//long currentValue;
public void Run()
{
Debug.Print("Starting RangeFinder in a thread...");
var rangeFinderProcess = new HC_SR04(Pins.GPIO_PIN_D0, Pins.GPIO_PIN_D1);
OutputPort blueLED = new OutputPort(Pins.ONBOARD_LED, false);
var period = 500;
var ledState = true;
long pingResult;
while (true)
{
lock (monitor)
{
pingResult = rangeFinderProcess.Ping();
}
Debug.Print("Reading = " + pingResult.ToString());
currentValue = pingResult;
SourceBuffer4.HandlePut((object)currentValue);
Thread.Sleep(period);
object setpoint = SourceBuffer1.HandleGet();
if (setpoint != null)
{
period = (int)setpoint;
period = period > 10000 ? 10000 : period;
period = period < 100 ? 100 : period;
}
ledState = !ledState;
blueLED.Write(ledState);
}
}
public void Run()
{
Debug.Print("Starting RangeFinder in a separate thread...");
var rangeFinderProcess = new HC_SR04(Pins.GPIO_PIN_D0, Pins.GPIO_PIN_D1);
OutputPort blueLED = new OutputPort(Pins.ONBOARD_LED, false);
OutputPort greenLED = new OutputPort(Pins.GPIO_PIN_D13, false);
TimerCallback proximityAlarmTimerCallback = new TimerCallback(ManageProximityAlarm);
TimerCallback proximityAlarmClearHoldOffTimerCallback = new TimerCallback(ManageProximityAlarm);
//Timer belowThresholdTimer = null;
//Timer proximityAlarmClearHoldOffTimer = null;
int belowThresholdCrossingCounter = 0;
bool ledState = true;
long pingResult;
object setpoint;
while (true)
{
belowThreshold = false;
lock (monitor)
{
pingResult = rangeFinderProcess.Ping();
}
Debug.Print("Reading = " + pingResult.ToString());
previousValue = currentValue;
currentValue = pingResult;
sourceBufferCurrentValue.HandlePut((object)currentValue);
if (currentValue < currentLowTrigLevel)
{
Debug.Print("BELOW THRESHOLD!");
belowThreshold = true;
if (previousValue > currentLowTrigLevel && belowThresholdTimerActive == false)
{
TimerState belowThresholdState = TimerState.belowThreshold;
belowThresholdTimer = new Timer(proximityAlarmTimerCallback, belowThresholdState, lowTrigDur, (int)1.5 * lowTrigDur);
belowThresholdTimerActive = true;
belowThresholdCrossingCounter += 1;
Debug.Print("Low Level Threshold Crossed (count=" + belowThresholdCrossingCounter.ToString() + ")");
Debug.Print("belowThresholdTimer Started (fires in " + lowTrigDur.ToString() + "ms)");
}
if (proximityAlarmClearHoldOffTimerActive == true)
{
proximityAlarmClearHoldOffTimer.Dispose();
proximityAlarmClearHoldOffTimerActive = false;
Debug.Print("proximityAlarmClearHoldOffTimer Cancelled");
}
}
else
{
belowThreshold = false;
if (previousValue < currentLowTrigLevel && belowThresholdTimerActive == true)
{
belowThresholdTimer.Dispose();
belowThresholdTimerActive = false;
Debug.Print("belowThresholdTimer Cancelled");
}
if (previousValue < currentLowTrigLevel && proximityAlarmClearHoldOffTimerActive == false && belowThresholdCrossingCounter > 0)
{
proximityAlarmClearHoldOffTimerActive = true;
TimerState holdingOffState = TimerState.holdingOff;
proximityAlarmClearHoldOffTimer = new Timer(proximityAlarmClearHoldOffTimerCallback, holdingOffState, holdOffTime, (int)1.5 * holdOffTime);
Debug.Print("proximityAlarmClearHoldOffTimer Started (fires in " + holdOffTime.ToString() + "ms)");
}
}
Thread.Sleep(period);
setpoint = sourceBufferMeasPeriod.HandleGet();
if (setpoint != null)
{
period = (int)setpoint;
period = period > 10000 ? 10000 : period;
period = period < 100 ? 100 : period;
if (period != currentPeriod)
{
Debug.Print("Period changed to " + period.ToString() + "ms");
}
currentPeriod = period;
}
setpoint = sourceBufferLowTrigLevel.HandleGet();
if (setpoint != null)
{
int i = (int)setpoint;
lowTrigLevel = (long)i;
lowTrigLevel = lowTrigLevel > 3000L ? 3000L : lowTrigLevel;
lowTrigLevel = lowTrigLevel < 100L ? 100L : lowTrigLevel;
if (lowTrigLevel != currentLowTrigLevel)
{
Debug.Print("Low Trigger Level changed to " + lowTrigLevel.ToString() + "mm");
}
currentLowTrigLevel = lowTrigLevel;
}
setpoint = sourceBufferLowTrigDur.HandleGet();
if (setpoint != null)
{
lowTrigDur = (int)setpoint;
lowTrigDur = lowTrigDur > 10000 ? 10000 : lowTrigDur;
lowTrigDur = lowTrigDur < 1000 ? 1000 : lowTrigDur;
if (lowTrigDur != currentLowTrigDur)
{
Debug.Print("Low Trigger Duration changed to " + lowTrigDur.ToString() + "ms");
}
currentLowTrigDur = lowTrigDur;
}
ledState = !ledState;
blueLED.Write(ledState);
greenLED.Write(ledState);
}
}
