// link the instance to a real YoctoAPI object internal override void linkToHardware(string hwdName) { YServo hwd = YServo.FindServo(hwdName); // first redo base_init to update all _func pointers base_init(hwd, hwdName); // then setup Yocto-API pointers and callbacks init(hwd); }
// perform the 2nd stage setup that requires YoctoAPI object protected void init(YServo hwd) { if (hwd == null) { return; } base.init(hwd); InternalStuff.log("registering Servo callback"); _func.registerValueCallback(valueChangeCallback); }
/** * <summary> * Retrieves a servo for a given identifier. * <para> * The identifier can be specified using several formats: * </para> * <para> * </para> * <para> * - FunctionLogicalName * </para> * <para> * - ModuleSerialNumber.FunctionIdentifier * </para> * <para> * - ModuleSerialNumber.FunctionLogicalName * </para> * <para> * - ModuleLogicalName.FunctionIdentifier * </para> * <para> * - ModuleLogicalName.FunctionLogicalName * </para> * <para> * </para> * <para> * This function does not require that the servo is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method <c>YServo.isOnline()</c> to test if the servo is * indeed online at a given time. In case of ambiguity when looking for * a servo by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * </para> * </summary> * <param name="func"> * a string that uniquely characterizes the servo * </param> * <returns> * a <c>YServo</c> object allowing you to drive the servo. * </returns> */ public static YServo FindServo(string func) { YServo obj; obj = (YServo)YFunction._FindFromCache("Servo", func); if (obj == null) { obj = new YServo(func); YFunction._AddToCache("Servo", func, obj); } return(obj); }
public static YServoProxy FindServo(string name) { // cases to handle: // name ="" no matching unknwn // name ="" unknown exists // name != "" no matching unknown // name !="" unknown exists YServo func = null; YServoProxy res = (YServoProxy)YFunctionProxy.FindSimilarUnknownFunction("YServoProxy"); if (name == "") { if (res != null) { return(res); } res = (YServoProxy)YFunctionProxy.FindSimilarKnownFunction("YServoProxy"); if (res != null) { return(res); } func = YServo.FirstServo(); if (func != null) { name = func.get_hardwareId(); if (func.get_userData() != null) { return((YServoProxy)func.get_userData()); } } } else { func = YServo.FindServo(name); if (func.get_userData() != null) { return((YServoProxy)func.get_userData()); } } if (res == null) { res = new YServoProxy(func, name); } if (func != null) { res.linkToHardware(name); if (func.isOnline()) { res.arrival(); } } return(res); }
/** * <summary> * Enumerates all functions of type Servo available on the devices * currently reachable by the library, and returns their unique hardware ID. * <para> * Each of these IDs can be provided as argument to the method * <c>YServo.FindServo</c> to obtain an object that can control the * corresponding device. * </para> * </summary> * <returns> * an array of strings, each string containing the unique hardwareId * of a device function currently connected. * </returns> */ public static new string[] GetSimilarFunctions() { List <string> res = new List <string>(); YServo it = YServo.FirstServo(); while (it != null) { res.Add(it.get_hardwareId()); it = it.nextServo(); } return(res.ToArray()); }
// --- (end of YServo implementation) // --- (Servo functions) /** * <summary> * Retrieves a servo for a given identifier. * <para> * The identifier can be specified using several formats: * </para> * <para> * </para> * <para> * - FunctionLogicalName * </para> * <para> * - ModuleSerialNumber.FunctionIdentifier * </para> * <para> * - ModuleSerialNumber.FunctionLogicalName * </para> * <para> * - ModuleLogicalName.FunctionIdentifier * </para> * <para> * - ModuleLogicalName.FunctionLogicalName * </para> * <para> * </para> * <para> * This function does not require that the servo is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method <c>YServo.isOnline()</c> to test if the servo is * indeed online at a given time. In case of ambiguity when looking for * a servo by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * </para> * </summary> * <param name="func"> * a string that uniquely characterizes the servo * </param> * <returns> * a <c>YServo</c> object allowing you to drive the servo. * </returns> */ public static YServo FindServo(string func) { YServo res; if (_ServoCache.ContainsKey(func)) { return((YServo)_ServoCache[func]); } res = new YServo(func); _ServoCache.Add(func, res); return(res); }
