private void loop()
{
try
{
while (!cancel && !finished && (LoopCheck._IsAutonomous() || LoopCheck._IsTeleoporated() || overrideSaftey))
{
main();
Timer.Delay(cycleTime);
}
}
catch (ThreadAbortException)
{
Report.General($"{GetType()} was forcefully aborted.");
}
if (cancel)
{
CancelationComplete?.Invoke(this, new EventArgs());
Report.General($"{GetType()} was canceled.");
}
else
{
Finished?.Invoke(this, new EventArgs());
Report.General($"{GetType()} ran to completion.");
}
}
/// <summary>
/// Sends data to the dashboard
/// </summary>
/// <param name="key">network table key</param>
/// <param name="value">double value to send</param>
/// <param name="announcePeriod">should the key be prefixed with the current robot state? (auton/teleop)</param>
public void SendData(string key, double value, bool announcePeriod = true)
{
if (LoopCheck._IsTeleoporated() && announcePeriod)
{
dashboardComm.PutNumber($"TELEOP_{key}", value);
}
else if (LoopCheck._IsAutonomous() && announcePeriod)
{
dashboardComm.PutNumber($"AUTON_{key}", value);
}
else
{
dashboardComm.PutNumber($"{key}", value);
}
}
/// <summary>
/// Sends data to the dashboard
/// </summary>
/// <param name="key">network table key</param>
/// <param name="value">double value to send</param>
/// <param name="announcePeriod">should the key be prefixed with the current robot state? (auton/teleop)</param>
public void SendData(string key, object value, bool announcePeriod = true)
{
if (LoopCheck._IsTeleoporated() && announcePeriod)
{
dashboardComm.PutValue($"TELEOP_{key}", Value.MakeValue(value));
}
else if (LoopCheck._IsAutonomous() && announcePeriod)
{
dashboardComm.PutValue($"AUTON_{key}", Value.MakeValue(value));
}
else
{
dashboardComm.PutValue($"{key}", Value.MakeValue(value));
}
}
private void VirtualControlEvent_ValueChanged(object sender, EventArgs e)
{
if ((!EnabledDuringAuton || !LoopCheck._IsAutonomous()) &&
(!EnabledDuringTeleop || !LoopCheck._IsTeleoporated()))
{
return;
}
try
{
var param = e as VirtualControlEventArgs;
if (param == null)
{
return;
}
foreach (var component in actors)
{
if (component.InUse)
{
continue; //skip if the component is in use
}
var actor = component;
if (EventType == VirtualControlEventType.Value &&
SetMethod == VirtualControlEventSetMethod.Passthrough)
{
(actor as Motor)?.Set(param.Value, this);
(actor as OutputComponent)?.Set(Math.Abs(param.Value), this);
(actor as DoubleSolenoidItem)?.Set(Math.Abs(param.Value), this);
(actor as RelayItem)?.Set((Relay.Value)Math.Abs(param.Value), this);
}
else if (EventType == VirtualControlEventType.Value &&
SetMethod == VirtualControlEventSetMethod.Adjusted)
{
if (sender is AnalogInputItem || sender is PotentiometerItem)
{
(actor as Motor)?.Set(param.Value / 5, this);
(actor as OutputComponent)?.Set(Math.Abs(param.Value), this);
(actor as DoubleSolenoidItem)?.Set(Math.Abs(param.Value), this);
(actor as RelayItem)?.Set((Relay.Value)Math.Abs(param.Value), this);
}
else if (sender is EncoderItem)
{
var tmp = (EncoderItem)sender;
(actor as Motor)?.Set(param.Value / ((Encoder)tmp.GetRawComponent()).EncodingScale, this);
(actor as OutputComponent)?.Set(
Math.Abs(param.Value / ((Encoder)tmp.GetRawComponent()).EncodingScale), this);
(actor as DoubleSolenoidItem)?.Set(
Math.Abs(param.Value / ((Encoder)tmp.GetRawComponent()).EncodingScale), this);
(actor as RelayItem)?.Set(
(Relay.Value)(Math.Abs(param.Value) / ((Encoder)tmp.GetRawComponent()).EncodingScale),
this);
}
else
{
(actor as Motor)?.Set(param.Value, this);
(actor as DigitalOutputItem)?.Set(param.Value, this);
(actor as AnalogOutputItem)?.Set(Math.Abs(param.Value) * 5, this);
(actor as DoubleSolenoidItem)?.Set(Math.Abs(param.Value), this);
(actor as RelayItem)?.Set((Relay.Value)Math.Abs(param.Value), this);
}
}
else if (EventType == VirtualControlEventType.Usage &&
SetMethod == VirtualControlEventSetMethod.Passthrough)
{
(actor as Motor)?.Set(Convert.ToDouble(param.InUse), this);
(actor as OutputComponent)?.Set(param.InUse, this);
(actor as DoubleSolenoidItem)?.Set(param.InUse, this);
(actor as RelayItem)?.Set((Relay.Value)Convert.ToDouble(param.InUse), this);
}
else
{
(actor as Motor)?.Set(Convert.ToDouble(param.InUse), this);
(actor as OutputComponent)?.Set(param.InUse, this);
(actor as DoubleSolenoidItem)?.Set(param.InUse, this);
(actor as RelayItem)?.Set((Relay.Value)Convert.ToDouble(param.InUse), this);
}
}
}
catch (Exception ex)
{
Report.Error(ex.Message);
Log.Write(ex);
}
}
