public FoundationPlate(PiTop4Board module) : base(module)
{
_digitalConnectedDeviceFactory = new ConnectedDeviceFactory <DigitalPort, DigitalPortDeviceBase>(deviceType =>
{
var ctorSignature = new[] { typeof(DigitalPort), typeof(IGpioControllerFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort => (DigitalPortDeviceBase)Activator.CreateInstance(deviceType, devicePort, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_analogueConnectedDeviceFactory = new ConnectedDeviceFactory <AnaloguePort, AnaloguePortDeviceBase>(
deviceType =>
{
var ctorSignature = new[] { typeof(AnaloguePort), typeof(int), typeof(II2CDeviceFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(AnaloguePortDeviceBase)Activator.CreateInstance(deviceType, devicePort, DefaultI2CAddress, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
RegisterForDisposal(_digitalConnectedDeviceFactory);
RegisterForDisposal(_analogueConnectedDeviceFactory);
}
public static void DisposeDevice(this PiTop4Board module, FileSystemCamera device)
{
var factory = module.GetDeviceFactory <FileSystemCameraSettings, FileSystemCamera>();
AssertFactory(factory);
factory.DisposeDevice(device);
}
public static void DisposeDevice <T>(this PiTop4Board module, T device)
where T : ICamera
{
var factory = module.GetDeviceFactory <int, ICamera>();
AssertFactory(factory);
factory.DisposeDevice(device);
}
public Wizard(PiTop4Board board, IWizardStep <T>[] steps)
{
_steps = steps;
_display = board.Display;
board.UpButton.PressedChanged += (sender, pressed) => {
if (pressed)
{
steps[_currentStep].Up();
}
};
board.DownButton.PressedChanged += (sender, pressed) => {
if (pressed)
{
steps[_currentStep].Down();
}
};
board.SelectButton.PressedChanged += (sender, pressed) => {
steps[_currentStep].Confirm(_data);
var nextStep = _currentStep + 1;
if (nextStep < steps.Length)
{
_currentStep = nextStep;
steps[_currentStep].Initialize(_display, _font);
}
else
{
_display.Draw((context, cr) => {
context.Clear(Color.Black);
var rect = TextMeasurer.Measure("Done!", new RendererOptions(_font));
var x = 1;
var y = 1;
context.DrawText("Done!", _font, Color.Aqua, new PointF(x, y));
});
CurrentState = WizardState.Completed;
}
};
board.CancelButton.PressedChanged += (sender, pressed) => {
_display.Draw((context, cr) => {
context.Clear(Color.Black);
var rect = TextMeasurer.Measure("Cancelled.", new RendererOptions(_font));
var x = 1;
var y = 1;
context.DrawText("Cancelled.", _font, Color.Aqua, new PointF(x, y));
});
CurrentState = WizardState.Cancelled;
};
}
public void cannot_use_factory_if_is_not_initialised()
{
PiTop4Board.Configure(new DummyGpioController());
using var module = PiTop4Board.Instance;
var action = new Action(() =>
module.GetOrCreateCamera <FileSystemCamera>(new DirectoryInfo(Path.GetTempPath()))
);
action.Should().Throw <InvalidOperationException>()
.Which
.Message
.Should()
.Match("Cannot find a factory if type PiTop.Abstractions.IConnectedDeviceFactory<PiTop.Camera.FileSystemCameraSettings, PiTop.Camera.FileSystemCamera>, make sure to configure the module calling UseCamera first.");
}
public static T GetOrCreateCamera <T>(this PiTop4Board module, FileSystemCameraSettings settings) where T : FileSystemCamera
{
IConnectedDeviceFactory <FileSystemCameraSettings, FileSystemCamera> factory = null !;
try
{
factory = module.GetDeviceFactory <FileSystemCameraSettings, FileSystemCamera>();
}
catch (KeyNotFoundException
