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using System;
using System.Threading;
namespace AbstractIO.Samples
{
/// <summary>
/// Controls many analog outputs in a smoothed way as a demo.
/// </summary>
public static class Sample08SmoothManyAnalogOutputs
{
private delegate float ValueGetter();
/// <summary>
/// Lets many analog outputs smoothly increase or decrease positive and negative power as a demo.
/// </summary>
/// <param name="outputs"></param>
public static void Run(IBooleanOutput[] statusLeds, params ISingleOutput[] outputs)
{
// Check parameters:
if (outputs == null || outputs.Length == 0) throw new ArgumentNullException(nameof(outputs));
for (int i = 0; i < outputs.Length; i++)
{
if (outputs[i] == null)
{
throw new ArgumentException("outputs must not contain empty elements.");
}
}
// Generate smoothed versions of the outputs:
SingleSmoothedOutput[] smoothedOutputs = new SingleSmoothedOutput[outputs.Length];
int _numberOfAcceleratingMotors = 0;
for (int i = 0; i < outputs.Length; i++)
{
smoothedOutputs[i] = outputs[i].Smoothed(valueChangePerSecond: 0.15f, rampIntervalMs: 50);
// Register an event handler showing if 1, 2 or more motors are still accelerating by lighting a LED:
smoothedOutputs[i].IsTargetReached.ValueChanged += (sender, value) =>
{
if (value)
{
Interlocked.Decrement(ref _numberOfAcceleratingMotors);
}
else
{
Interlocked.Increment(ref _numberOfAcceleratingMotors);
}
for (int ledIndex = 0; ledIndex < statusLeds.Length; ledIndex++)
{
statusLeds[ledIndex].Value = _numberOfAcceleratingMotors > ledIndex;
}
};
}
// Do the demo:
var random = new Random();
while (true)
{
// Full positive power to all outputs:
SetOutputsAndWait(smoothedOutputs, () => +1.0f);
// Full negative power to all outputs:
SetOutputsAndWait(smoothedOutputs, () => -1.0f);
// Several cycles of random power:
for (int cycle = 0; cycle < 10; cycle++)
{
SetOutputsAndWait(smoothedOutputs, () => (float)random.NextDouble() * 2.0f - 1.0f);
}
}
}
private static void SetOutputsAndWait(SingleSmoothedOutput[] smoothedOutputs, ValueGetter getValue)
{
// Set the target values:
foreach (SingleSmoothedOutput output in smoothedOutputs)
{
output.Value = getValue();
}
// Wait for all target values to be reached:
foreach (SingleSmoothedOutput output in smoothedOutputs)
{
output.IsTargetReached.WaitFor(true);
}
// Let the motors run at the target speed for a little while:
Thread.Sleep(3000);
}
}
}