internal Servo(CommandRunner runner, Arm arm, int servoID)
{
//set fields
_runner = runner;
_arm = arm;
_servoID = servoID;
}
private void Connection_ConnectionUnavailible(object sender, ConnectionEventArgs e)
{
//send events
PortScanned?.Invoke(this, new PortScannedEventArgs()
{
Port = e.Port, IsRemoved = true
});
//remove from the arm list
Arm arm;
if (!_arms.TryRemove(e.Port, out arm))
{
return;
}
//close connection
try
{
arm.Communication.Disconnect();
}
catch { }
//update current arm
if (CurrentArm == arm)
{
CurrentArm = (_arms.Count != 0) ? _arms.First().Value : null;
}
}
internal Led(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <LedStatusResponse>(StatusResponse);
}
internal Sound(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <SoundPlayNotesResponse>(PlayNotesResponse);
_runner.RegisterForResponse <SoundStatusResponse>(StatusResponse);
}
internal Knob(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <KnobPositionChangedResponse>(PositionChangedResponse);
_runner.RegisterForResponse <KnobPositionResponse>(PositionResponse);
_runner.RegisterForResponse <KnobRangeResponse>(RangeResponse);
}
internal Button(CommandRunner runner, Arm arm)
{
//set fields
_runner = runner;
_arm = arm;
//register responses
_runner.RegisterForResponse <ButtonDownResponse>(DownResponse);
_runner.RegisterForResponse <ButtonUpResponse>(UpResponse);
_runner.RegisterForResponse <ButtonStatusResponse>(StatusResponse);
}
internal Servos(CommandRunner runner, Arm arm, int servoCount)
{
//set fields
_runner = runner;
_arm = arm;
_servoCount = servoCount;
//add servos
for (int i = 1; i <= servoCount; i++)
{
Add(new Servo(_runner, _arm, i));
}
//register responses
_runner.RegisterForResponse <ServoPositionChangedResponse>(PositionChangedResponse);
_runner.RegisterForResponse <ServoStatusResponse>(StatusResponse);
_runner.RegisterForResponse <MoveResponse>(MoveResponse);
_runner.RegisterForResponse <ServoOnResponse>(OnResponse);
_runner.RegisterForResponse <ServoOffResponse>(OffResponse);
}
private void Connection_ConnectionAvailible(object sender, ConnectionEventArgs e)
{
//send scanning event
if (_scanningCount == 0)
{
ScanningChanges?.Invoke(this, new ScanningChangesEventArgs()
{
Scanning = true
});
}
_scanningCount++;
Task.Run(async() =>
{
var portScan = new PortScannedEventArgs()
{
Port = e.Port, PossibleArm = e.PossibleArm
};
Arm addArm = null;
//open the connection
var arm = new Arm(e.Communication);
try
{
e.Communication.Connect(e.Port);
}
catch (CommunicationException ex)
{
portScan.ErrorMessage = ex.Message;
}
catch { }
if (e.Communication.IsConnected)
{
portScan.CanOpen = true;
//ping
if (!e.ExistingDevice)
{
await Task.Delay(2000); //wait 2 seconds after plug in to load usb driver - bug fix
}
var ping = await arm.PingAsync();
//try one more time
if (!ping)
{
await Task.Delay(2000);
ping = await arm.PingAsync();
}
if (!ping)
{
e.Communication.Disconnect();
}
else
{
portScan.HasArm = true;
portScan.Arm = arm;
//get all settings
await arm.LoadSettingsAsync();
//reload the arm if the servo count should be diffrent
if (arm.Settings != null)
{
if (arm.Settings.ActiveServos.HasValue && arm.Settings.ActiveServos.Value != arm.Servos.Count)
{
arm = new Arm(arm.Communication, arm.Settings.ActiveServos.Value);
await arm.LoadSettingsAsync();
}
portScan.Model = arm.Settings.ModelNumber;
portScan.NickName = arm.Settings.NickName;
//add the Arm
addArm = arm;
}
else
{
portScan.NeedsSettingsReset = true;
portScan.Arm.Communication.Disconnect();
}
}
}
//send port scanned event
PortScanned?.Invoke(this, portScan);
//add to the arm list
if (addArm != null)
{
_arms.TryAdd(e.Port, addArm);
if (CurrentArm == null)
{
CurrentArm = addArm;
}
}
//send finished scanning event
_scanningCount--;
if (_scanningCount == 0)
{
ScanningChanges?.Invoke(this, new ScanningChangesEventArgs()
{
Scanning = false
});
}
});
}
