public ThunderBorg_class(ILogger log = null, bool tryOtherBus = false)
{
if (log != null)
{
this._log = log;
log.WriteLog("THROTTLE_CODE: " + THROTTLE_CODE.ToString());
log.WriteLog();
log.WriteLog("Finding ThunderBorg_class...");
_TBorgAddress = ThunderBorg_class.ScanForThunderBorg(1, log);
}
else
{
_TBorgAddress = ThunderBorg_class.ScanForThunderBorg();
}
if (log != null)
{
log.WriteLog("Loding ThunderBorg_class on bus " + _bus.ToString("X2") + ", address " + _TBorgAddress.ToString("X2"));
}
}
/// <summary>
/// Sets the _initialized_ [ThunderBorg_class] board to the settings contained in this object. **NOTE** if the board address differs from this object's board address, this method will not run.
/// </summary>
/// <param name="borg">The _intiialized_ ThunderBorg board to be enumerated</param>
/// <param name="logger">[Optional] Logger class to keep track of actions and other information</param>
public void SetCurrentEnvironment(ThunderBorg_class borg, ILogger logger = null)
{
Stopwatch elapsedTime = new Stopwatch();
elapsedTime.Start();
bool log = false;
if (logger != null)
{
log = true;
}
if (!this.IsUsed)
{
if (log)
{
logger.WriteLog("Not writing these values; the settings haven't been used.");
}
throw new ArgumentException("ThunderBorgSettings class not used; no values contained therein.", "ThunderBorgSettings");
}
if (log)
{
logger.WriteLog("Setting board values to current enumeration...");
}
if (log)
{
logger.WriteLog("Issuing all stop, first...");
}
borg.AllStop();
if (borg.CurrentAddress != this.BoardAddress)
{
if (log)
{
logger.WriteLog("Possibly invalid settings; this board's address is 0x" + borg.CurrentAddress.ToString("X2") + " but the setting says 0x" + this.BoardAddress.ToString("X2"));
}
throw new ArgumentException("ThunderBorg_class address doesn't match settings address.", "ThunderBorgSettings.BoardAddress");
}
else
{
if (log)
{
logger.WriteLog("Address is confirmed at 0x" + borg.CurrentAddress);
}
}
if (log)
{
logger.WriteLog("VOLTAGE_PIN_MAX is a constant set by code; cannot change; current value: " + this.VoltagePinMax.ToString());
}
borg.SetBatteryMonitoringLimits(this.BatteryMonitorMin, this.BatteryMonitorMax);
if (log)
{
logger.WriteLog("\tSet battery monitoring min: " + this.BatteryMonitorMin.ToString() + " max: " + this.BatteryMonitorMax.ToString());
}
borg.SetLED1(this.LED1_Red, this.LED1_Green, this.LED1_Blue);
borg.SetLED2(this.LED2_Red, this.LED2_Green, this.LED2_Blue);
if (log)
{
logger.WriteLog("\tSet LED1: R: 0x" + this.LED1_Red.ToString("X2") + " G: 0x" + this.LED1_Green.ToString("X2") + " B: 0x" + this.LED1_Blue.ToString("X2"));
}
if (log)
{
logger.WriteLog("\tSet LED2: R: 0x" + this.LED2_Red.ToString("X2") + " G: 0x" + this.LED2_Green.ToString("X2") + " B: 0x" + this.LED2_Blue.ToString("X2"));
}
borg.SetLEDBatteryMonitor(this.BatteryMonitoringState);
if (log)
{
logger.WriteLog("\tCurrent battery LED monitor state: " + this.BatteryMonitoringState.ToString());
}
borg.SetFailsafe(this.FailSafeState);
if (log)
{
logger.WriteLog("\tSet failsafe state: " + this.FailSafeState.ToString());
}
if (log)
{
logger.WriteLog("\tSettings complete...");
}
elapsedTime.Stop();
if (log)
{
logger.WriteLog("\tBoard setting took " + elapsedTime.ElapsedMilliseconds.ToString() + " milliseconds...");
}
}
/// <summary>
/// Enumerates the [ThunderBorg_class] board passed into it, and records the settings it finds.
