private void InitEncoder(bool reverseDirection)
{
switch (m_encodingType)
{
case EncodingType.K4X:
m_encodingScale = 4;
int status = 0;
m_encoder = InitializeEncoder(m_aSource.ModuleForRouting,
(uint)m_aSource.ChannelForRouting,
m_aSource.AnalogTriggerForRouting, m_bSource.ModuleForRouting,
(uint)m_bSource.ChannelForRouting,
m_bSource.AnalogTriggerForRouting, reverseDirection, ref m_index, ref status);
CheckStatus(status);
m_counter = null;
MaxPeriod = 0.5;
break;
case EncodingType.K2X:
m_encodingScale = 2;
m_counter = new Counter(m_encodingType, m_aSource, m_bSource, reverseDirection);
m_index = m_counter.FPGAIndex;
break;
case EncodingType.K1X:
m_encodingScale = 1;
m_counter = new Counter(m_encodingType, m_aSource, m_bSource, reverseDirection);
m_index = m_counter.FPGAIndex;
break;
}
DistancePerPulse = 1.0;
m_pidSource = PIDSourceParameter.Distance;
LiveWindow.AddSensor("Encoder", m_aSource.ChannelForRouting, this);
Report(ResourceType.kResourceType_Encoder, (byte)m_index, (byte)m_encodingType);
}
private void Initialize()
{
bool originalMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Add(this);
}
m_counter = new Counter { MaxPeriod = 1.0 };
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
Enabled = true;
SetAutomaticMode(originalMode);
++s_instances;
HAL.Base.HAL.Report(ResourceType.kResourceType_Ultrasonic, s_instances);
LiveWindow.LiveWindow.AddSensor("Ultrasonic", m_echoChannel.Channel, this);
}
public override void Dispose()
{
if (m_aSource != null && m_allocatedA)
{
m_aSource.Dispose();
m_allocatedA = false;
}
if (m_bSource != null && m_allocatedB)
{
m_bSource.Dispose();
m_allocatedB = false;
}
if (m_indexSource != null && m_allocatedI)
{
m_indexSource.Dispose();
m_allocatedI = false;
}
m_aSource = null;
m_bSource = null;
m_indexSource = null;
if (m_counter != null)
{
m_counter.Dispose();
m_counter = null;
}
else
{
int status = 0;
FreeEncoder(m_encoder, ref status);
CheckStatus(status);
}
}
/// <summary>
/// Assigns the <see cref="Counter"/> to this glitch filter
/// </summary>
/// <param name="counter">The <see cref="Counter"/> to add.</param>
public void Add(Counter counter)
{
Add(counter.m_upSource);
Add(counter.m_downSource);
}
/// <summary>
/// Removes the <see cref="Counter"/> from this glitch filter
/// </summary>
/// <param name="counter">The <see cref="Counter"/> to remove.</param>
public void Remove(Counter counter)
{
Remove(counter.m_upSource);
Remove(counter.m_downSource);
}
/// <summary>
/// Destructor for the ultrasonic sensor.
/// </summary>
/// <remarks>Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
/// If the system was in automatic mode (round robin), then it is stopped, then started again after
/// this sensor is removed (provided this wasn't the last sensor).
/// </remarks>
public override void Dispose()
{
base.Dispose();
bool previousAutoMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Remove(this);
}
if (m_allocatedChannels)
{
m_pingChannel?.Dispose();
m_echoChannel?.Dispose();
}
m_counter?.Dispose();
m_pingChannel = null;
m_echoChannel = null;
m_counter = null;
lock (s_syncRoot)
{
if (!s_currentSensors.Any()) return;
}
SetAutomaticMode(previousAutoMode);
}
