/// <summary>
/// Creates and initializes an instance.
/// </summary>
public NavioRCInputDevice()
{
// Initialize buffers
_valueBuffer = new ConcurrentQueue <PwmValue>();
_valueTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue <PwmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = NavioHardwareProvider.ConnectGpio(0, GpioInputPinNumber, GpioPinDriveMode.Input, exclusive: true);
if (_inputPin == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.GpioErrorDeviceNotFound, GpioInputPinNumber, GpioControllerIndex));
}
if (_inputPin.DebounceTimeout != TimeSpan.Zero)
{
_inputPin.DebounceTimeout = TimeSpan.Zero;
}
// Create decoder thread (CPPM only to start with, SBus desired)
_decoder = new CppmDecoder();
_stop = new CancellationTokenSource();
_channels = new int[_decoder.MaximumChannels];
Channels = new ReadOnlyCollection <int>(_channels);
_decoderTask = Task.Factory.StartNew(() => { _decoder.DecodePulse(_valueBuffer, _valueTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
// Hook events
_inputPin.ValueChanged += OnInputPinValueChanged;
}
/// <summary>
/// Creates and initializes an instance.
/// </summary>
public Navio1RCInputDevice()
{
try
{
// Initialize buffers
_pulseBuffer = new ConcurrentQueue <PpmPulse>();
_pulseTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue <PpmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = GpioExtensions.Connect(GpioControllerIndex, GpioInputPinNumber, GpioPinDriveMode.Input, GpioSharingMode.Exclusive);
if (_inputPin == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.GpioErrorDeviceNotFound, GpioInputPinNumber, GpioControllerIndex));
}
if (_inputPin.DebounceTimeout != TimeSpan.Zero)
{
_inputPin.DebounceTimeout = TimeSpan.Zero;
}
// Create decoder thread (CPPM only to start with, SBus desired)
_decoder = new CppmDecoder();
_stop = new CancellationTokenSource();
_channels = new int[_decoder.MaximumChannels];
Channels = new ReadOnlyCollection <int>(_channels);
_decoderTask = Task.Factory.StartNew(() => { _decoder.DecodePulse(_pulseBuffer, _pulseTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
// Hook events
_inputPin.ValueChanged += OnInputPinValueChanged;
// Start buffered event handling
// TODO: Support buffered GPIO when possible
//_inputPin.CreateInterruptBuffer();
//_inputPin.StartInterruptBuffer();
//_inputPin.StopInterruptCount();
}
catch
{
// Close device in case partially initialized
_inputPin?.Dispose();
// Continue error
throw;
}
}
