public MainViewModel()
{
uiDispatcher = Dispatcher.CurrentDispatcher;
Robots = new ObservableCollection <NXTViewModel>();
NXT.RobotAdded += new NXT.AvailableRobotsChangedEventHandler(NXT_RobotAdded);
NXT.FindNXTDevices();
}
public NXTViewModel(NXT robot)
{
this.robot = robot;
robot.PropertyChanged += new PropertyChangedEventHandler(robot_PropertyChanged);
robot.Disconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Disconnected);
robot.Reconnected += new NXT.AvailableRobotsChangedEventHandler(robot_Reconnected);
connected = false;
}
public void GetUltrasonicValue(NXTInputPort inputPort)
{
currentPort = inputPort;
NXT.GetUltrasonicValue(inputPort, 0);
}
private void ClientThread()
{
byte[] message = null;
int bytesRead;
Command command = null;
Reply reply = null;
logQueue.AddToQueue("Client " + ID + ": Connected from " + address);
IsConnected = true;
bool run = true;
while (run)
{
bytesRead = 0;
message = new byte[4096];
try
{
bytesRead = networkStream.Read(message, 0, 4096);
if (bytesRead > 0)
{
bool CommandValid = true;
Array.Resize <byte>(ref message, bytesRead);
try{
for (int i = 0; i < bytesRead; i++)
{
logQueue.AddToQueue("Commandbyte[" + i + "]=0x" + message[i].ToString("X"));
}
command = new Command(message);
}
catch (Exception) {
CommandValid = false;
logQueue.AddToQueue("Client " + ID + ": Invalid command is ignored");
}
if (CommandValid)
{
reply = null;
mutex.WaitOne();
try{
if (command.ReplyRequired)
{
logQueue.AddToQueue("Client " + ID + ": Forward ".PadRight(12) + command.CommandByte.ToString() + " with reply to NXT");
}
else
{
logQueue.AddToQueue("Client " + ID + ": Forward ".PadRight(12) + command.CommandByte.ToString() + " without reply to NXT");
}
NXT.Send(command);
if (command.ReplyRequired)
{
reply = NXT.Receive();
networkStream.Write(reply.Data, 0, reply.Data.Length);
logQueue.AddToQueue("Client " + ID + ": Received ".PadRight(12) + reply.CommandByte.ToString() + " from NXT");
}
}
catch (Exception e) {
if (e is NXTException)
{
if (e is ConnectionException)
{
logQueue.AddToQueue("Client " + ID + ": " + e.Message);
logQueue.AddToQueue("Closing connection with NXT");
NXT.Disconnect();
run = false;
}
else
{
logQueue.AddToQueue("Client " + ID + ": " + e.Message);
if (reply == null) //try to send the message
{
reply = new Reply(CommandType.ReplyCommand, command.CommandByte, ((NXTException)e).ErrorCode);
networkStream.Write(reply.Data, 0, reply.Data.Length);
}
}
}
else
{
logQueue.AddToQueue("Client " + ID + ": " + e.Message);
logQueue.AddToQueue("Client " + ID + ": " + e.StackTrace);
run = false;
}
}
mutex.ReleaseMutex();
}
}
else
{
run = false;
}
}
catch (Exception e)
{
if (!wasThrownOff)
{
logQueue.AddToQueue("Client " + ID + ": Error occurred: " + e.Message);
}
break;
}
}
try{
networkStream.Close();
}
catch {}
logQueue.AddToQueue("Client " + ID + ": Disconnected");
if (onDisconnected != null)
{
onDisconnected(this);
}
IsConnected = false;
}
protected override void ProcessRecord()
{
this.SetOptions();
this.SetScope(Server);
this.SetManagementPath(Identity);
ManagementObject wmiRecord = this.Get();
WmiRecordClass WmiRecordClassName = (WmiRecordClass)Enum.Parse(typeof(WmiRecordClass), (String)wmiRecord.Properties["__CLASS"].Value);
String NewPath = String.Empty;
#region Parameter Set validation
Boolean Terminate = false;
switch (ParameterSetName)
{
case "PS0": break;
case "PS1":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_AType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_AAAAType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_WKSType)
{
Terminate = true;
}
break;
case "PS2":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_CNAMEType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MBType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MDType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MFType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_NSType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_PTRType)
{
Terminate = true;
}
break;
case "PS3":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MGType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MRType)
{
Terminate = true;
}
break;
case "PS4":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_TXTType)
{
Terminate = true;
}
break;
case "PS5":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_HINFOType)
{
Terminate = true;
}
break;
case "PS6":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_ISDNType)
{
Terminate = true;
}
break;
case "PS7":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MINFOType)
{
Terminate = true;
}
break;
case "PS8":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_NXTType)
{
Terminate = true;
}
break;
case "PS9":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_RPType)
{
Terminate = true;
}
break;
case "PS10":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_AFSDBType)
{
Terminate = true;
}
break;
case "PS11":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_MXType &
WmiRecordClassName != WmiRecordClass.MicrosoftDNS_RTType)
{
