/// <summary>
/// Connects to a device using native USB. Throws an exception if it fails.
/// </summary>
void Connect()
{
if (device != null)
{
// We are already connected.
return;
}
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Smc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "39FF-7406-3054-3036-4923-0743"){ continue; }
this.device = new Smc(dli); // Connect to the device.
StatusLabel.Text = "Connected";
StatusLabel.ForeColor = SystemColors.ControlText;
return;
}
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
/// <summary>
/// Connects to the device if it is found in the device list.
/// </summary>
public void TryToReconnect()
{
foreach (DeviceListItem d in Smc.getConnectedDevices())
{
if (d.serialNumber == serialNumber)
{
motor = new Smc(d);
return;
}
}
throw new Exception("Cannot connect to the SMC Make sure it is plugged in to USB " +
"and check your Device Manager (Windows)");
}
/// <summary>
/// Connects to a Simple Motor Controller using native USB and returns the
/// Smc object representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that other
/// processes or functions can connect to the device later. The "using"
/// statement can do this automatically for you.
/// </summary>
Smc connectToDevice()
{
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Smc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "39FF-7406-3054-3036-4923-0743"){ continue; }
Smc device = new Smc(dli); // Connect to the device.
return(device); // Return the device.
}
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
/// <summary>
/// Detects whether the device we are connected to is still plugged in
/// to USB. If it is unplugged, we close the connection.
/// </summary>
void DetectDisconnect()
{
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Smc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
if (dli.serialNumber == device.getSerialNumber())
{
// The device we are connected to is still plugged in.
return;
}
}
// The device we are connected to is not plugged in, so disconnect.
Disconnect();
}
public static void listDevices()
{
List <DeviceListItem> list = Smc.getConnectedDevices();
if (list.Count == 1)
{
Console.WriteLine("1 " + Smc.name + " found:");
}
else
{
Console.WriteLine(list.Count + " " + Smc.name + "s found:");
}
foreach (DeviceListItem item in list)
{
Console.WriteLine(item.text);
}
}
public List <DeviceListItem> getConnectedDevices()
{
try
{
try
{
devices = Smc.getConnectedDevices();
}
catch (NotImplementedException)
{
// use vendor and product instead
}
}
catch (Exception e)
{
throw new Exception("There was an error getting the list of connected devices.", e);
}
return(devices);
}
public static void listDevices()
{
List <DeviceListItem> list = Smc.getConnectedDevices();
// Note: This format is kind of annoying but we use it for compatibility with old
// SmcCmd format. For future products, we should use a CSV format similar to
// the one used by jrk2cmd.
if (list.Count == 1)
{
Console.WriteLine("1 " + Smc.name + " found:");
}
else
{
Console.WriteLine(list.Count + " " + Smc.namePlural + " found:");
}
foreach (DeviceListItem item in list)
{
Console.WriteLine(item.text);
}
}
/// <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);
}
}
