// link the instance to a real YoctoAPI object
internal override void linkToHardware(string hwdName)
{
YProximity hwd = YProximity.FindProximity(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(YProximity hwd)
{
if (hwd == null)
{
return;
}
base.init(hwd);
InternalStuff.log("registering Proximity callback");
_func.registerValueCallback(valueChangeCallback);
}
static void Main(string[] args)
{
string errmsg = "";
string target;
YLightSensor ir, al;
YProximity p;
if (args.Length < 1)
{
usage();
}
target = args[0].ToUpper();
// Setup the API to use local USB devices
if (YAPI.RegisterHub("usb", ref errmsg) != YAPI.SUCCESS)
{
Console.WriteLine("RegisterHub error: " + errmsg);
Environment.Exit(0);
}
if (target == "ANY")
{
p = YProximity.FirstProximity();
if (p == null)
{
Console.WriteLine("No module connected (check USB cable) ");
Environment.Exit(0);
}
target = p.get_module().get_serialNumber();
}
else
{
p = YProximity.FindProximity(target + ".proximity1");
}
if (!p.isOnline())
{
Console.WriteLine("Module not connected");
Console.WriteLine("check identification and USB cable");
Environment.Exit(0);
}
al = YLightSensor.FindLightSensor(target + ".lightSensor1");
ir = YLightSensor.FindLightSensor(target + ".lightSensor2");
while (p.isOnline())
{
Console.Write(" Proximity: " + p.get_currentValue().ToString());
Console.Write(" Ambiant: " + al.get_currentValue().ToString());
Console.Write(" IR: " + ir.get_currentValue().ToString());
Console.WriteLine(" (press Ctrl-C to exit)");
YAPI.Sleep(1000, ref errmsg);
}
YAPI.FreeAPI();
}
public static YProximityProxy FindProximity(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YProximity func = null;
YProximityProxy res = (YProximityProxy)YFunctionProxy.FindSimilarUnknownFunction("YProximityProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YProximityProxy)YFunctionProxy.FindSimilarKnownFunction("YProximityProxy");
if (res != null)
{
return(res);
}
func = YProximity.FirstProximity();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YProximityProxy)func.get_userData());
}
}
}
else
{
func = YProximity.FindProximity(name);
if (func.get_userData() != null)
{
return((YProximityProxy)func.get_userData());
}
}
if (res == null)
{
res = new YProximityProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
/**
* <summary>
* Enumerates all functions of type Proximity 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>YProximity.FindProximity</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>();
YProximity it = YProximity.FirstProximity();
while (it != null)
{
res.Add(it.get_hardwareId());
it = it.nextProximity();
}
return(res.ToArray());
}
/**
* <summary>
* Retrieves a proximity sensor 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 proximity sensor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YProximity.isOnline()</c> to test if the proximity sensor is
* indeed online at a given time. In case of ambiguity when looking for
* a proximity sensor 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>
* <para>
* If a call to this object's is_online() method returns FALSE although
* you are certain that the matching device is plugged, make sure that you did
* call registerHub() at application initialization time.
* </para>
* <para>
* </para>
* </summary>
* <param name="func">
* a string that uniquely characterizes the proximity sensor
* </param>
* <returns>
* a <c>YProximity</c> object allowing you to drive the proximity sensor.
* </returns>
*/
public static YProximity FindProximity(string func)
{
YProximity obj;
lock (YAPI.globalLock) {
obj = (YProximity)YFunction._FindFromCache("Proximity", func);
if (obj == null)
{
obj = new YProximity(func);
YFunction._AddToCache("Proximity", func, obj);
}
}
return(obj);
}
public override async Task <int> Run()
{
try {
await YAPI.RegisterHub(HubURL);
YLightSensor ir, al;
YProximity p;
if (Target.ToLower() == "any")
{
p = YProximity.FirstProximity();
if (p == null)
{
WriteLine("No module connected (check USB cable) ");
return(-1);
}
Target = await(await p.get_module()).get_serialNumber();
}
else
{
p = YProximity.FindProximity(Target + ".proximity1");
}
al = YLightSensor.FindLightSensor(Target + ".lightSensor1");
ir = YLightSensor.FindLightSensor(Target + ".lightSensor2");
while (await p.isOnline())
{
Write("Proximity: " + await p.get_currentValue());
Write("\tAmbiant: " + await al.get_currentValue());
WriteLine("\tIR: " + await ir.get_currentValue());
await YAPI.Sleep(1000);
}
WriteLine("Module not connected (check identification and USB cable)");
} catch (YAPI_Exception ex) {
WriteLine("error: " + ex.Message);
}
YAPI.FreeAPI();
return(0);
}
// 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 = (YProximity)hwd;
base.base_init(hwd, instantiationName);
}
//--- (end of YProximity definitions)
//--- (YProximity implementation)
internal YProximityProxy(YProximity hwd, string instantiationName) : base(hwd, instantiationName)
{
InternalStuff.log("Proximity " + instantiationName + " instantiation");
base_init(hwd, instantiationName);
}