Terminate = true;
}
break;
case "PS12":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_X25Type)
{
Terminate = true;
}
break;
case "PS13":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_SOAType)
{
Terminate = true;
}
break;
case "PS14":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_SRVType)
{
Terminate = true;
}
break;
case "PS15":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_WINSType)
{
Terminate = true;
}
break;
case "PS16":
if (WmiRecordClassName != WmiRecordClass.MicrosoftDNS_WINSRType)
{
Terminate = true;
}
break;
}
if (Terminate)
{
ThrowTerminatingError(
new ErrorRecord(
new PSInvalidOperationException("InvalidParameterSetForRecordType"),
"InvalidOperation",
ErrorCategory.InvalidOperation,
typeof(ManagementCmdlet)));
}
#endregion
if (ShouldProcess((String)wmiRecord.Properties["TextRepresentation"].Value))
{
switch (WmiRecordClassName)
{
case WmiRecordClass.MicrosoftDNS_AType:
A ARecord = new A(wmiRecord, Server);
NewPath = ARecord.Modify(TTL, Address.ToString());
break;
case WmiRecordClass.MicrosoftDNS_AAAAType:
AAAA AAAARecord = new AAAA(wmiRecord, Server);
NewPath = AAAARecord.Modify(TTL, Address.ToString());
break;
case WmiRecordClass.MicrosoftDNS_AFSDBType:
AFSDB AFSDBRecord = new AFSDB(wmiRecord, Server);
NewPath = AFSDBRecord.Modify(TTL, SubType, TargetName);
break;
case WmiRecordClass.MicrosoftDNS_CNAMEType:
CNAME CNAMERecord = new CNAME(wmiRecord, Server);
NewPath = CNAMERecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_HINFOType:
HINFO HINFORecord = new HINFO(wmiRecord, Server);
NewPath = HINFORecord.Modify(TTL, CPU, OS);
break;
case WmiRecordClass.MicrosoftDNS_ISDNType:
ISDN ISDNRecord = new ISDN(wmiRecord, Server);
NewPath = ISDNRecord.Modify(TTL, ISDNNumber, SubAddress);
break;
case WmiRecordClass.MicrosoftDNS_MBType:
MB MBRecord = new MB(wmiRecord, Server);
NewPath = MBRecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_MDType:
MD MDRecord = new MD(wmiRecord, Server);
NewPath = MDRecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_MFType:
MF MFRecord = new MF(wmiRecord, Server);
NewPath = MFRecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_MGType:
MG MGRecord = new MG(wmiRecord, Server);
NewPath = MGRecord.Modify(TTL, MailboxName);
break;
case WmiRecordClass.MicrosoftDNS_MINFOType:
MINFO MINFORecord = new MINFO(wmiRecord, Server);
NewPath = MINFORecord.Modify(TTL, ResponsibleMailbox, ErrorMailbox);
break;
case WmiRecordClass.MicrosoftDNS_MRType:
MR MRRecord = new MR(wmiRecord, Server);
NewPath = MRRecord.Modify(TTL, MailboxName);
break;
case WmiRecordClass.MicrosoftDNS_MXType:
MX MXRecord = new MX(wmiRecord, Server);
NewPath = MXRecord.Modify(TTL, Preference, TargetName);
break;
case WmiRecordClass.MicrosoftDNS_NSType:
NS NSRecord = new NS(wmiRecord, Server);
NewPath = NSRecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_NXTType:
NXT NXTRecord = new NXT(wmiRecord, Server);
NewPath = NXTRecord.Modify(TTL, NextDomainName, Types);
break;
case WmiRecordClass.MicrosoftDNS_PTRType:
PTR PTRRecord = new PTR(wmiRecord, Server);
NewPath = PTRRecord.Modify(TTL, Hostname);
break;
case WmiRecordClass.MicrosoftDNS_RPType:
RP RPRecord = new RP(wmiRecord, Server);
NewPath = RPRecord.Modify(TTL, ResponsibleMailbox, TXTDomainName);
break;
case WmiRecordClass.MicrosoftDNS_RTType:
RT RTRecord = new RT(wmiRecord, Server);
NewPath = RTRecord.Modify(TTL, Preference, TargetName);
break;
case WmiRecordClass.MicrosoftDNS_SOAType:
SOA SOARecord = new SOA(wmiRecord, Server);
NewPath = SOARecord.Modify(TTL, SerialNumber,
SOAServer, ResponsibleMailbox, RefreshInterval,
RetryDelay, ExpireLimit, MinimumTTL);
break;
case WmiRecordClass.MicrosoftDNS_SRVType:
SRV SRVRecord = new SRV(wmiRecord, Server);
NewPath = SRVRecord.Modify(TTL, Priority, Weight, Port, TargetName);
break;
case WmiRecordClass.MicrosoftDNS_TXTType:
TXT TXTRecord = new TXT(wmiRecord, Server);
NewPath = TXTRecord.Modify(TTL, Text);
break;
case WmiRecordClass.MicrosoftDNS_WINSType:
WINS WINSRecord = new WINS(wmiRecord, Server);
NewPath = WINSRecord.Modify(TTL, MappingFlag, LookupTimeout,
CacheTimeout, String.Join(" ", WinsServers));
break;
case WmiRecordClass.MicrosoftDNS_WINSRType:
WINSR WINSRRecord = new WINSR(wmiRecord, Server);
NewPath = WINSRRecord.Modify(TTL, MappingFlag, LookupTimeout,
CacheTimeout, ResultDomain);
break;
case WmiRecordClass.MicrosoftDNS_WKSType:
WKS WKSRecord = new WKS(wmiRecord, Server);
NewPath = WKSRecord.Modify(Address, TTL, IPProtocol, String.Join(" ", Services));
break;
case WmiRecordClass.MicrosoftDNS_X25Type:
X25 X25Record = new X25(wmiRecord, Server);
NewPath = X25Record.Modify(TTL, PSDNAddress);
break;
default:
ThrowTerminatingError(
new ErrorRecord(
new PSNotSupportedException("Unsupported Record Type"),
"RecordModificationNotSupported",
ErrorCategory.NotImplemented,
typeof(ManagementCmdlet)));
break;
}
if (PassThru)
{
this.SetManagementPath(NewPath);
wmiRecord = this.Get();
WriteRecord(wmiRecord);
}
}
}
public NXTRobot(NXT robot)
{
Name = robot.Name;
ID = robot.ID;
}
