add support for endpoint_ref property type

Author: metanoic

Demo.ReadSetProperties/Program.cs

@@ -5,7 +5,7 @@
     using System.Threading;
     using System.Threading.Tasks;
     using System.Windows.Forms;
-    using ODriveClientlibrary.DeviceSchema;
+    using ODriveClientLibrary.DeviceSchema;
     using ODriveClientLibrary;
 
     class Program
@@ -26,24 +26,27 @@ static async Task MyAsyncFunc()
                 throw new Exception("Could not find any suitable devices to connect to");
             }
 
+
+
             using (var oDrive = new Device(foundDevice, DeviceSchema.SchemaChecksum))
             {
                 bool connectSuccess = false;
                 try
                 {
-                    connectSuccess = await oDrive.Connect(true);
+                    connectSuccess = await oDrive.Connect();
                 }
                 catch (Exception ex)
                 {
                     System.Diagnostics.Debugger.Break();
                 }
 
-                var download = await oDrive.DownloadSchema();
+               // var download = await oDrive.DownloadSchema();
 
 
                 while (!Console.KeyAvailable)
                 {
-                    Console.WriteLine(await oDrive.GetProperty(schema.VbusVoltage));
+                    var x = await oDrive.GetProperty(schema.Config.Gpio1PwmMapping.Endpoint);
+                    Console.WriteLine($"{x.EndpointID}, {x.JsonCRC}");
                     //await oDrive.SetProperty(schema.Motor0.Config.CalibrationCurrent, 1);
                     //await oDrive.GetExecutionDelegate(schema.SaveConfiguration)();
                     Application.DoEvents();

ODriveClientLibrary.Common/IDevice.cs

@@ -8,7 +8,7 @@ public interface IDevice
         Task<T> GetProperty<T>(IReadablePropertyMember<T> readablePropertyMember);
         Task SetProperty<T>(IWriteablePropertyMember<T> writeablePropertyMember, T newValue);
         T GetExecutionDelegate<T>(IExecutableMember<T> executableMember);
-        Task<bool> Connect(bool skipChecksumValidation = false);
+        Task<bool> Connect(ushort? schemaChecksum = null);
         bool Disconnect();
         Task<string> DownloadSchema(CancellationToken cancellationToken = default(CancellationToken), bool setSchemaChecksum = true);
         Task InvokeEndpoint(ushort endpointID, CancellationToken cancellationToken = default(CancellationToken));

ODriveClientLibrary.Common/ODriveClientLibrary.Common.csproj

@@ -45,6 +45,7 @@
     <Compile Include="IReadablePropertyMember.cs" />
     <Compile Include="IWriteablePropertyMember.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Types\EndpointReference.cs" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

ODriveClientLibrary.Common/Types/EndpointReference.cs

@@ -0,0 +1,22 @@
+namespace ODriveClientLibrary.Common.Types
+{
+    using System.Runtime.InteropServices;
+
+    [StructLayout(LayoutKind.Explicit, Size = 4)]
+    public struct EndpointReference
+    {
+        [FieldOffset(0)]
+        private readonly ushort endpointID;
+        public ushort EndpointID => endpointID;
+
+        [FieldOffset(2)]
+        private readonly ushort jsonCRC;
+        public ushort JsonCRC => jsonCRC;
+
+        public EndpointReference(ushort endpointID, ushort jsonCRC)
+        {
+            this.endpointID = endpointID;
+            this.jsonCRC = jsonCRC;
+        }
+    }
+}

ODriveClientLibrary.DeviceGenerator/DeviceSchema/DeviceEnums.cs

@@ -46,6 +46,9 @@ public enum DataType
         [Description("ulong")]
         [DevicePropertyType("uint64", typeof(ulong))]
         UInt64,
+        [Description("Common.Types.EndpointReference")]
+        [DevicePropertyType("endpoint_ref", typeof(Common.Types.EndpointReference))]
+        EndpointReference,
         [Description("DeviceFunction")]
         [DevicePropertyType("function", typeof(DeviceFunction))]
         Function,

ODriveClientLibrary.DeviceGenerator/Generator.cs

@@ -22,7 +22,7 @@ public static GenerationResult GenerateFromString(string schemaJson)
 
             var codeClasses = SchemaParser.Parse(schemaJson);
 
-            var namespaceDeclaration = NamespaceDeclaration(ParseName("ODriveClientlibrary.DeviceSchema"))
+            var namespaceDeclaration = NamespaceDeclaration(ParseName("ODriveClientLibrary.DeviceSchema"))
                 .AddUsings(
                     UsingDirective(ParseName("System")),
                     UsingDirective(ParseName("System.Threading.Tasks")),
@@ -101,7 +101,7 @@ public static GenerationResult GenerateFromDevice(string serialNumber = null)
 
             using (var oDrive = new Device(foundDeviceInfo, 1))
             {
-                var connectResult = oDrive.Connect(true).Result;
+                var connectResult = oDrive.Connect().Result;
                 var schemaJson = oDrive.DownloadSchema().Result;
                 return GenerateFromString(schemaJson);
             }