private static void CompareDataPortConfig(DataPortConfig dataPortConfig, DataPortConfig defaultDataPortConfig)
{
var isValid = true;
if (!dataPortConfig.ActChannelsDataPacking.SequenceEqual(defaultDataPortConfig.ActChannelsDataPacking))
{
isValid = false;
SmartLog.WriteErrorLine(
$"Act Channel Data Pack {dataPortConfig.ActChannelsDataPacking.ToHex()} not matching with default {defaultDataPortConfig.ActChannelsDataPacking.ToHex()}");
}
if (!dataPortConfig.SampleInterval.SequenceEqual(defaultDataPortConfig.SampleInterval))
{
isValid = false;
SmartLog.WriteErrorLine(
$"Sample Interval {dataPortConfig.SampleInterval.ToHex()} not matching with default {defaultDataPortConfig.SampleInterval.ToHex()}");
}
if (!dataPortConfig.FirmwareVersion.SequenceEqual(defaultDataPortConfig.FirmwareVersion))
{
isValid = false;
SmartLog.WriteErrorLine(
$"Firmware Version {dataPortConfig.FirmwareVersion.ToHex()} not matching with default {defaultDataPortConfig.FirmwareVersion.ToHex()}");
}
if (!dataPortConfig.ModeFlag.SequenceEqual(defaultDataPortConfig.ModeFlag))
{
isValid = false;
SmartLog.WriteErrorLine(
$"Mode Flag {dataPortConfig.ModeFlag.ToHex()} not matching with default {defaultDataPortConfig.ModeFlag.ToHex()}");
}
if (!isValid)
{
_smartPort.WriteDataPortConfig(_boardId, dataPortConfig, defaultDataPortConfig);
}
}
public static ErrorCode SetDataPortConfig(void *handle, DataPortConfig config)
{
return(driver.c_SparkMax_SetDataPortConfig(handle, config));
}
// ReSharper disable once UnusedParameter.Local
static async Task Main(string[] args)
{
Console.Clear();
Parser.Default.ParseArguments <Options>(args)
.WithParsed(o =>
{
_options = o;
SmartLog.WriteLine(!string.IsNullOrWhiteSpace(o.BoardId)
? $"Entered IFB Board Id (in Hex). Current Arguments: --ifb {o.BoardId.ToUpper()}"
: $"No IFB Board Id passed. Current Arguments: --ifb");
SmartLog.WriteLine(o.PrintRequest
? $"Print Request enabled. Current Arguments: --req {o.PrintRequest}"
: $"Print Request disabled. Current Arguments: --req {o.PrintRequest}");
SmartLog.WriteLine(o.PrintResponse
? $"Print Response enabled. Current Arguments: --res {o.PrintResponse}"
: $"Print Response disabled. Current Arguments: --res {o.PrintResponse}");
SmartLog.WriteLine(o.PrintDataPortConfig
? $"Print Data Port Config enabled. Current Arguments: --conf {o.PrintDataPortConfig}"
: $"Print Data Port Config disabled. Current Arguments: --conf {o.PrintDataPortConfig}");
SmartLog.WriteLine(o.Model == 1 || o.Model == 2
? $"Entered Model. Current Arguments: --mdl {o.Model + (o.Model== 1 ? ":Ax-Sg": ":Sg-Sg")}"
: $"No Model entered. Current Arguments: --mdl");
});
if (args != null && args.Any() && args[0].Equals("--help", StringComparison.InvariantCultureIgnoreCase))
{
return;
}
if (args != null && args.Any() && args[0].Equals("--version", StringComparison.InvariantCultureIgnoreCase))
{
return;
}
Greet();
Init();
if (!DetectComPort())
{
return;
}
GetBoardId();
Console.WriteLine();
DataPortConfig defaultDataPortConfig = _smartPort.GetDefaultDataPortConfig();
await _smartPort.Init(_boardId, _defaultComPort, _options);
if (!_smartPort.Start())
{
return;
}
var readDataPortConfig = _smartPort.ReadDataPortConfig();
//CompareDataPortConfig(readDataPortConfig, defaultDataPortConfig);
var portTask = _smartPort.Go(menuOption: CommandType.Collect);
while (portTask.Result.Selection != CommandType.Exit)
{
switch (portTask.Result.Selection)
{
case CommandType.JustCollect:
{
if (portTask.Result.ReturnObject != null)
{
var sensors = ((List <Sensor>)portTask.Result.ReturnObject);
PrintCollectResponse(sensors);
}
break;
}
case CommandType.Collect:
{
if (portTask.Result.ReturnObject != null)
{
var sensors = ((List <Sensor>)portTask.Result.ReturnObject);
if (sensors[1].Data != null && sensors[1].Data.Any())
{
var channelThreeQuantized =
//Math.Truncate(sensors[1].Data.Select(x => BitConverter.ToUInt16(x.Bytes, 0))