static void Main(string[] args) { string errmsg = ""; string target; YServo servo1; YServo servo5; int pos; if (args.Length < 2) { usage(); } target = args[0].ToUpper(); pos = Convert.ToInt32(args[1]); if (YAPI.RegisterHub("usb", ref errmsg) != YAPI.SUCCESS) { Console.WriteLine("RegisterHub error: " + errmsg); Environment.Exit(0); } if (target == "ANY") { servo1 = YServo.FirstServo(); if (servo1 == null) { Console.WriteLine("No module connected (check USB cable) "); Environment.Exit(0); } target = servo1.get_module().get_serialNumber(); } servo1 = YServo.FindServo(target + ".servo1"); servo5 = YServo.FindServo(target + ".servo5"); if (servo1.isOnline()) { servo1.set_position(pos); servo5.move(pos, 3000); } else { Console.WriteLine("Module not connected"); } Console.WriteLine("check identification and USB cable"); }
public override async Task <int> Run() { try { await YAPI.RegisterHub(HubURL); YServo servo1; YServo servo5; if (Target.ToLower() == "any") { servo1 = YServo.FirstServo(); if (servo1 == null) { WriteLine("No module connected (check USB cable) "); return(-1); } Target = await(await servo1.get_module()).get_serialNumber(); } servo1 = YServo.FindServo(Target + ".servo1"); servo5 = YServo.FindServo(Target + ".servo5"); int pos = Convert.ToInt32(Position); if (await servo1.isOnline()) { await servo1.set_position(pos); await servo5.move(pos, 3000); } else { WriteLine("Module not connected (check identification and USB cable)"); } WriteLine("Done."); } catch (YAPI_Exception ex) { WriteLine("error: " + ex.Message); } YAPI.FreeAPI(); return(0); }
// --- (end of YServo implementation) // --- (Servo functions) /** * <summary> * Retrieves a servo for a given identifier. * <para> * The identifier can be specified using several formats: * </para> * <para> * </para> * <para> * - FunctionLogicalName * </para> * <para> * - ModuleSerialNumber.FunctionIdentifier * </para> * <para> * - ModuleSerialNumber.FunctionLogicalName * </para> * <para> * - ModuleLogicalName.FunctionIdentifier * </para> * <para> * - ModuleLogicalName.FunctionLogicalName * </para> * <para> * </para> * <para> * This function does not require that the servo is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method <c>YServo.isOnline()</c> to test if the servo is * indeed online at a given time. In case of ambiguity when looking for * a servo by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * </para> * </summary> * <param name="func"> * a string that uniquely characterizes the servo * </param> * <returns> * a <c>YServo</c> object allowing you to drive the servo. * </returns> */ public static YServo FindServo(string func) { YServo res; if (_ServoCache.ContainsKey(func)) return (YServo)_ServoCache[func]; res = new YServo(func); _ServoCache.Add(func, res); return res; }
// perform the initial setup that may be done without a YoctoAPI object (hwd can be null) internal override void base_init(YFunction hwd, string instantiationName) { _func = (YServo)hwd; base.base_init(hwd, instantiationName); }
//--- (end of YServo definitions) //--- (YServo implementation) internal YServoProxy(YServo hwd, string instantiationName) : base(hwd, instantiationName) { InternalStuff.log("Servo " + instantiationName + " instantiation"); base_init(hwd, instantiationName); }
/** * <summary> * Retrieves a servo for a given identifier. * <para> * The identifier can be specified using several formats: * </para> * <para> * </para> * <para> * - FunctionLogicalName * </para> * <para> * - ModuleSerialNumber.FunctionIdentifier * </para> * <para> * - ModuleSerialNumber.FunctionLogicalName * </para> * <para> * - ModuleLogicalName.FunctionIdentifier * </para> * <para> * - ModuleLogicalName.FunctionLogicalName * </para> * <para> * </para> * <para> * This function does not require that the servo is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method <c>YServo.isOnline()</c> to test if the servo is * indeed online at a given time. In case of ambiguity when looking for * a servo by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * </para> * </summary> * <param name="func"> * a string that uniquely characterizes the servo * </param> * <returns> * a <c>YServo</c> object allowing you to drive the servo. * </returns> */ public static YServo FindServo(string func) { YServo obj; obj = (YServo) YFunction._FindFromCache("Servo", func); if (obj == null) { obj = new YServo(func); YFunction._AddToCache("Servo", func, obj); } return obj; }