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Update device interface with DeviceDataWriter and fix register name #37

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Merged
glopesdev merged 3 commits into from
Mar 5, 2026
Merged

Update device interface with DeviceDataWriter and fix register name #37

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907a5f3
Update interface with DeviceDataWriter
glopesdev Feb 19, 2026
70e5735
Fix register naming typo
glopesdev Feb 19, 2026
c3f01e9
Fix units for QuickMovement registers
banchan86 Feb 26, 2026
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2 changes: 1 addition & 1 deletion Generators/Generators.csproj
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
<FirmwarePath>..\Firmware\Harp.StepperDriver</FirmwarePath>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Harp.Generators" Version="0.3.0" GeneratePathProperty="true" />
<PackageReference Include="Harp.Generators" Version="0.4.0" GeneratePathProperty="true" />
</ItemGroup>
<Target Name="TextTransform" BeforeTargets="AfterBuild">
<PropertyGroup>
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95 changes: 49 additions & 46 deletions Interface/Harp.StepperDriver/AsyncDevice.Generated.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,18 @@ public partial class Device
/// <param name="portName">
/// The name of the serial port used to communicate with the Harp device.
/// </param>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
/// </param>
/// <returns>
/// A task that represents the asynchronous initialization operation. The value of
/// the <see cref="Task{TResult}.Result"/> parameter contains a new instance of
/// the <see cref="AsyncDevice"/> class.
/// </returns>
public static async Task<AsyncDevice> CreateAsync(string portName)
public static async Task<AsyncDevice> CreateAsync(string portName, CancellationToken cancellationToken = default)
{
var device = new AsyncDevice(portName);
var whoAmI = await device.ReadWhoAmIAsync();
var whoAmI = await device.ReadWhoAmIAsync(cancellationToken);
if (whoAmI != Device.WhoAmI)
{
var errorMessage = string.Format(
Expand Down Expand Up @@ -2690,7 +2693,7 @@ public async Task WriteAccumulatedStepsAsync(AccumulatedStepsPayload value, Canc
}

/// <summary>
/// Asynchronously reads the contents of the Mortor0AccumulatedSteps register.
/// Asynchronously reads the contents of the Motor0AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2699,14 +2702,14 @@ public async Task WriteAccumulatedStepsAsync(AccumulatedStepsPayload value, Canc
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the register payload.
/// </returns>
public async Task<int> ReadMortor0AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<int> ReadMotor0AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor0AccumulatedSteps.Address), cancellationToken);
return Mortor0AccumulatedSteps.GetPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor0AccumulatedSteps.Address), cancellationToken);
return Motor0AccumulatedSteps.GetPayload(reply);
}

/// <summary>
/// Asynchronously reads the timestamped contents of the Mortor0AccumulatedSteps register.
/// Asynchronously reads the timestamped contents of the Motor0AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2715,28 +2718,28 @@ public async Task<int> ReadMortor0AccumulatedStepsAsync(CancellationToken cancel
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the timestamped register payload.
/// </returns>
public async Task<Timestamped<int>> ReadTimestampedMortor0AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<Timestamped<int>> ReadTimestampedMotor0AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor0AccumulatedSteps.Address), cancellationToken);
return Mortor0AccumulatedSteps.GetTimestampedPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor0AccumulatedSteps.Address), cancellationToken);
return Motor0AccumulatedSteps.GetTimestampedPayload(reply);
}

/// <summary>
/// Asynchronously writes a value to the Mortor0AccumulatedSteps register.
/// Asynchronously writes a value to the Motor0AccumulatedSteps register.
/// </summary>
/// <param name="value">The value to be stored in the register.</param>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
/// </param>
/// <returns>The task object representing the asynchronous write operation.</returns>
public async Task WriteMortor0AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
public async Task WriteMotor0AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
{
var request = Mortor0AccumulatedSteps.FromPayload(MessageType.Write, value);
var request = Motor0AccumulatedSteps.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}

/// <summary>
/// Asynchronously reads the contents of the Mortor1AccumulatedSteps register.
/// Asynchronously reads the contents of the Motor1AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2745,14 +2748,14 @@ public async Task WriteMortor0AccumulatedStepsAsync(int value, CancellationToken
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the register payload.
/// </returns>
public async Task<int> ReadMortor1AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<int> ReadMotor1AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor1AccumulatedSteps.Address), cancellationToken);
return Mortor1AccumulatedSteps.GetPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor1AccumulatedSteps.Address), cancellationToken);
return Motor1AccumulatedSteps.GetPayload(reply);
}

/// <summary>
/// Asynchronously reads the timestamped contents of the Mortor1AccumulatedSteps register.
/// Asynchronously reads the timestamped contents of the Motor1AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2761,28 +2764,28 @@ public async Task<int> ReadMortor1AccumulatedStepsAsync(CancellationToken cancel
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the timestamped register payload.
/// </returns>
public async Task<Timestamped<int>> ReadTimestampedMortor1AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<Timestamped<int>> ReadTimestampedMotor1AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor1AccumulatedSteps.Address), cancellationToken);
return Mortor1AccumulatedSteps.GetTimestampedPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor1AccumulatedSteps.Address), cancellationToken);
return Motor1AccumulatedSteps.GetTimestampedPayload(reply);
}

