//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (this.FInReopen[0])
{
if (this.FBusGroup != null)
{
this.FBusGroup.Close();
this.FBusGroup = null;
}
}
if (this.FBusGroup == null)
{
GC.Collect();
this.FBusGroup = new BusGroup();
this.FBusGroup.Open(500000);
this.FBusGroup.Refresh();
}
if (FInRefresh[0])
{
this.FBusGroup.Refresh();
}
this.FBusGroup.Update();
var motors = this.FBusGroup.GetAllMotors();
this.FOutMotorID.AssignFrom(motors.Keys);
this.FOutMotors.AssignFrom(motors.Values);
this.FOutBusGroup[0] = this.FBusGroup;
}
public void Dispose()
{
if (this.FBusGroup != null)
{
this.FBusGroup.Close();
this.FBusGroup = null;
}
}
static void SendToAllPrimary(BusGroup busGroup, int value, bool blocking)
{
var motors = busGroup.GetAllMotors();
foreach (var motor in motors.Values)
{
motor.SetPrimaryRegister(value, blocking);
}
Finalise(busGroup);
}
static void SendToAll(BusGroup busGroup, Messages.RegisterType registerType, int value, bool blocking)
{
var motors = busGroup.GetAllMotors();
foreach (var motor in motors.Values)
{
motor.SetRegister(registerType, value, blocking);
}
Finalise(busGroup);
}
static void Finalise(BusGroup busGroup)
{
busGroup.BlockUntilActionsComplete(new TimeSpan(0, 0, 10));
busGroup.Update();
var errors = busGroup.GetAllErrors();
foreach (var error in errors)
{
Console.WriteLine(error);
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (!FAlternativeDevicesRegistered)
{
GCAN.Initializer.RegisterDevices();
FAlternativeDevicesRegistered = true;
}
if (this.FBusGroup == null)
{
this.FBusGroup = new BusGroup();
}
if (FInRestart[0] || FInBitrate.IsChanged)
{
this.FBusGroup.Close();
}
if (!FBusGroup.IsOpen && FInEnabled[0])
{
this.FBusGroup.Open(this.FInBitrate[0]);
this.FBusGroup.Refresh();
}
else if (FBusGroup.IsOpen && !FInEnabled[0])
{
this.FBusGroup.Close();
}
if (FInRefresh[0] && this.FBusGroup.IsOpen)
{
this.FBusGroup.Refresh();
}
this.FOutBusgroup[0] = this.FBusGroup;
this.FOutIsOpen[0] = this.FBusGroup.IsOpen;
if (FBusGroup.IsOpen)
{
// This must be called regularly (e.g. once per mainloop frame)
this.FBusGroup.Update();
this.FOutBuses.AssignFrom(this.FBusGroup.Buses);
var motors = this.FBusGroup.GetAllMotors();
this.FOutMotorID.AssignFrom(motors.Keys);
this.FOutMotors.AssignFrom(motors.Values);
}
else
{
this.FOutBuses.SliceCount = 0;
this.FOutMotors.SliceCount = 0;
this.FOutMotorID.SliceCount = 0;
}
}
static void ForceSendToAllPrimary(BusGroup busGroup, int value, bool blocking)
{
var writeRequest = new Messages.WritePrimaryRegisterRequest(1, value);
for (int i = 1; i <= maxMotorID; i++)
{
writeRequest.ID = i;
Parallel.ForEach(busGroup.Buses, (bus) =>
{
bus.Send(writeRequest, blocking);
Program.txCountTotal++;
});
}
}
static void Main(string[] args)
{
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
// Refresh the motors (for debugging)
busGroup.Refresh();
{
var motors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors", motors.Count);
if (motors.Count == 0)
{
busGroup.Close();
return;
}
}
// Enable Torque
ForceSendToAll(busGroup, Messages.RegisterType.ControlMode, 1, true);
// Disable screen (movements are smoother)
ForceSendToAll(busGroup, Messages.RegisterType.InterfaceEnabled, 0, true);
// Perform movement N times
int N = 1000;
for (int n = 0; n < N; n++)
{
Console.WriteLine("Iteration {0}/{1}...", n, N);
int i = 0;
int limit = 1 << 10;
int amp = 13;
for (; i < limit; i++)
{
var pos = i << amp;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", pos, limit << amp);
}
ForceSendToAllPrimary(busGroup, pos, false);
Thread.Sleep(10);
}
for (; i >= 0; i--)
{
var pos = i << amp;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", pos, limit << amp);
}
ForceSendToAllPrimary(busGroup, pos, false);
Thread.Sleep(10);
}
Console.WriteLine("Wrote {0} messages total", txCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
static void Main(string[] args)
{
GCAN.Initializer.RegisterDevices();
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
// Refresh the motors (for debugging)
Console.WriteLine("Finding motors...");
busGroup.Refresh(80);
// Print found motors
var foundMotors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors : ", foundMotors.Count);
foreach (var it in foundMotors)