// .Average(x => x));
Math.Truncate(sensors[1].Data.Average(x => x.Value));
_isTip = channelThreeQuantized < 300 || channelThreeQuantized > 3800;
}
PrintCollectResponse(sensors);
//if (_options.Model.Equals(2))
// sensors = sensors.Skip(2).Take(2).ToList();
await AdjustStrain(readDataPortConfig, sensors);
await AdjustAx(readDataPortConfig, sensors);
}
break;
}
case CommandType.ReadDataPort:
{
if (portTask.Result.ReturnObject != null)
{
var dataPortConfig = ((DataPortConfig)portTask.Result.ReturnObject);
CompareDataPortConfig(dataPortConfig, defaultDataPortConfig);
}
break;
}
}
//portTask = _smartPort.Go(menuOption: _smartPort.Menu());
portTask = _smartPort.Go(menuOption: _smartPort.Menu(_printMenu));
_printMenu = false;
}
//SmartLog.WriteLine("Type exit to quite\n");
//while (!Convert.ToString(Console.ReadLine()).Equals("exit", StringComparison.OrdinalIgnoreCase))
//{
// SmartLog.WriteLine("Unknown command\n");
//}
//_smartPort.PowerOff();
}
private static async Task AdjustStrain(DataPortConfig readDataPortConfig, List <Sensor> sensors)
{
if (readDataPortConfig.SensorChannels.Any(x =>
x.Type.ToDecimal(0) == (int)SensorType.StrainGauge))
{
var strainSensors = sensors.Where(x =>
x.Afe == (_isTip? Afe.Tip: Afe.Top) &&
x.Type == SensorType.StrainGauge).ToList();
var isBalanced = false;
var saveRequire = false;
while (!isBalanced)
{
//while (strainSensors.Select(s => Math.Truncate(s.Data.Average(x => x.Value)))
// .All(x => x < StrainRange.Min))
Task <LoopResponse> portTask;
while (strainSensors.Select(s =>
Math.Truncate(s.Data.Select(x => Convert.ToInt16(BitConverter.ToUInt16(x.Bytes, 0)))
.Average(b => b)))
.All(x => x < StrainRange.Min))
{
saveRequire = true;
await _smartPort.Go(menuOption : CommandType.IncrementSg);
portTask = _smartPort.Go(menuOption: CommandType.Collect);
switch (_options.Model)
{
case 2:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(2).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
case 1 when _isTip:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(2).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
default:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(0).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
}
PrintCollectResponse(strainSensors);
}
//while (strainSensors.Select(s => Math.Truncate(s.Data.Average(x => x.Value)))
// .All(x => x > StrainRange.Max))
while (strainSensors.Select(s =>
Math.Truncate(s.Data.Select(x => Convert.ToInt16(BitConverter.ToUInt16(x.Bytes, 0)))
.Average(x => x)))
.All(x => x > StrainRange.Max))
{
saveRequire = true;
await _smartPort.Go(menuOption : CommandType.DecrementSg);
portTask = _smartPort.Go(menuOption: CommandType.Collect);
switch (_options.Model)
{
case 2:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(2).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
case 1 when _isTip:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(2).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
default:
strainSensors = ((List <Sensor>)portTask.Result.ReturnObject).Skip(0).Take(2)
.Where(x => x.Type == SensorType.StrainGauge).ToList();
break;
}
PrintCollectResponse(strainSensors);
}
//if (strainSensors.Select(s => Math.Truncate(s.Data.Average(x => x.Value)))
// .All(x => x < StrainRange.Max)
// && strainSensors.Select(s => Math.Truncate(s.Data.Average(x => x.Value)))
// .All(x => x > StrainRange.Min))
if (strainSensors.Select(s =>
Math.Truncate(s.Data.Select(x => Convert.ToInt16(BitConverter.ToUInt16(x.Bytes, 0))).Average(x => x)))
.All(x => x <= StrainRange.Max) &&
strainSensors.Select(s =>
Math.Truncate(s.Data.Select(x => Convert.ToInt16(BitConverter.ToUInt16(x.Bytes, 0))).Average(x => x)))
.All(x => x >= StrainRange.Min) && saveRequire)
{
await _smartPort.Go(menuOption : CommandType.SaveSg);
isBalanced = true;
}
else if (!saveRequire)
{
isBalanced = true;
}
}
}
}
