public override async Task <int> Run()
{
try {
await YAPI.RegisterHub(HubURL);
YMotor motor;
YCurrent current;
YVoltage voltage;
YTemperature temperature;
if (Target.ToLower() == "any")
{
// find the serial# of the first available motor
motor = YMotor.FirstMotor();
if (motor == null)
{
WriteLine("No module connected (check USB cable) ");
return(-1);
}
Target = await(await motor.get_module()).get_serialNumber();
}
int power = Convert.ToInt32(Power);
motor = YMotor.FindMotor(Target + ".motor");
current = YCurrent.FindCurrent(Target + ".current");
voltage = YVoltage.FindVoltage(Target + ".voltage");
temperature = YTemperature.FindTemperature(Target + ".temperature");
// lets start the motor
if (await motor.isOnline())
{
// if motor is in error state, reset it.
if (await motor.get_motorStatus() >= YMotor.MOTORSTATUS_LOVOLT)
{
await motor.resetStatus();
}
await motor.drivingForceMove(power, 2000); // ramp up to power in 2 seconds
while (await motor.isOnline())
{
// display motor status
WriteLine("Status=" + await motor.get_advertisedValue() + " "
+ "Voltage=" + await voltage.get_currentValue() + "V "
+ "Current=" + await current.get_currentValue() / 1000 + "A "
+ "Temp=" + await temperature.get_currentValue() + "deg C");
await YAPI.Sleep(1000); // wait for one second
}
}
} catch (YAPI_Exception ex) {
WriteLine("error: " + ex.Message);
}
YAPI.FreeAPI();
return(0);
}
// link the instance to a real YoctoAPI object
internal override void linkToHardware(string hwdName)
{
YMotor hwd = YMotor.FindMotor(hwdName);
// first redo base_init to update all _func pointers
base_init(hwd, hwdName);
// then setup Yocto-API pointers and callbacks
init(hwd);
}
// perform the 2nd stage setup that requires YoctoAPI object
protected void init(YMotor hwd)
{
if (hwd == null)
{
return;
}
base.init(hwd);
InternalStuff.log("registering Motor callback");
_func.registerValueCallback(valueChangeCallback);
}
/**
* <summary>
* Retrieves a motor for a given identifier.
* <para>
* The identifier can be specified using several formats:
* </para>
* <para>
* </para>
* <para>
* - FunctionLogicalName
* </para>
* <para>
* - ModuleSerialNumber.FunctionIdentifier
* </para>
* <para>
* - ModuleSerialNumber.FunctionLogicalName
* </para>
* <para>
* - ModuleLogicalName.FunctionIdentifier
* </para>
* <para>
* - ModuleLogicalName.FunctionLogicalName
* </para>
* <para>
* </para>
* <para>
* This function does not require that the motor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YMotor.isOnline()</c> to test if the motor is
* indeed online at a given time. In case of ambiguity when looking for
* a motor by logical name, no error is notified: the first instance
* found is returned. The search is performed first by hardware name,
* then by logical name.
* </para>
* </summary>
* <param name="func">
* a string that uniquely characterizes the motor
* </param>
* <returns>
* a <c>YMotor</c> object allowing you to drive the motor.
* </returns>
*/
public static YMotor FindMotor(string func)
{
YMotor obj;
obj = (YMotor)YFunction._FindFromCache("Motor", func);
if (obj == null)
{
obj = new YMotor(func);
YFunction._AddToCache("Motor", func, obj);
}
return(obj);
}
public static YMotorProxy FindMotor(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YMotor func = null;
YMotorProxy res = (YMotorProxy)YFunctionProxy.FindSimilarUnknownFunction("YMotorProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YMotorProxy)YFunctionProxy.FindSimilarKnownFunction("YMotorProxy");
if (res != null)
{
return(res);
}
func = YMotor.FirstMotor();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YMotorProxy)func.get_userData());
}
}
}
else
{
func = YMotor.FindMotor(name);
if (func.get_userData() != null)
{
return((YMotorProxy)func.get_userData());
}
}
if (res == null)
{
res = new YMotorProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
/**
* <summary>
* Enumerates all functions of type Motor available on the devices
* currently reachable by the library, and returns their unique hardware ID.