{
Console.WriteLine("{0} : {1}", it.Key, it.Value);
}
if (foundMotors.Count == 0)
{
busGroup.Close();
return;
}
// Print gaps in ID range
var foundIDs = foundMotors.Keys.ToList();
if (foundMotors.Count > 0)
{
var startID = foundIDs[0];
var endID = foundIDs[foundMotors.Count - 1];
Console.WriteLine("Missing contiguous IDs between {0} -> {1}:", startID, endID);
for (int id = startID; id <= endID; id++)
{
if (!foundIDs.Contains(id))
{
Console.Write("{0}, ", id);
}
}
}
Thread.Sleep(2000);
// Enable Torque
SendToAll(busGroup, Messages.RegisterType.ControlMode, 1, true);
// Disable screen (movements are smoother)
SendToAll(busGroup, Messages.RegisterType.InterfaceEnabled, 0, true);
// Perform movement N times
int N = 1000;
for (int n = 0; n < N; n++)
{
Console.WriteLine("Iteration {0}/{1}...", n, N);
int i = 0;
int limit = 1 << 21;
int step = 1 << 10;
for (; i < limit; i += step)
{
var stepStart = DateTime.Now;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", i, limit);
}
SendToAllPrimary(busGroup, i, true);
var delayTime = 50 - (DateTime.Now - stepStart).TotalMilliseconds;
if (delayTime < 0)
{
Console.WriteLine("T");
}
else
{
Thread.Sleep((int)delayTime);
}
}
for (; i >= 0; i -= step)
{
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", i, limit);
}
SendToAllPrimary(busGroup, i, true);
//Thread.Sleep(100);
}
Console.WriteLine("Wrote {0} messages total", txCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
static void Main(string[] args)
{
UInt64 txCountTotal = 0;
UInt64 rxCountTotal = 0;
// Also get GCAN devices
GCAN.Initializer.RegisterDevices();
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
if (busGroup.Buses.Count < 1)
{
throw (new Exception("No buses found"));
}
var bus = busGroup.Buses[0];
Console.WriteLine("Timestamp : {0}", bus.Channel.Device.Timestamp);
// Disable Torque and enable screen (watch the screen to notice messaging)
Console.WriteLine("Setting up for run");
busGroup.SetRegisterValueBlind(1, Messages.RegisterType.ControlMode, 0, true);
busGroup.SetRegisterValueBlind(1, Messages.RegisterType.InterfaceEnabled, 1, true);
var writeRequest = new Messages.WriteRequest(1, Messages.RegisterType.TargetPosition, 0);
Console.WriteLine("Sending...");
while (true)
{
for (int i = 0; i < 100; i++)
{
// Send to device 1
writeRequest.ID = 1;
writeRequest.Value = i << 14;
bus.Send(writeRequest, false);
txCountTotal += 1;
// Send to absent devices
for (int j = 0; j < 256; j++)
{
writeRequest.ID = 2;
bus.Send(writeRequest, false);
txCountTotal += 1;
}
}
busGroup.BlockUntilActionsComplete(new TimeSpan(0, 0, 10));
busGroup.Update();
rxCountTotal += (UInt64)bus.RxCountThisFrame;
Console.WriteLine("Sent {0} frames. Received {1} frames", txCountTotal, rxCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
static void Main(string[] args)
{
// Register GCAN
GCAN.Initializer.RegisterDevices();
//// do the same as VVVV example
//{
// Console.WriteLine("First try");
// var busGroup = new BusGroup();
// busGroup.Open(500000);
// busGroup.Refresh(80);
// var motors = busGroup.GetAllMotors();
// Console.WriteLine("Found {0} motors", motors.Count);
// busGroup.Close();
//}
// do our actual program test
{
var busGroup = new BusGroup();
Console.WriteLine("Opening bus");
busGroup.Open(500000);
Console.WriteLine("Found {0} buses :", busGroup.Buses.Count);
foreach (var bus in busGroup.Buses)
{
Console.WriteLine(bus.DevicePath);
}
Console.WriteLine();
Console.WriteLine("Finding motors");
Console.WriteLine();
busGroup.Refresh(80);
// Print found motors
var foundMotors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors : ", foundMotors.Count);
foreach (var it in foundMotors)
{
Console.WriteLine(it.Value);
}
Console.WriteLine();
// Print gaps in ID range
var foundIDs = foundMotors.Keys.ToList();
if (foundMotors.Count > 0)
{
var startID = foundIDs[0];
var endID = foundIDs[foundMotors.Count - 1];
Console.WriteLine("Missing contiguous IDs between {0} -> {1} (if any):", startID, endID);
for (int id = startID; id <= endID; id++)
{
if (!foundIDs.Contains(id))
{
Console.Write("{0}, ", id);
}
}
}
Console.WriteLine();
var errors = busGroup.GetAllErrors();
foreach (var error in errors)
{
Console.WriteLine(error);
}
busGroup.Close();
}
}
