/// <summary>
/// Processes the change of the EAR bit value
/// </summary>
/// <param name="fromTape">
/// False: EAR bit comes from an OUT instruction,
/// True: EAR bit comes from tape
/// </param>
/// <param name="earBit">EAR bit value</param>
public void ProcessEarBitValue(bool fromTape, bool earBit)
{
if (!fromTape && _useTapeMode)
{
// --- The EAR bit comes from and OUT instruction, but now we're in tape mode
return;
}
if (earBit == LastEarBit)
{
// --- The earbit has not changed
return;
}
LastEarBit = earBit;
var currentHostTact = HostVm.CurrentFrameTact;
var currentTact = currentHostTact <= _frameTacts ? currentHostTact : _frameTacts;
var length = currentTact - LastPulseTact;
// --- If the first tact changes the pulse, we do
// --- not add it
if (length > 0)
{
Pulses.Add(new EarBitPulse
{
EarBit = !earBit,
Lenght = length
});
}
LastPulseTact = currentTact;
}
/// <summary>
/// Resets this device
/// </summary>
public void Reset()
{
Pulses.Clear();
LastPulseTact = 0;
LastEarBit = true;
FrameCount = 0;
_frameBegins = 0;
_useTapeMode = false;
_beeperProvider?.Reset();
}
/// <summary>
/// Frame is completed
/// </summary>
public void EndFrame()
{
// store the last pulse information
if (LastPulseTState <= _tStatesPerFrame - 1)
{
Pulse p = new Pulse
{
State = LastPulse,
Length = _tStatesPerFrame - LastPulseTState
};
Pulses.Add(p);
}
// create the sample array
var firstSampleOffset = _frameStart % TStatesPerSample == 0 ? 0 : TStatesPerSample - (_frameStart + TStatesPerSample) % TStatesPerSample;
var samplesInFrame = (_tStatesPerFrame - firstSampleOffset - 1) / TStatesPerSample + 1;
var samples = new short[samplesInFrame];
// convert pulses to samples
var sampleIndex = 0;
var currentEnd = _frameStart;
foreach (var pulse in Pulses)
{
var firstSample = currentEnd % TStatesPerSample == 0
? currentEnd : currentEnd + TStatesPerSample - currentEnd % TStatesPerSample;
for (var i = firstSample; i < currentEnd + pulse.Length; i += TStatesPerSample)
{
samples[sampleIndex++] = pulse.State ? (short)(_volume) : (short)0;
}
currentEnd += pulse.Length;
}
// fill the _sampleBuffer for ISoundProvider
soundBufferContains = (int)samplesInFrame;
if (soundBuffer.Length != soundBufferContains)
{
soundBuffer = new short[soundBufferContains];
}
samples.CopyTo(soundBuffer, 0);
_frameStart += _tStatesPerFrame;
}
public MainPage()
{
this.InitializeComponent();
// Initilize data
errorCounterTransfer = 0;
mcpExecutorCounter = 0;
firstStart = true;
stopSequenceIsActive = false;
globalDataSet = new GlobalDataSet(); // Get things like mcp2515, logic_Mcp2515_Sender, logic_Mcp2515_Receiver
//serverComm = new ServerUnit(globalDataSet);
clientUnit = new ClientUnit(globalDataSet);
diagnose = new Diagnose(globalDataSet);
mcp2515 = globalDataSet.Mcp2515;
pulses = new Pulses();
clientUnit.newEvent += new ClientUnit.myEvent(this.dataPackageReceived);
// USER CONFIGURATION
globalDataSet.DebugMode = false;
getProgramDuration = false;
// Inititalize raspberry pi and gpio
init_raspberry_pi_gpio();
init_raspberry_pi_spi();
// Inititalize mcp2515
Task task_initMcp2515 = new Task(globalDataSet.init_mcp2515_task);
task_initMcp2515.Start();
task_initMcp2515.Wait();
// Start executor service
task_mcpExecutorService = new Task(mcpExecutorService_task);
task_mcpExecutorService.Start();
// Inititalize background tasks
stateTimer = new Timer(this.StateTimer, null, 0, DELTA_T_TIMER_CALLBACK); // Create timer to display the state of message transmission
errorTimer = new Timer(this.ErrorTimer, null, 0, DELTA_T_ERROR_TIMER); // Create timer to display the state of message transmission
// Inititalize server
//Task<bool> serverStarted = serverComm.StartServer();
clientUnit.StartClient_loop();
}
/// <summary>
/// When the pulse value changes it is processed here
/// </summary>
/// <param name="pulse"></param>
public void ProcessPulseValue(bool pulse)
{
if (!_machine._renderSound)
{
return;
}
if (pulse == LastPulse)
{
// no change detected
return;
}
// set the lastpulse
LastPulse = pulse;
// get where we are in the frame
var currentULACycle = _machine.CurrentFrameCycle;
var currentBuzzerCycle = currentULACycle <= _tStatesPerFrame ? currentULACycle : _tStatesPerFrame;
var length = currentBuzzerCycle - LastPulseTState;
if (length == 0)
{
// the first T-State has changed the pulse
// do not add it
}
else if (length > 0)
{
// add the pulse
Pulse p = new Pulse
{
State = !pulse,
Length = length
};
Pulses.Add(p);
}
// set the last pulse tstate
LastPulseTState = currentBuzzerCycle;
}
/// <summary>
/// Allow the device to react to the completion of a frame
/// </summary>
public void OnFrameCompleted()
{
if (LastPulseTact <= _frameTacts - 1)
{
// --- We have to store the last pulse information
Pulses.Add(new EarBitPulse
{
EarBit = LastEarBit,
Lenght = _frameTacts - LastPulseTact
});
}
// --- Create the array for the samples
var firstSampleOffset = _frameBegins % _tactsPerSample == 0
? 0
: _tactsPerSample - (_frameBegins + _tactsPerSample) % _tactsPerSample;
var samplesInFrame = (_frameTacts - firstSampleOffset - 1) / _tactsPerSample + 1;
var samples = new float[samplesInFrame];
// --- Convert pulses to samples
var sampleIndex = 0;
var currentEnd = _frameBegins;
foreach (var pulse in Pulses)
{
var firstSample = currentEnd % _tactsPerSample == 0
? currentEnd
: currentEnd + _tactsPerSample - currentEnd % _tactsPerSample;
for (var i = firstSample; i < currentEnd + pulse.Lenght; i += _tactsPerSample)
{
samples[sampleIndex++] = pulse.EarBit ? 1.0F : 0.0F;
}
currentEnd += pulse.Lenght;
}
_beeperProvider?.AddSoundFrame(samples);
_frameBegins += _frameTacts;
}
///\brief Checks states / actions and pack data.
