public static void PROCESS_instructionPacket(C_Packet lastSent)
{
if (IS_packetChangingValue(lastSent) == true)
{
if (lastSent.byteId != C_DynAdd.ID_BROADCAST)
{
C_MotorControl.ACTUALIZE_motorRegister(
lastSent.rotMotor,
e_regByteType.sentValue, // as we written them just now
lastSent.Par);
LOG_instruPacket(string.Format(
"Written OK (blind) - actualizing motor [{1}] register sentValue: \t{0}",
lastSent.PacketBytes_toString, lastSent.rotMotor));
}
else
{
// parse it and process each part alone
//LOG_instruPacket(string.Format(
// "Written OK (blind) - actualizing motors (broadcast) register sentValue: \t{0}",
// lastSent.PacketBytes_toString));
LOG_instruPacket(string.Format(
"Written OK (blind) - NOT actualizing motors (broadcast) register sentValue: \t{0}",
lastSent.PacketBytes_toString));
}
}
}
public static void ACTUALIZE_motorRegistersFromStatusPacket(C_Packet received, C_Packet pairedLastSent)
{
try
{
if (received.byteId == pairedLastSent.byteId)
{
// we have no error in statusPacket
if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_WRITE)
{
// actualize the parameters which were written into motors - and we know they were written good
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue, // as we received statusMessage after we written the value
pairedLastSent.Par);
}
else if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_READ)
{
// actualize the parameters which were read from motors
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue,
C_CONV.listOfObjects2listOfBytes(new List <object>()
{
pairedLastSent.Par[0], received.Par
})
);
}
else
{
C_SPI.LOG_debug(string.Format(
"lastSent packet: {0}\nPaired with: {1}\n{2}",
pairedLastSent.PacketBytes_toString,
received.PacketBytes_toString,
"wasn't read neither write and yet still it was supposed to be processed as a statusPacket. Not processing!"
));
}
}
else
{
LOG_statusPacket(string.Format(
"The received status packet :\t{0}\nDoes not belong to the lastSent: \t{1}",
received.PacketBytes_toString, pairedLastSent.PacketBytes_toString
));
}
}
catch (Exception e)
{
C_SPI.LOG_debug("tak tady to padá! " + e.Message);
}
}
