public ArduinoModel(TeamDataModel teamData1, TeamDataModel teamData2)
{
SetConnection();
if (_comOK)
{
_session = new ArduinoSession(_connection);
_keepAliveTimer = new Timer(Constants.keepAliveInterval)
{
AutoReset = true
};
_keepAliveTimer.Elapsed += _keepAliveTimer_Elapsed;
_keepAliveTimer.Start();
//_session.SetSamplingInterval(400);
_session.SetDigitalPinMode(Constants.rlimb, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.rlimf, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.blimb, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.blimf, PinMode.InputPullup);
_session.SetDigitalReportMode(Constants.limitSwitchPort, true);
var tracker = _session.CreateDigitalStateMonitor(Constants.limitSwitchPort);
teamData1.TeamControl.BackLimSwitch.Subscribe(tracker);
teamData1.TeamControl.FrontLimSwitch.Subscribe(tracker);
teamData2.TeamControl.BackLimSwitch.Subscribe(tracker);
teamData2.TeamControl.FrontLimSwitch.Subscribe(tracker);
//use code below to enable event managed pin updates
//_session.DigitalStateReceived += DigitalStateReceivedHandler;
}
//Subscribe to controllable data changes
//Planned: publish sensor updates using TeamSensor object in teamData
_teamData1 = teamData1;
_teamData1.TeamControl.HoverLed.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Obstacle1Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Obstacle2Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Platform1Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Platform2Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.StartLed.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Motor.PropertyChanged += OnMotorChanged;
_teamData2 = teamData2;
_teamData2.TeamControl.HoverLed.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Obstacle1Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Obstacle2Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Platform1Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Platform2Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.StartLed.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Motor.PropertyChanged += OnMotorChanged;
}
public void SetDigitalReportMode(int portNumber, Boolean enable, int sleep = 0)
{
try
{
//when setting a port to be reported by Firmata on the arduino it's important that there aren't
//other devices on pins on that port that may result in an inrush of reports and hence cause too
//much traffic from the board to the host (which can result in buffers filling up and ulitmately a board reset)
for (int i = 0; i < 8; i++)
{
int pin = GetPinForPort(portNumber, i);
List <ArduinoDevice> devs = GetDevicesByPin(pin);
if (devs == null)
{
continue;
}
foreach (ArduinoDevice dev in devs)
{
bool portAvailable = dev is Devices.SwitchSensor;
if (!portAvailable)
{
String msg = String.Format("ArduinoDeviceManager::SetDigitalReportMode Cannot set digital port {0} as the device {1} on pin {2} is on that port", portNumber, dev.ID, pin);
throw new Exception(msg);
}
}
}
//remove any record of the port state so we ensure we get a fresh one
if (_portStates.ContainsKey(portNumber))
{
_portStates.Remove(portNumber);
}
_session.SetDigitalReportMode(portNumber, enable);
_sleep(sleep);
}
catch (Exception e)
{
String msg = String.Format("Error setting digital port {0} to report {1}, {2}: {3} ", portNumber, enable, e.GetType(), e.Message);
Tracing?.TraceEvent(TraceEventType.Error, 0, msg);
}
}