* <para>
* Each of these IDs can be provided as argument to the method
* <c>YMotor.FindMotor</c> to obtain an object that can control the
* corresponding device.
* </para>
* </summary>
* <returns>
* an array of strings, each string containing the unique hardwareId
* of a device function currently connected.
* </returns>
*/
public static new string[] GetSimilarFunctions()
{
List <string> res = new List <string>();
YMotor it = YMotor.FirstMotor();
while (it != null)
{
res.Add(it.get_hardwareId());
it = it.nextMotor();
}
return(res.ToArray());
}
static void Main(string[] args)
{
string errmsg = "";
string target;
int power;
YMotor motor;
YCurrent current;
YVoltage voltage;
YTemperature temperature;
// parse the command line
if (args.Length < 2)
{
usage();
}
target = args[0].ToUpper();
power = Convert.ToInt32(args[1]);
if (YAPI.RegisterHub("usb", ref errmsg) != YAPI.SUCCESS)
{
Console.WriteLine("RegisterHub error: " + errmsg);
Environment.Exit(0);
}
if (target == "ANY")
{
// find the serial# of the first available motor
motor = YMotor.FirstMotor();
if (motor == null)
{
Console.WriteLine("No module connected (check USB cable) ");
Environment.Exit(0);
}
target = motor.get_module().get_serialNumber();
}
motor = YMotor.FindMotor(target + ".motor");
current = YCurrent.FindCurrent(target + ".current");
voltage = YVoltage.FindVoltage(target + ".voltage");
temperature = YTemperature.FindTemperature(target + ".temperature");
// lets start the motor
if (motor.isOnline())
{
// if motor is in error state, reset it.
if (motor.get_motorStatus() >= YMotor.MOTORSTATUS_LOVOLT)
{
motor.resetStatus();
}
motor.drivingForceMove(power, 2000); // ramp up to power in 2 seconds
while (motor.isOnline())
{
// display motor status
Console.WriteLine("Status=" + motor.get_advertisedValue() + " " +
"Voltage=" + voltage.get_currentValue() + "V " +
"Current=" + current.get_currentValue() / 1000 + "A " +
"Temp=" + temperature.get_currentValue() + "deg C");
YAPI.Sleep(1000, ref errmsg); // wait for one second
}
}
YAPI.FreeAPI();
}
/**
* <summary>
* Retrieves a motor for a given identifier.
* <para>
* The identifier can be specified using several formats:
* </para>
* <para>
* </para>
* <para>
* - FunctionLogicalName
* </para>
* <para>
* - ModuleSerialNumber.FunctionIdentifier
* </para>
* <para>
* - ModuleSerialNumber.FunctionLogicalName
* </para>
* <para>
* - ModuleLogicalName.FunctionIdentifier
* </para>
* <para>
* - ModuleLogicalName.FunctionLogicalName
* </para>
* <para>
* </para>
* <para>
* This function does not require that the motor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YMotor.isOnline()</c> to test if the motor is
* indeed online at a given time. In case of ambiguity when looking for
* a motor by logical name, no error is notified: the first instance
* found is returned. The search is performed first by hardware name,
* then by logical name.
* </para>
* </summary>
* <param name="func">
* a string that uniquely characterizes the motor
* </param>
* <returns>
* a <c>YMotor</c> object allowing you to drive the motor.
* </returns>
*/
public static YMotor FindMotor(string func)
{
YMotor obj;
obj = (YMotor) YFunction._FindFromCache("Motor", func);
if (obj == null) {
obj = new YMotor(func);
YFunction._AddToCache("Motor", func, obj);
}
return obj;
}
// perform the initial setup that may be done without a YoctoAPI object (hwd can be null)
internal override void base_init(YFunction hwd, string instantiationName)
{
_func = (YMotor)hwd;
base.base_init(hwd, instantiationName);
}
//--- (end of YMotor definitions)
//--- (YMotor implementation)
internal YMotorProxy(YMotor hwd, string instantiationName) : base(hwd, instantiationName)
{
InternalStuff.log("Motor " + instantiationName + " instantiation");
base_init(hwd, instantiationName);
}
