protected void MoveRight()
{
_pinRight.Write(true);
Thread.Sleep(400);
_pinRight.Write(false);
Log("move right");
}
protected void MoveLeft()
{
_pinLeft.Write(true);
Thread.Sleep(400);
_pinLeft.Write(false);
Log("move left");
}
protected void MoveDown()
{
_pinDown.Write(true);
Thread.Sleep(100);
_pinDown.Write(false);
Log("move down");
}
protected void MoveUp()
{
_pinUp.Write(true);
Thread.Sleep(100);
_pinUp.Write(false);
Log("move up");
}
private void TurnLeft()
{
_pinLeftEngineBackward.Write(true);
_pinRightEngineForward.Write(true);
Thread.Sleep(200);
_pinLeftEngineBackward.Write(false);
_pinRightEngineForward.Write(false);
Log("Turn left");
}
public void OneLed(int dauer)
{
GPIOMem led = new GPIOMem(GPIOPins.GPIO_18, GPIODirection.Out);
while (true)
{
led.Write(PinState.High);
System.Threading.Thread.Sleep(dauer);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(dauer);
}
}
/// <summary>
/// Write either command or data, with automatic 4/8-bit selection
/// </summary>
/// <param name="value">value to write</param>
/// <param name="mode">Mode for RS (register select) pin.</param>
/// <param name="backlight">Backlight state.</param>
public void Send(byte value, bool mode, bool backlight)
{
if (_disposed)
{
throw new ObjectDisposedException("NetopiaGPIOLcdTransferProvider");
}
//TODO: set backlight
_rsPort.Write(mode);
// if there is a RW pin indicated, set it low to Write
if (_rwPort != null)
{
_rwPort.Write(false);
}
if (!_fourBitMode)
{
Write8Bits(value);
}
else
{
Write4Bits((byte)(value >> 4));
Write4Bits(value);
}
}
/// <summary>
/// Called for checking interrupts on specified pin.
/// </summary>
static void interruptCheck()
{
while (true)
{
if ((DateTime.Now - LEDTimer).TotalSeconds > 3)
{
LED_On = !LED_On;
led.Write(LED_On);
LEDTimer = DateTime.Now;
}
var pinState = pin.Read();
if (lastInterruptState != pinState)
{
lastInterruptState = pinState;
Interrupt();
}
Thread.Sleep(1);
/*Interrupt ();
* Thread.Sleep (20);*/
}
}
/// <summary>
/// Called when Power Out CB changes or when Power Default CB changes.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void cb_PowerSensorOut_CheckedChanged(object sender, EventArgs e)
{
if (!(powerSensor is null))
{
powerSensor.Write(!(cb_GPIO_PWR_Default.Checked ^ cb_PowerSensorOut.Checked));
}
}
public void BlinkyMain()
{
//display.Write ("Hallo");
//GPIOPins.GPIO_17 = GPIO17 auf PIN11
GPIOMem pin11 = new GPIOMem(GPIOPins.GPIO_17);
GPIOMem button = new GPIOMem(GPIOPins.GPIO_18, GPIODirection.In);
button.Write(PinState.High);
pin11.Write(PinState.Low);
int power = 1;
int pause = 1;
bool toggle = true;
while (true)
{
if (button.Read() == PinState.Low)
{
//test ();
if (toggle)
{
power++;
}
else
{
power--;
};
Console.WriteLine("Power;{0} Pause:{1}", power.ToString(), pause.ToString());
pause = power / 2;
if (power == 20 || power == 0)
{
toggle = !toggle;
Console.Write(toggle.ToString());
}
System.Threading.Thread.Sleep(5);
}
pin11.Write(PinState.High);
System.Threading.Thread.Sleep(pause);
pin11.Write(PinState.Low);
System.Threading.Thread.Sleep(power);
}
}
public string RequestListener(HttpListenerRequest request)
{
GPIOMem gpio = null;
string rtnValue = null;
try
{
// log out requests for debugging
Console.WriteLine(request.Url);
// set pin direction via "dir" argument
GPIODirection dir = (GPIODirection)((new[] { "OUT", "TRUE", "1" }).Contains(request.QueryString["dir"].ToUpper()) ? 1 : 0);
// set pin number via "pin" argument
GPIOPins pin = (GPIOPins)int.Parse(request.QueryString["pin"]);
gpio = new GPIOMem((GPIOPins)pin, dir);
if (dir == GPIODirection.Out)
{
// set pin state via "state" argument
bool state = (new[] { "HIGH", "1", "TRUE", "T" }).Contains(request.QueryString["state"].ToUpper());
gpio.Write(state);
rtnValue = state.ToString();
}
else
{
rtnValue = (gpio.Read() == PinState.High).ToString();
}
}
catch (Exception ex)
{
Console.WriteLine("ERROR:");
Console.WriteLine(ex.Message);
Console.WriteLine(ex.Source);
Console.WriteLine(ex.StackTrace);
rtnValue = "ERROR";
}
finally
{
gpio.Dispose();
}
return(rtnValue);
}
private void PulseEnable()
{
_enablePort.Write(false);
_enablePort.Write(true); // enable pulse must be >450ns
_enablePort.Write(false); // commands need > 37us to settle
}
/// <summary>
/// Called whenever pin state goes from High to Low or vice-versa.