/// </summary>
/// <param name="borg">The _intiialized_ ThunderBorg board to be enumerated</param>
/// <param name="logger">[Optional] Logger class to keep track of actions and other information</param>
public void GetCurrentEnvironment(ThunderBorg_class borg, ILogger logger = null)
{
Stopwatch elapsedTime = new Stopwatch();
elapsedTime.Start();
bool log = false;
if (logger != null)
{
log = true;
}
if (log)
{
logger.WriteLog("Starting board enumeration...");
}
if (log)
{
logger.WriteLog("\tIssuing all stop, first...");
}
borg.AllStop();
this.BoardAddress = borg.CurrentAddress;
if (log)
{
logger.WriteLog("\tCurrent board address: 0x" + this.BoardAddress.ToString("X2"));
}
this.VoltagePinMax = borg.VoltagePinMax;
if (log)
{
logger.WriteLog("\tCurrent VOLTAGE_PIN_MAX: " + this.VoltagePinMax.ToString());
}
decimal[] batteryMonitorResponse = borg.GetBatteryMonitoringLimits();
this.BatteryMonitorMin = batteryMonitorResponse[0];
this.BatteryMonitorMax = batteryMonitorResponse[1];
if (log)
{
logger.WriteLog("\tBattery monitoring min: " + this.BatteryMonitorMin.ToString() + " max: " + this.BatteryMonitorMax.ToString());
}
byte[] LED1Settings = borg.GetLED1();
this.LED1_Red = LED1Settings[1];
this.LED1_Green = LED1Settings[2];
this.LED1_Blue = LED1Settings[3];
byte[] LED2Settings = borg.GetLED2();
this.LED2_Red = LED2Settings[1];
this.LED2_Green = LED2Settings[2];
this.LED2_Blue = LED2Settings[3];
if (log)
{
logger.WriteLog("\tLED1: R: 0x" + this.LED1_Red.ToString("X2") + " G: 0x" + this.LED1_Green.ToString("X2") + " B: 0x" + this.LED1_Blue.ToString("X2"));
}
if (log)
{
logger.WriteLog("\tLED2: R: 0x" + this.LED2_Red.ToString("X2") + " G: 0x" + this.LED2_Green.ToString("X2") + " B: 0x" + this.LED2_Blue.ToString("X2"));
}
this.BatteryMonitoringState = borg.GetLEDBatteryMonitor();
if (log)
{
logger.WriteLog("\tCurrent battery LED monitor state: " + this.BatteryMonitoringState.ToString());
}
this.FailSafeState = borg.GetFailsafe();
if (log)
{
logger.WriteLog("\tCurrent failsafe state: " + this.FailSafeState.ToString());
}
if (log)
{
logger.WriteLog("\tEnumeration complete...");
}
elapsedTime.Stop();
if (log)
{
logger.WriteLog("\tEnumeration took " + elapsedTime.ElapsedMilliseconds.ToString() + " milliseconds...");
}
}
public static int SetNewAddress(byte newAddress, byte?oldAddress = null, int?busNumber = 0, ILogger logger = null)
{
int _oldAddress;
bool _foundBoard = false;
if ((newAddress <= 0x03) || (newAddress > 0x77))
{
logger.WriteLog("Error: I2C addresses below 3 (0x03) and above 119 (0x77) are reserved. Please use a different address.");
throw new ArgumentOutOfRangeException("newAddress", "New port number must be between 0x03 and 0x77.");
}
if (oldAddress == null)
{
_oldAddress = ThunderBorg_class.ScanForThunderBorg(Convert.ToInt32(busNumber), logger);
if (_oldAddress < 0)
{
throw new Exception("ThunderBorg board not found.");
}
}
else
{
_oldAddress = Convert.ToInt32(oldAddress);
}
if (logger != null)
{
logger.WriteLog("Attempting change of ThunderBorg address from " + _oldAddress.ToString("X2") + " to " + newAddress.ToString("X2"), ILogger.Priority.Information);
}
// This code was intended to do another check, but on reflection it doesn't seem to do anything.
//
//ThunderBorg_class changeTB = new ThunderBorg_class();
//try
//{
// byte boardResponse = changeTB.GetBoardID(logger);
// if (boardResponse == _oldAddress) // HACK: are you sure?
// {
// if (logger != null)
// {
// logger.WriteLog("ThunderBorg found at " + _oldAddress.ToString("X2"), ILogger.Priority.Information);
// }
// _foundBoard = true;
// }
// else
// {
// if (logger != null)
// {
// logger.WriteLog("Found _something_ at " + _oldAddress.ToString("X2") + " but it doesn't appear to be a ThunderBorg.", ILogger.Priority.Critical);
// }
// _foundBoard = false;
// throw new ArgumentOutOfRangeException("oldAddress", "Found different kind of board at address " + _oldAddress.ToString("X2"));
// }
//}
//catch(Exception ex)
//{
// // do something
//}
//if (!_foundBoard)
//{
// if (logger != null)
// {
// logger.WriteLog("No board found.", ILogger.Priority.High);
// }
//}
using (var bus = I2CBus.Open("/dev/i2c-" + busNumber.ToString()))
{
bus.WriteBytes(_oldAddress, new byte[] { COMMAND_SET_I2C_ADD, newAddress });
System.Threading.Thread.Sleep(200); // let the I2C bus catch up
int tempCheck = ThunderBorg_class.ScanForThunderBorg(Convert.ToInt32(busNumber), logger);
if (tempCheck == newAddress)
{
logger.WriteLog("CHANGED BOARD ADDRESS FROM " + _oldAddress.ToString("X2") + " TO " + newAddress.ToString("X2"), ILogger.Priority.Critical);
logger.WriteLog("This change will be persistent even after a reboot; keep track of it.", ILogger.Priority.Information);
}
else
{
logger.WriteLog("**FAILED** to change ThunderBorg address. Current address: " + tempCheck.ToString("X2"));
}
return(tempCheck);
}
}