/// <summary>
/// Asynchronously writes a value to the Mortor1AccumulatedSteps register.
/// Asynchronously writes a value to the Motor1AccumulatedSteps register.
/// </summary>
/// <param name="value">The value to be stored in the register.</param>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
/// </param>
/// <returns>The task object representing the asynchronous write operation.</returns>
public async Task WriteMortor1AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
public async Task WriteMotor1AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
{
var request = Mortor1AccumulatedSteps.FromPayload(MessageType.Write, value);
var request = Motor1AccumulatedSteps.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}

/// <summary>
/// Asynchronously reads the contents of the Mortor2AccumulatedSteps register.
/// Asynchronously reads the contents of the Motor2AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2791,14 +2794,14 @@ public async Task WriteMortor1AccumulatedStepsAsync(int value, CancellationToken
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the register payload.
/// </returns>
public async Task<int> ReadMortor2AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<int> ReadMotor2AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor2AccumulatedSteps.Address), cancellationToken);
return Mortor2AccumulatedSteps.GetPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor2AccumulatedSteps.Address), cancellationToken);
return Motor2AccumulatedSteps.GetPayload(reply);
}

/// <summary>
/// Asynchronously reads the timestamped contents of the Mortor2AccumulatedSteps register.
/// Asynchronously reads the timestamped contents of the Motor2AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2807,28 +2810,28 @@ public async Task<int> ReadMortor2AccumulatedStepsAsync(CancellationToken cancel
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the timestamped register payload.
/// </returns>
public async Task<Timestamped<int>> ReadTimestampedMortor2AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<Timestamped<int>> ReadTimestampedMotor2AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor2AccumulatedSteps.Address), cancellationToken);
return Mortor2AccumulatedSteps.GetTimestampedPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor2AccumulatedSteps.Address), cancellationToken);
return Motor2AccumulatedSteps.GetTimestampedPayload(reply);
}

/// <summary>
/// Asynchronously writes a value to the Mortor2AccumulatedSteps register.
/// Asynchronously writes a value to the Motor2AccumulatedSteps register.
/// </summary>
/// <param name="value">The value to be stored in the register.</param>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
/// </param>
/// <returns>The task object representing the asynchronous write operation.</returns>
public async Task WriteMortor2AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
public async Task WriteMotor2AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
{
var request = Mortor2AccumulatedSteps.FromPayload(MessageType.Write, value);
var request = Motor2AccumulatedSteps.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}

/// <summary>
/// Asynchronously reads the contents of the Mortor3AccumulatedSteps register.
/// Asynchronously reads the contents of the Motor3AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2837,14 +2840,14 @@ public async Task WriteMortor2AccumulatedStepsAsync(int value, CancellationToken
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the register payload.
/// </returns>
public async Task<int> ReadMortor3AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<int> ReadMotor3AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor3AccumulatedSteps.Address), cancellationToken);
return Mortor3AccumulatedSteps.GetPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor3AccumulatedSteps.Address), cancellationToken);
return Motor3AccumulatedSteps.GetPayload(reply);
}

/// <summary>
/// Asynchronously reads the timestamped contents of the Mortor3AccumulatedSteps register.
/// Asynchronously reads the timestamped contents of the Motor3AccumulatedSteps register.
/// </summary>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
Expand All @@ -2853,23 +2856,23 @@ public async Task<int> ReadMortor3AccumulatedStepsAsync(CancellationToken cancel
/// A task that represents the asynchronous read operation. The <see cref="Task{TResult}.Result"/>
/// property contains the timestamped register payload.
/// </returns>
public async Task<Timestamped<int>> ReadTimestampedMortor3AccumulatedStepsAsync(CancellationToken cancellationToken = default)
public async Task<Timestamped<int>> ReadTimestampedMotor3AccumulatedStepsAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadInt32(Mortor3AccumulatedSteps.Address), cancellationToken);
return Mortor3AccumulatedSteps.GetTimestampedPayload(reply);
var reply = await CommandAsync(HarpCommand.ReadInt32(Motor3AccumulatedSteps.Address), cancellationToken);
return Motor3AccumulatedSteps.GetTimestampedPayload(reply);
}

/// <summary>
/// Asynchronously writes a value to the Mortor3AccumulatedSteps register.
/// Asynchronously writes a value to the Motor3AccumulatedSteps register.
/// </summary>
/// <param name="value">The value to be stored in the register.</param>
/// <param name="cancellationToken">
/// A <see cref="CancellationToken"/> which can be used to cancel the operation.
/// </param>
/// <returns>The task object representing the asynchronous write operation.</returns>
public async Task WriteMortor3AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
public async Task WriteMotor3AccumulatedStepsAsync(int value, CancellationToken cancellationToken = default)
{
var request = Mortor3AccumulatedSteps.FromPayload(MessageType.Write, value);
var request = Motor3AccumulatedSteps.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}

Expand Down
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