public FoundationPlate(PiTop4Board module) : base(module)
{
_digitalConnectedDeviceFactory = new ConnectedDeviceFactory <DigitalPort, DigitalPortDeviceBase>(deviceType =>
{
var ctorSignature = new[] { typeof(DigitalPort), typeof(IGpioControllerFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort => (DigitalPortDeviceBase)Activator.CreateInstance(deviceType, devicePort, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_analogueConnectedDeviceFactory = new ConnectedDeviceFactory <AnaloguePort, AnaloguePortDeviceBase>(
deviceType =>
{
var ctorSignature = new[] { typeof(AnaloguePort), typeof(int), typeof(II2CDeviceFactory) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(AnaloguePortDeviceBase)Activator.CreateInstance(deviceType, devicePort, DefaultI2CAddress, module) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
RegisterForDisposal(_digitalConnectedDeviceFactory);
RegisterForDisposal(_analogueConnectedDeviceFactory);
}
public void using_again_the_same_connection_settings_return_the_same_device_instance()
{
var factory = new ConnectedDeviceFactory <int, SimpleDevice>(type =>
{
return(i => (SimpleDevice)Activator.CreateInstance(type, i));
});
var firstDevice = factory.GetOrCreateDevice <SimpleDevice>(1);
var secondDevice = factory.GetOrCreateDevice <SimpleDevice>(1);
firstDevice.Should().BeSameAs(secondDevice);
}
public void disposing_the_factory_disposes_all_devices()
{
var factory = new ConnectedDeviceFactory <int, SimpleDevice>(type =>
{
return(i => (SimpleDevice)Activator.CreateInstance(type, i));
});
var devices = Enumerable.Range(0, 10).Select(factory.GetOrCreateDevice <SimpleDevice>).ToList();
factory.Dispose();
devices.Should().NotContain(device => device.IsDisposed == false);
}
public ExpansionPlate(PiTop4Board module) : base(module)
{
_foundationPlate = module.GetOrCreatePlate <FoundationPlate>();
_servoMotorsFactory = new ConnectedDeviceFactory <ServoMotorPort, ServoMotor>(deviceType =>
{
var ctorSignature = new[] { typeof(ServoMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(ServoMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
_encoderMotorFactory = new ConnectedDeviceFactory <EncoderMotorPort, EncoderMotor>(
deviceType =>
{
var ctorSignature = new[] { typeof(EncoderMotorPort), typeof(SMBusDevice) };
var ctor = deviceType.GetConstructor(ctorSignature);
if (ctor != null)
{
return(devicePort =>
(EncoderMotor)Activator.CreateInstance(deviceType, devicePort, GetOrCreateMcu()) !);
}
throw new InvalidOperationException(
$"Cannot find suitable constructor for type {deviceType}, looking for signature {ctorSignature}");
});
// set up heartbeat
RegisterForDisposal(Observable.Interval(HEARTBEAT_SEND_INTERVAL, TaskPoolScheduler.Default).Subscribe(_ =>
{
GetOrCreateMcu().WriteByte(REGISTER_HEARTBEAT, HEARTBEAT_SECONDS_BEFORE_SHUTDOWN);
}));
RegisterForDisposal(_servoMotorsFactory);
RegisterForDisposal(_encoderMotorFactory);
RegisterForDisposal(() =>
{
_imu?.Dispose();
_mcu?.I2c.Dispose();
});
}
