/// <summary>
/// Called by the constructor to determine whether a VEMCO receiver is attached (vs another kind of
/// serial device), what the firmware is and which configuration file should be used.
/// </summary>
/// <remarks>
/// Because one of the goals of this method is to determine the firmware (and corresponding configuration file),
/// for the most part we must try both "default" commands and all those available in the configuration files.
/// One assumption here is that future changes to protocol's INFO and discovery methods will not interfere with
/// the operation of prior receivers. And although we can take some care to provide as much flexibility for
/// changes in the protocol, there are clearly some limits. For example, we cannot anticipate a change to
/// a binary format.
///
/// The init() method first attempts to "discover" the connected receiver. Generally a receiver will not respond
/// to commands that are not prefaced by the serial number, etc. Since we do not have the serial number prior to
/// running this method, we must use the VEMCO's broadcast and discover commands.
///
/// Next the method issues INFO commands in order to scrape out the firmware version. We assume here that the
/// manufacturer's protocol will remain stable within a firmware version. Also note that so long as the protocol
/// itself does not change, there is no need for additional configuration files.
///
/// Assuming that these two tasks are completed without bailing, then init() command completes and returns
/// control to the constructor.
/// </remarks>
/// <exception cref="ReceiverExceptions">Thrown when either the discovery
/// or info phase is not able to acquire the needed information</exception>
public void init()
{
Dictionary<Double, List<dynamic>> discoveryMethods = new Dictionary<Double, List<dynamic>>();
Dictionary<Double, String> infoMethods = new Dictionary<Double, String>();
String discoveryReturns = "";
var jsonParser = new JsonParser() { CamelizeProperties = false };
foreach (string filename in System.IO.Directory.GetFiles(VR2C_COMMAND_FOLDER))
{
dynamic config = jsonParser.Parse(System.IO.File.ReadAllText(filename));
var dc = config.discovery_commands;
var fwver = config.firmware_version;
try
{
infoMethods.Add(fwver, (string)config.encoder["INFO"]);
}
catch(Exception e)
{
ReceiverExceptions re = new ReceiverExceptions(this, "INFO command not found in " +
"configuration file: " + filename + ". This is normally not fatal on its own but " +
"indicates a serious problem with the format/content of the config file.",
false,e);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re.fatal, re.ToString(),
this, this.portName, null, null, null));
}
try
{
discoveryMethods.Add(((int)fwver), dc);
}
catch (Exception e)
{
ReceiverExceptions re = new ReceiverExceptions(this, "Discovery commands not found in " +
"configuration file: " + filename + ". This is normally not fatal on its own but " +
"indicates a serious problem with the format/content of the config file.",
false, e);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re.fatal, re.text,
this, this.portName, null, null, null));
}
}
List<dynamic> default_discovery = new List<dynamic>();
default_discovery.Add("*BROADC.A#ST,QUIT");
default_discovery.Add("*BROADC.A#ST,DISCOVERY");
default_discovery.Add("*DISCOV.E#RY,DISCOVERY");
discoveryMethods.Add(-1, default_discovery);
int discovery_attempts = 0;
serialPort.ReadExisting();
while (serialPort.BytesToRead <= 0 && discovery_attempts < 5)
{
write_wait = (discovery_attempts + 1) * 100;
foreach (List<dynamic> l in discoveryMethods.Values)
{
foreach(var command in l) {
_write(command);
}
}
discovery_attempts++;
}
if (discovery_attempts >= 5)
{
ReceiverExceptions re = new ReceiverExceptions(this, "Not able to discover VEMCO receiver attached on this port.", true);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re,re.fatal,
this, this.portName, null,null, null));
serialPort.Close();
throw re;
}
while (serialPort.BytesToRead > 0)
{
discoveryReturns = serialPort.ReadExisting();
}
string commandPreamble = discoveryReturns.Substring(0, 12) + ",";
