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);
}
}
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();
}
}