/// Check inside loop the current action that comes from upper control algorithm.
/// Check the states that comes from the client.
/// Pack all the control data to byte array package (global data) and fire event.
private void packagingLoop()
{
bool newData = false;
Pulses pulses = new Pulses();
int[] pulseData = pulses.Pulse_sinus;
Byte[] velocityValueTemp = new Byte[2];
while (!globalDataSet.AbortServerOperation)
{
// Iterate through motor array
for (int motorCounter = 0; motorCounter < globalDataSet.MAX_MOTOR_AMOUNT; motorCounter++)
{
//Debug.WriteLine("Motor " + motorCounter + ": " + dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action]);
// Send nothing
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.doNothing))
{
// Set indicator led to green
globalDataSet.IndicatorLed[motorCounter] = true;
dataPackage_out[motorCounter][0] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)globalDataSet.Motor[motorCounter].Id;
newData = true;
}
if (globalDataSet.Motor[motorCounter].Action != (int)GlobalDataSet.RobotActions.doNothing)
{
globalDataSet.IndicatorLed[motorCounter] = false;
}
// Send request to disable pid controller
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.disablePidController))
{
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)globalDataSet.Motor[motorCounter].Id;
newData = true;
}
// Send request to enable pid controller
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.enablePidController))
{
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)globalDataSet.Motor[motorCounter].Id;
newData = true;
}
// Send request to save ref pos
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.saveRefPosToEeprom))
{
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)globalDataSet.Motor[motorCounter].Id;
newData = true;
}
// Send request to save act pos
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.saveActPosToEeprom))
{
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)globalDataSet.Motor[motorCounter].Id;
newData = true;
}
// Send control data
if (((int)globalDataSet.Motor[motorCounter].Action == (int)GlobalDataSet.RobotActions.newPosition))
{
globalDataSet.Motor[motorCounter].ActionIsSet = true;
// Set action
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.action] = Convert.ToByte(globalDataSet.Motor[motorCounter].Action);
// Set motor id
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorId] = (byte)(globalDataSet.Motor[motorCounter].Id);
// Set direction and angle
// UPDATE
if (globalDataSet.Motor[motorCounter].Angle < 0)
{
angleValueTemp = (short)(globalDataSet.Motor[motorCounter].Angle * (-1));
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorDir] = (byte)0;
}
else
{
angleValueTemp = (short)(globalDataSet.Motor[motorCounter].Angle);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.motorDir] = (byte)1;
}
//byte[] angleValue_converted = BitConverter.GetBytes(angleValueTemp);
//if (BitConverter.IsLittleEndian) Array.Reverse(angleValue_converted);
//dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.angle_1] = angleValue_converted[0];
//dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.angle_2] = angleValue_converted[1];
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.angle] = (byte)angleValueTemp;
// Set velocity
velocityValueTemp = BitConverter.GetBytes(globalDataSet.Motor[motorCounter].Velocity);
dataPackage_out[motorCounter][(int)GlobalDataSet.Outgoing_Package_Content.velocity] = velocityValueTemp[0];
newData = true;
}
if (newData & (motorCounter == globalDataSet.Motor.Length - 1))
{
newData = false;
// ENC28J60
// Copy 2D array to 1D array with 6*5 bytes
for (int i = 0; i < this.globalDataSet.MAX_MOTOR_AMOUNT; i++)
{
for (int j = 0; j < 5; j++)
{
dataPackage_conc_out[j + (i * 5)] = dataPackage_out[i][j];
}
}
this.newPackageEvent(dataPackage_conc_out);
// RASPBERRY PI
//this.newPackageEvent(dataPackage_out);
}
}
}
}
/// <summary>
/// Allow the device to react to the start of a new frame
/// </summary>
public void OnNewFrame()
{
Pulses.Clear();
LastPulseTact = 0;
FrameCount++;
}
/// <summary>
/// New frame starts
/// </summary>
public void StartFrame()
{
Pulses.Clear();
LastPulseTState = 0;
}