/// </summary>
static void Interrupt()
{
/* Prevent from maximum size collision. */
if (triggerCount >= Int32.MaxValue - 1024)
{
triggerCount = 0;
}
if (pulses >= Int32.MaxValue - 1024)
{
pulses = 0;
}
/* Calibration. */
if (calibrating)
{
triggerCount++;
WriteMultidimensionalPacket(OpCodes.CaliberTransmit, triggerCount);
}
else if (projectStarted)
{
/* Preform no caliber (single caliber) triggers and pulses. */
if (caliberNumber <= 1)
{
triggerCount++;
new Thread(() => {
flash.Write(true);
Thread.Sleep(1);
flash.Write(false);
}).Start();
WriteMultidimensionalPacket(OpCodes.Trigger, triggerCount);
/* Display console information every 500 trigs. */
if (triggerCount % 500 == 0)
{
WriteLineNoLog("Performing trigger: " + triggerCount.ToString() + ".");
}
}
else
{
/* Calculate pulses and trigger, then decide to send it or not. */
pulses++;
if (pulses >= caliberNumber)
{
triggerCount++;
pulses = 0;
new Thread(() => {
flash.Write(true);
Thread.Sleep(1);
flash.Write(false);
}).Start();
WriteMultidimensionalPacket(OpCodes.Trigger, triggerCount);
/* Display console information every 500 trigs. */
if (triggerCount % 500 == 0)
{
WriteLineNoLog("Performing trigger: " + triggerCount.ToString() + ".");
}
}
}
}
}
public void Execute(params object[] list)
{
string MType = ((string)list [0]);
switch (MType)
{
case "READ_TEMPERATURE":
GPIOPins X1 = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOFile Sensor1 = new GPIOFile(X1);
break;
case "READ_LUMINANCE":
GPIOPins X2 = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOFile Sensor2 = new GPIOFile(X2);
break;
case "READ_HUMIDITY":
GPIOPins X3 = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOFile Sensor3 = new GPIOFile(X3);
break;
case "READ_PRESSURE":
GPIOPins X4 = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOFile Sensor4 = new GPIOFile(X4);
break;
case "LEDON":
new System.Threading.Thread(delegate() {
GPIOPins X = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOMem led = new GPIOMem(X);
led.Write(PinState.High);
}).Start();
break;
case "LEDOFF":
new System.Threading.Thread(delegate() {
GPIOPins X = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOMem led = new GPIOMem(X);
led.Write(PinState.Low);
}).Start();
break;
case "LEDBLINK_SLOW":
new System.Threading.Thread(delegate() {
GPIOPins X = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOMem led = new GPIOMem(X);
for (int i = 0; i < (int.Parse((string)list [2])); i++)
{
led.Write(PinState.High);
System.Threading.Thread.Sleep(500);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(500);
}
}).Start();
break;
case "LEDBLINK_FAST":
new System.Threading.Thread(delegate() {
GPIOPins X = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOMem led = new GPIOMem(X);
for (int i = 0; i < (int.Parse((string)list [2])); i++)
{
led.Write(PinState.High);
System.Threading.Thread.Sleep(250);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(250);
led.Write(PinState.High);
System.Threading.Thread.Sleep(250);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(250);
}
}).Start();
break;
case "LEDBLINK_UFAST":
new System.Threading.Thread(delegate() {
GPIOPins X = (GPIOPins)Enum.Parse(typeof(GPIOPins), (string)list [1], true);
GPIOMem led = new GPIOMem(X);
for (int i = 0; i < (int.Parse((string)list [2])); i++)
{
led.Write(PinState.High);
System.Threading.Thread.Sleep(125);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(125);
led.Write(PinState.High);
System.Threading.Thread.Sleep(125);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(125);
led.Write(PinState.High);
System.Threading.Thread.Sleep(125);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(125);
led.Write(PinState.High);
System.Threading.Thread.Sleep(125);
led.Write(PinState.Low);
System.Threading.Thread.Sleep(125);
}
}).Start();
break;
}
}
/// <summary>
/// Is called as a thread. Manages turning on and off the GPIOs as set by static variables above.
