/*
* Method switches the global mode
*/
private error_t change_glbl_mode(mode_t mode)
{
error_t return_error = error_t.EMAX;
if (_glbl_mode == mode) {
// already in requested mode, do nothing and no loss of performance
_belt_error = error_t.ESUCCESS; // already in requested mode
return_error = _belt_error;
}
else if (mode == mode_t.M_ACTIVE) {
//switch to activate command mode
return_error = SerialPortWriteData("BGN\n", MAX_RESPONSE_TIMEOUT);
if (return_error == error_t.ESUCCESS)
_glbl_mode = mode_t.M_ACTIVE;
}
else { //if (_glbl_mode == mode_t.M_ACTIVE)
// back to learning mode
byte[] returnState = { 0x30, 0x30 }; //should send Hex 0x30 0x30 = mode 0
return_error = SerialPortWriteData(returnState, MAX_RESPONSE_TIMEOUT);
if (return_error == error_t.ESUCCESS)
_glbl_mode = mode_t.M_LEARN;
}
_dll_error = return_error;
return return_error;
}
public static bool S_ISREG(mode_t mode) => (((mode) & S_IFMT) == S_IFREG);
/// <summary>
/// Closes all COM ports in use for the wireless haptic belt.
/// </summary>
public error_t ClosePorts()
{
error_t error = error_t.COMPRTOPEN;
if (serialIn != null && serialOut != null) {
error = serialIn.ClosePort();
if (_portInName != _portOutName)
error = serialOut.ClosePort();
}
// Reset mode variables & state machine
_glbl_mode = mode_t.M_LEARN;
_acmd_mode = acmd_mode_t.ACM_LRN;
_dll_error = error;
return error;
}
public static bool S_ISCHR(mode_t mode) => (((mode) & S_IFMT) == S_IFCHR);
public static bool S_ISBLK(mode_t mode) => (((mode) & S_IFMT) == S_IFBLK);
public static bool S_ISDIR(mode_t mode) => (((mode) & S_IFMT) == S_IFDIR);
public static extern int mkfifoat(int dirfd, byte *path, mode_t mode);
public static extern int mkfifo(byte *path, mode_t mode);
public static extern int mkdir(byte *path, mode_t mode);
public static extern mode_t umask(mode_t mode);
