(T));
}
var pinKey = BuildPinHash(inPin.TemporaryNodeId, inPin.Id);
var value = default(T);
if (!PinValues.Any(x => x.Key == pinKey) && Parent != null)
{
return(Parent.GetValue <T>(inPin));
}
else if (PinValues.Any(x => x.Key == pinKey))
{
var rawValue = PinValues.FirstOrDefault(x => x.Key == pinKey);
try
{
value = (T)rawValue.Value;
}
catch (InvalidCastException)
{
if (rawValue.Value != null)
{
value = (T)TypeDescriptor.GetConverter(typeof(T)).ConvertFromInvariantString(rawValue.Value?.ToString());
}
}
catch (Exception ex)
{
throw new Exception($"Could not cast pin {inPin.Name} value: {rawValue.Key ?? "<unset>"}/{rawValue.Value ?? "<unset>"}", ex);
}
}
// Log if inPin is null
if ((value == null || value.Equals(default(T))) && inPin.DefaultValue != null)
{
var defaultValueType = inPin.DefaultValue?.GetType();
var valueType = typeof(T);
/* ugly fix: if the value type is object and default value type is string,
* converter can not convert, so check if its object and string and just cast it.
*/
if (defaultValueType == valueType || (valueType == typeof(object) && defaultValueType == typeof(string)))
{
value = (T)inPin.DefaultValue;
}
else if (inPin?.DefaultValue?.ToString() != null)
{
value = (T)TypeDescriptor.GetConverter(valueType).ConvertFromInvariantString(inPin?.DefaultValue?.ToString());
}
}
return(value);
}
/// <summary>
/// Gets the state of all General Pins
/// </summary>
/// <param name="allPins">A structure to fill with the current state of all pins.</param>
public void GetGeneralInputs(PinValues allPins)
{
CANifierNative.JNI_GetGeneralInputs(m_handle, _tempPins);
allPins.LIMF = _tempPins[(int)GeneralPin.LIMF];
allPins.LIMR = _tempPins[(int)GeneralPin.LIMR];
allPins.QUAD_A = _tempPins[(int)GeneralPin.QUAD_A];
allPins.QUAD_B = _tempPins[(int)GeneralPin.QUAD_B];
allPins.QUAD_IDX = _tempPins[(int)GeneralPin.QUAD_IDX];
allPins.SCL = _tempPins[(int)GeneralPin.SCL];
allPins.SDA = _tempPins[(int)GeneralPin.SDA];
allPins.SPI_CLK_PWM0 = _tempPins[(int)GeneralPin.SPI_CLK_PWM0P];
allPins.SPI_MOSI_PWM1 = _tempPins[(int)GeneralPin.SPI_MOSI_PWM1P];
allPins.SPI_MISO_PWM2 = _tempPins[(int)GeneralPin.SPI_MISO_PWM2P];
allPins.SPI_CS_PWM3 = _tempPins[(int)GeneralPin.SPI_CS];
}
public int GetGeneralInputs(PinValues allPins)
{
int err = _ll.GetGeneralInputs(_tempPins);
allPins.LIMF = _tempPins[(int)GeneralPin.LIMF] != 0;
allPins.LIMR = _tempPins[(int)GeneralPin.LIMR] != 0;
allPins.QUAD_A = _tempPins[(int)GeneralPin.QUAD_A] != 0;
allPins.QUAD_B = _tempPins[(int)GeneralPin.QUAD_B] != 0;
allPins.QUAD_IDX = _tempPins[(int)GeneralPin.QUAD_IDX] != 0;
allPins.SCL = _tempPins[(int)GeneralPin.SCL] != 0;
allPins.SDA = _tempPins[(int)GeneralPin.SDA] != 0;
allPins.SPI_CLK_PWM0 = _tempPins[(int)GeneralPin.SPI_CLK_PWM0P] != 0;
allPins.SPI_MOSI_PWM1 = _tempPins[(int)GeneralPin.SPI_MOSI_PWM1P] != 0;
allPins.SPI_MISO_PWM2 = _tempPins[(int)GeneralPin.SPI_MISO_PWM2P] != 0;
allPins.SPI_CS_PWM3 = _tempPins[(int)GeneralPin.SPI_CS] != 0;
return(err);
}
/// <summary>
/// Get pin value as list
/// </summary>
/// <typeparam name="T">Generic type</typeparam>
/// <param name="inPin">Pin instance</param>
/// <returns>Result as list</returns>
public IList <T> GetListValue <T>(DataPin inPin)
{
var pinKey = BuildPinHash(inPin.TemporaryNodeId, inPin.Id);
if (PinValues.Any(x => x.Key == pinKey))
{
var value = (PinValues.FirstOrDefault(x => x.Key == pinKey).Value as IList);
var list = value.Cast <T>().ToList();
// Check
return(list);
}
else
{
return(new List <T>());
}
}
