public ExpansionPlate(PiTop4Board module) : base(module)
{
_foundationPlate = module.GetOrCreatePlate <FoundationPlate>();
_servoMotorsFactory = new ConnectedDeviceFactory <ServoMotorPort, ServoMotor>(deviceType =>
{
var ctorSignature = new[] { typeof(ServoMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(ServoMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_encoderMotorFactory = new ConnectedDeviceFactory <EncoderMotorPort, EncoderMotor>(
deviceType =>
{
var ctorSignature = new[] { typeof(EncoderMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(EncoderMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
// set up heartbeat
RegisterForDisposal(Observable.Interval(HEARTBEAT_SEND_INTERVAL, TaskPoolScheduler.Default).Subscribe(_ =>
{
GetOrCreateMcu().WriteByte(REGISTER_HEARTBEAT, HEARTBEAT_SECONDS_BEFORE_SHUTDOWN);
}));
RegisterForDisposal(_servoMotorsFactory);
RegisterForDisposal(_encoderMotorFactory);
RegisterForDisposal(() =>
{
_imu?.Dispose();
_mcu?.I2c.Dispose();
});
}
public static FoundationPlate GetOrCreateFoundationPlate(this PiTop4Board module)
{
return(module.GetOrCreatePlate <FoundationPlate>());
}
public void can_obtain_plate_from_module()
{
using var plate = _module.GetOrCreatePlate <ExpansionPlate>();
plate.Should().NotBeNull();
}
public static ExpansionPlate GetOrCreateExpansionPlate(this PiTop4Board module)
{
return(module.GetOrCreatePlate <ExpansionPlate>());
}