)
{
}
AssertFactory(factory);
return(factory.GetOrCreateDevice <T>(settings));
}
private static void SetupBoard()
{
Console.WriteLine("SetupBoard");
board = PiTop4Board.Instance;
display = board.Display;
board.SelectButton.Pressed += BoardSelectButtonPressed;
board.CancelButton.Pressed += BoardCancelButtonPressed;
board.UpButton.Pressed += BoardUpButtonPressed;
board.DownButton.Pressed += BoardDownButtonPressed;
board.BatteryStateChanged += BoardOnBatteryStateChanged;
#if RUNTIMEMODE
MainPage();
#endif
}
public ExpansionPlate(PiTop4Board module) : base(module)
{
_foundationPlate = module.GetOrCreatePlate <FoundationPlate>();
_servoMotorsFactory = new ConnectedDeviceFactory <ServoMotorPort, ServoMotor>(deviceType =>
{
var ctorSignature = new[] { typeof(ServoMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(ServoMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_encoderMotorFactory = new ConnectedDeviceFactory <EncoderMotorPort, EncoderMotor>(
deviceType =>
{
var ctorSignature = new[] { typeof(EncoderMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(EncoderMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
// set up heartbeat
RegisterForDisposal(Observable.Interval(HEARTBEAT_SEND_INTERVAL, TaskPoolScheduler.Default).Subscribe(_ =>
{
GetOrCreateMcu().WriteByte(REGISTER_HEARTBEAT, HEARTBEAT_SECONDS_BEFORE_SHUTDOWN);
}));
RegisterForDisposal(_servoMotorsFactory);
RegisterForDisposal(_encoderMotorFactory);
RegisterForDisposal(() =>
{
_imu?.Dispose();
_mcu?.I2c.Dispose();
});
}
public static T GetOrCreateCamera <T>(this PiTop4Board module, int index)
where T : ICamera
{
IConnectedDeviceFactory <int, ICamera> factory = null !;
try
{
factory = module.GetDeviceFactory <int, ICamera>();
}
catch (KeyNotFoundException
)
{
}
AssertFactory(factory);
return(factory.GetOrCreateDevice <T>(index));
}
public static PiTop4Board UseCamera(this PiTop4Board module)
{
module.AddDeviceFactory <int, ICamera>(deviceType =>
{
var ctorSignature = new[] { typeof(int) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(cameraIndex =>
(ICamera)Activator.CreateInstance(deviceType, cameraIndex) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
module.AddDeviceFactory <FileSystemCameraSettings, FileSystemCamera>(deviceType =>
{
return(settings => new FileSystemCamera(settings));
});
return(module);
}
protected SMBusDevice GetOrCreateMcu()
{
return(_mcu ??= new SMBusDevice(PiTop4Board.GetOrCreateI2CDevice(I2C_ADDRESS_PLATE_MCU)));
}
public static FoundationPlate GetOrCreateFoundationPlate(this PiTop4Board module)
{
return(module.GetOrCreatePlate <FoundationPlate>());
}
public FoundationPlateTests()
{
PiTop4Board.Configure(new DummyGpioController());
_module = PiTop4Board.Instance;
}
public FileSystemCameraTests()
{
PiTop4Board.Configure(new DummyGpioController());
_module = PiTop4Board.Instance;
}
public MmkPlateTests()
{
PiTop4Board.Configure(new DummyGpioController(), i2cDeviceFactory: settings => new DummyI2CDevice(settings));
_module = PiTop4Board.Instance;
}
public static ExpansionPlate GetOrCreateExpansionPlate(this PiTop4Board module)
{
return(module.GetOrCreatePlate <ExpansionPlate>());
}
public static T GetOrCreateCamera <T>(this PiTop4Board module, DirectoryInfo directory, string imageFileSearchPattern = "*.png") where T : FileSystemCamera
{
return(module.GetOrCreateCamera <T>(
new FileSystemCameraSettings(directory, imageFileSearchPattern)));
}
