public static void startBootloader(Smc device)
{
Console.WriteLine("Entering bootloader mode...");
string serialNumber = device.getSerialNumber();
device.startBootloader();
device.Dispose();
Console.WriteLine("Waiting for bootloader to connect...");
int msElapsed = 0;
while (true)
{
foreach (DeviceListItem dli in Smc.getConnectedBootloaders())
{
if (dli.serialNumber.Replace("-", "") == serialNumber.Replace("-", ""))
{
Console.WriteLine("Successfully entered bootloader mode.");
return;
}
}
System.Threading.Thread.Sleep(20);
msElapsed += 20;
if (msElapsed > 8000)
{
throw new Exception("Failed to enter bootloader mode: timeout elapsed.");
}
}
}
/// <summary>
/// This funnction does all the real work. It will
/// throw an exception if anything goes wrong.
/// </summary>
static void MainWithExceptions(string[] args)
{
// Parse all the command-line arguments, turning them in to a list of
// actions to be taken. No actions on the device will occur until
// all the arguments have been processed and validated.
List <Action> actions = new List <Action>();
List <ActionOnDevice> actionsOnDevice = new List <ActionOnDevice>();
// If the user specifies a device serial number, it will be stored here.
String specifiedSerialNumber = null;
// Create a list object because it is easier to work with.
List <String> argList = new List <String>(args);
// Search for the -f option. This must be done ahead of time so that
// it can be any place in the command line.
forceOption = argList.Contains("-f");
argEnumerator = argList.GetEnumerator();
while (argEnumerator.MoveNext())
{
// Read the next argument and decide what to do.
switch (argEnumerator.Current)
{
case "-f":
// Ignore, because we already searched for "-f".
break;
case "-l":
case "--list":
actions.Add(listDevices);
break;
case "-d":
case "--device":
if (specifiedSerialNumber != null)
{
throw new Exception("Only one -d/--device argument is alllowed.");
}
// Remove the leading # sign. It is not standard to put it there,
// but if someone writes it, this program should still work.
specifiedSerialNumber = nextArgument().TrimStart('#');
break;
case "-s":
case "--status":
actionsOnDevice.Add(printStatus);
break;
case "--stop":
actionsOnDevice.Add(stop);
break;
case "--resume":
actionsOnDevice.Add(resume);
break;
case "--speed":
actionsOnDevice.Add(laterSetSpeed());
break;
case "--brake":
actionsOnDevice.Add(laterSetBrake());
break;
case "--restoredefaults":
actionsOnDevice.Add(restoreDefaults);
break;
case "--configure":
actionsOnDevice.Add(laterConfigure());
break;
case "--getconf":
actionsOnDevice.Add(laterGetConf());
break;
case "--bootloader":
actionsOnDevice.Add(startBootloader);
break;
case "--max-speed":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxSpeed));
break;
case "--max-accel":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxAcceleration));
break;
case "--max-decel":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxDeceleration));
break;
case "--brake-dur":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.BrakeDuration));
break;
case "--max-speed-forward":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxSpeed | SmcMotorLimit.ForwardOnly));
break;
case "--max-accel-forward":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxAcceleration | SmcMotorLimit.ForwardOnly));
break;
case "--max-decel-forward":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxDeceleration | SmcMotorLimit.ForwardOnly));
break;
case "--brake-dur-forward":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.BrakeDuration | SmcMotorLimit.ForwardOnly));
break;
case "--max-speed-reverse":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxSpeed | SmcMotorLimit.ReverseOnly));
break;
case "--max-accel-reverse":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxAcceleration | SmcMotorLimit.ReverseOnly));
break;
case "--max-decel-reverse":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.MaxDeceleration | SmcMotorLimit.ReverseOnly));
break;
case "--brake-dur-reverse":
actionsOnDevice.Add(laterSetMotorLimit(SmcMotorLimit.BrakeDuration | SmcMotorLimit.ReverseOnly));
break;
default:
throw new ArgumentException("Unrecognized argument \"" + argEnumerator.Current + "\".");
}
}
if (actions.Count == 0 && actionsOnDevice.Count == 0)
{
throw new ArgumentException("No actions specified.");
}
// Perform all actions that don't require being connected to a device.
foreach (Action action in actions)
{
action();
}
if (actionsOnDevice.Count == 0)
{
// There are no actions that require a device, so exit successfully.
return;
}
// Find the right device to connect to.
List <DeviceListItem> list = Smc.getConnectedDevices();
DeviceListItem item = null;
if (specifiedSerialNumber == null)
{
// No serial number specified: connect to the first item in the list.
if (list.Count > 0)
{
item = list[0];
}
}
else
{
// Find the device with the specified serial number.
foreach (DeviceListItem checkItem in list)
{
if (checkItem.serialNumber == specifiedSerialNumber)
{
item = checkItem;
break;
}
}
}
if (item == null && actionsOnDevice.Count == 1 && actionsOnDevice[0] == startBootloader)
{
// The correct device was not found, but all the user wanted to do was enter
// bootloader mode so we should see if the device is connected in bootloader
// mode and report success if that is true.
List <DeviceListItem> bootloaders = Smc.getConnectedBootloaders();
if (specifiedSerialNumber == null)
{
if (bootloaders.Count > 0)
{
item = bootloaders[0];
}
}
else
{
// Find the device with the specified serial number.
foreach (DeviceListItem checkItem in bootloaders)
{
if (checkItem.serialNumber.Replace("-", "") == specifiedSerialNumber.Replace("-", ""))
{
item = checkItem;
break;
}
}
}
if (item == null)
{
if (specifiedSerialNumber == null)
{
throw new Exception("No " + Smc.namePlural + " (or bootloaders) found.");
}
else
{
throw new Exception("Could not find a device or bootloader with serial number " + specifiedSerialNumber + ".\n" +
"To list devices, use the --list option.");
}
}
Console.WriteLine("The device is already in bootloader mode.");
return;
}
if (item == null)
{
if (specifiedSerialNumber == null)
{
throw new Exception("No " + Smc.namePlural + " found.");
}
else
{
throw new Exception("Could not find a device with serial number " + specifiedSerialNumber + ".\n" +
"To list device, use the --list option.");
}
}
// All the command-line arguments were good and a matching device was found, so
// connect to it.
Smc device = new Smc(item);
// Perform all the previously computed actions on the device.
foreach (ActionOnDevice action in actionsOnDevice)
{
action(device);
}
}
