/// <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);
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 NavioRCInputDevice()
{
// Initialize buffers and events
_valueBuffer = new ConcurrentQueue<PwmValue>();
_valueTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue<PwmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = GpioController.GetDefault().OpenPin(InputPinNumber);
if (_inputPin.GetDriveMode() != GpioPinDriveMode.Input)
_inputPin.SetDriveMode(GpioPinDriveMode.Input);
_inputPin.DebounceTimeout = TimeSpan.Zero;
_inputPin.ValueChanged += OnInputPinValueChanged;
// 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.Decode(_valueBuffer, _valueTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
}