/// </summary>
/// <param name="sensor">If false, use sensor 1 and 2 otherwise 3 and 4</param>
private static void RunPulseGen(bool sensor)
{
var sw = new System.Diagnostics.Stopwatch();
sw.Reset();
while (!sensor ? run1 : run2)
{
sw.Reset();
sw.Start();
// start pulse 1
bool boolExpr = false;
int sleepTime = 0;
if (!sensor)
{
if (!(rotationSensor1_1 is null))
{
rotationSensor1_1.Write(!s1_default);
}
// determine which comes first: start pulse 2 or stop pulse 1
boolExpr = pulseLength1 < delay1;
}
else
{
if (!(rotationSensor2_1 is null))
{
rotationSensor2_1.Write(!s1_default);
}
// determine which comes first: start pulse 2 or stop pulse 1
boolExpr = pulseLength2 < delay2;
}
if (boolExpr)
{
// S1: ****________...
// S2: ______****__...
//
// stop pulse 1
sleepTime = !sensor ? pulseLength1 : pulseLength2;
Thread.Sleep(sleepTime);
if (!sensor)
{
if (!(rotationSensor1_1 is null))
{
rotationSensor1_1.Write(s1_default);
}
}
else
{
if (!(rotationSensor2_1 is null))
{
rotationSensor2_1.Write(s1_default);
}
}
// do pulse 2
// pulseLength1 is over, but measure for more accuracy
{
sleepTime = (!sensor ? delay1 : delay2) - (int)sw.ElapsedMilliseconds;
if (sleepTime > 0)
{
Thread.Sleep(sleepTime);
}
}
if (!sensor)
{
if (!(rotationSensor1_2 is null))
{
rotationSensor1_2.Write(!s2_default);
}
// sleep until pulse duration over
sleepTime = pulseLength1;
}
else
{
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(!s2_default);
}
sleepTime = pulseLength2;
}
Thread.Sleep(sleepTime);
// stop pulse 2
if (!sensor)
{
if (!(rotationSensor1_2 is null))
{
rotationSensor1_2.Write(s2_default);
}
}
else
{
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(s2_default);
}
}
}
else
{
// S1: ****______...
// S2: __****____...
// pulse 2 starts first, pulse 1 still running
sleepTime = (!sensor ? delay1 : delay2);
Thread.Sleep(sleepTime);
if (!sensor)
{
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(!s2_default);
}
}
else
{
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(!s2_default);
}
}
// sleep till stop of pulse 1
sleepTime = !sensor ? pulseLength1 - delay1 : pulseLength2 - delay2;
if (sleepTime > 0)
{
Thread.Sleep(sleepTime);
}
// stop pulse 1
if (!sensor)
{
if (!(rotationSensor1_1 is null))
{
rotationSensor1_1.Write(s1_default);
}
}
else
{
if (!(rotationSensor2_1 is null))
{
rotationSensor2_1.Write(s1_default);
}
}
// sleep till end of pulse 2
sleepTime = (!sensor ? pulseLength1 : pulseLength2) - ((int)sw.ElapsedMilliseconds - (!sensor ? delay1 : delay2));
if (sleepTime > 0)
{
Thread.Sleep(sleepTime);
}
// stop pulse 2
if (!sensor)
{
if (!(rotationSensor1_2 is null))
{
rotationSensor1_2.Write(s2_default);
}
}
else
{
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(s2_default);
}
}
}
// sleep for the rest of the cycle, measure time for more accuracy
// TODO: random pulses
sleepTime = cycleLength1 - (int)sw.ElapsedMilliseconds;
if (sleepTime > 0)
{
Thread.Sleep(sleepTime);
}
} // \while(!sensor ? run1 : run2)
//
if (!sensor)
{
if (!(rotationSensor1_1 is null))
{
rotationSensor1_1.Write(false);
}
if (!(rotationSensor1_2 is null))
{
rotationSensor1_2.Write(false);
}
}
else
{
if (!(rotationSensor2_1 is null))
{
rotationSensor2_1.Write(false);
}
if (!(rotationSensor2_2 is null))
{
rotationSensor2_2.Write(false);
}
}
}