this.VEMCO_SerialNumber = discoveryReturns.Substring(1,6);
dispatcher.enqueueEvent(new RealTimeEvents.NoteReceiver("command preamble: " + discoveryReturns.Substring(0,12) + ",",
this, this.portName, this.VEMCO_SerialNumber, null, null));
dispatcher.enqueueEvent(new RealTimeEvents.NoteReceiver("read: " + discoveryReturns,
this, this.portName, this.VEMCO_SerialNumber, null, null));
infoMethods.Add(-1, commandPreamble + "INFO");
int info_attempts = 0;
serialPort.ReadExisting();
Boolean gotINFO = false;
String infoReturns = "";
int read_attempts = 0;
while (!gotINFO && read_attempts < 5)
{
info_attempts = 0;
serialPort.ReadExisting();
while (serialPort.BytesToRead <= 0 && info_attempts < 5)
{
foreach (String infoc in infoMethods.Values)
{
dispatcher.enqueueEvent(new RealTimeEvents.NoteReceiver("(receiver note) attempting INFO command with " + infoc,
this, this.portName, this.VEMCO_SerialNumber, null, null));
_write(infoc);
Thread.Sleep(500);
}
info_attempts++;
}
while (serialPort.BytesToRead > 0 && !(infoReturns.Contains(crlf[0]) || infoReturns.Contains(crlf[1])))
{
infoReturns = serialPort.ReadExisting();
foreach (string filename in System.IO.Directory.GetFiles(VR2C_COMMAND_FOLDER))
{
dynamic config = jsonParser.Parse(System.IO.File.ReadAllText(filename));
if (Regex.IsMatch(infoReturns, config.decoder.sentences["info_response"].format))
{
gotINFO = true;
}
}
}
read_attempts++;
}
if (read_attempts >= 5)
{
ReceiverExceptions re = new ReceiverExceptions(this, "(FATAL) Not able to get INFO from the VEMCO receiver attached on this port.", true);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re, re.fatal,
this, this.portName, this.VEMCO_SerialNumber, null, null));
serialPort.Close();
throw re;
}
int RECEIVER_FW_VERSION = -1;
if (infoReturns != "")
{
int fw_start = infoReturns.IndexOf("FW=");
int fw_end = infoReturns.IndexOf(",", fw_start);
string fw_ver = infoReturns.Substring((fw_start + 3), (fw_end - fw_start - 3));
int fw_ver_firstperiod = fw_ver.IndexOf(".");
int fw_ver_secondperiod = fw_ver.IndexOf(".", fw_ver_firstperiod + 1);
string major = fw_ver.Substring(0, fw_ver_firstperiod);
string minor = fw_ver.Substring(fw_ver_firstperiod + 1, (fw_ver_secondperiod - fw_ver_firstperiod - 1));
string release = fw_ver.Substring(fw_ver_secondperiod + 1, (fw_ver.Length - fw_ver_secondperiod - 1));
RECEIVER_FW_VERSION = (Int32.Parse(major) * 10000) + (Int32.Parse(minor) * 100) + (Int32.Parse(release));
}
dispatcher.enqueueEvent(new RealTimeEvents.NoteReceiver("Detected firmware version: " + RECEIVER_FW_VERSION,
this, this.portName, this.VEMCO_SerialNumber, this.VEMCO_Model, null));
if (RECEIVER_FW_VERSION >= 0)
{
int fw_use = -1;
foreach (string filename in System.IO.Directory.GetFiles(VR2C_COMMAND_FOLDER))
{
string text = System.IO.File.ReadAllText(filename);
dynamic config = jsonParser.Parse(System.IO.File.ReadAllText(filename));
if (config.firmware_version >= fw_use && config.firmware_version <= RECEIVER_FW_VERSION)
{
fw_use = (Int32)config.firmware_version;
encoder = new Encoder(commandPreamble, config);
}
}
if (fw_use < 0 || encoder == null)
{
ReceiverExceptions re = new ReceiverExceptions(this, "(FATAL) Unable to parse out FW version from return from INFO command.", true);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re, re.fatal,
this, this.portName, this.VEMCO_SerialNumber, null, null));
serialPort.Close();
throw re;
}
}
else
{
ReceiverExceptions re = new ReceiverExceptions(this, "(FATAL) Unable to parse out FW version from return from INFO command.", true);
dispatcher.enqueueEvent(new RealTimeEvents.ExcepReceiver(re,re.fatal,
this, this.portName, this.VEMCO_SerialNumber, null, null));
serialPort.Close();
throw re;
}
Match matches = Regex.Match(infoReturns, encoder.encoderConfig.decoder.words["receiver_model"]);
VEMCO_Model = matches.Groups[1].ToString();
dispatcher.enqueueEvent(new RealTimeEvents.NoteReceiver("(receiver note) Successfully configured encoder with fw version = " + encoder.encoderConfig.firmware_version,
this, this.portName, this.VEMCO_SerialNumber, this.VEMCO_Model, this.encoder.encoderConfig));
}
