public async Task Setup()
{
await ExecuteOnMainThread(() => _checkConnectiontimer.Stop());
IsReady = false;
await Task.Delay(2000);
ConnectionNotify?.Invoke(this, "Tentando se Conectar");
await Task.Delay(2000);
if (_bluetoothSerial != null)
{
Arduino?.Dispose();
Arduino = new RemoteDevice(_bluetoothSerial);
await Task.Delay(1000);
await ExecuteOnMainThread(() => _bluetoothSerial.begin(57600, SerialConfig.SERIAL_8N1));
}
else
{
Arduino?.Dispose();
Arduino = new RemoteDevice(_usbSerial);
await Task.Delay(1000);
await ExecuteOnMainThread(() => _usbSerial.begin(57600, SerialConfig.SERIAL_8N1));
}
SerialOut = new SerialOutController(Arduino, 12, 8, 7);
Arduino.DeviceConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "Conexão Arduino Perdida: " + message);
};
Arduino.DeviceConnectionFailed += async message =>
{
ConnectionNotify?.Invoke(this, "Conexão Arduino Falhou: " + message);
await Task.Delay(5000);
};
Arduino.DeviceReady += async() => await ArduinoOnDeviceReady();
Servos = new Dictionary <ETinBotServo, ServoController>()
{
[ETinBotServo.ServoHand] = new ServoController(Arduino, 09),
[ETinBotServo.ServoHeadX] = new ServoController(Arduino, 05),
[ETinBotServo.ServoHeadY] = new ServoController(Arduino, 06),
[ETinBotServo.ServoLeftArm] = new ServoController(Arduino, 03, true),
[ETinBotServo.ServoRightArm] = new ServoController(Arduino, 11),
[ETinBotServo.ServoTorso] = new ServoController(Arduino, 10)
};
await ExecuteOnMainThread(() => _checkConnectiontimer.Start());
}
private async Task ArduinoOnDeviceReady()
{
ConnectionNotify?.Invoke(this, "Arduino Ready");
await SerialOut.Reset(false);
await Task.Delay(300);
await AttachServos();
Arduino.SafePinMode(_phoneChargePin, PinMode.OUTPUT);
IsReady = true;
}
public Body(UsbSerial usbSerial)
{
_usbSerial = usbSerial;
_usbSerial.ConnectionEstablished += () => ConnectionNotify?.Invoke(this, "USB estabelecido");
_usbSerial.ConnectionFailed += message =>
{
ConnectionNotify?.Invoke(this, "USB falhou: " + message);
Setup();
};
_usbSerial.ConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "USB perdido: " + message);
};
_checkConnectiontimer.Interval = TimeSpan.FromSeconds(90);
_checkConnectiontimer.Tick += CheckConnectiontimerOnTick;
}
public Body(BluetoothSerial bluetoothSerial)
{
_bluetoothSerial = bluetoothSerial;
_bluetoothSerial.ConnectionEstablished += () => ConnectionNotify?.Invoke(this, "Bluetooth estabelecido");
_bluetoothSerial.ConnectionFailed += async message =>
{
ConnectionNotify?.Invoke(this, "Bluetooth falhou: " + message);
await Task.Delay(5000);
Setup();
};
_bluetoothSerial.ConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "Bluetooth perdido: " + message);
Setup();
};
_checkConnectiontimer.Interval = TimeSpan.FromSeconds(30);
_checkConnectiontimer.Tick += CheckConnectiontimerOnTick;
}