public static byte[] ReadEV3File(String fullname)
{
try
{
lock (sync)
{
// if not already done, memorize the start time and fire up the communication
MemorizeStartTime();
EstablishConnection();
// prepare the pinger packet to keep the remote-controll target alive during large file transfer
ByteCodeBuffer c = new ByteCodeBuffer();
c.OP(0x3A); // Move32_32
c.CONST(42); // move this value
c.GLOBVAR(0); // to global variable 0-3
c.OP(0x7E); // Memory_Write
c.CONST(1); // program slot 1 = user slot
c.CONST(0); // write to global variables
c.CONST(0); // to global variable 0
c.CONST(4); // write 4 bytes
c.GLOBVAR(0); // take the prepared value 42
// finally execute the command
return(con.ReadEV3File(fullname, c));
}
}
catch (Exception)
{ // no connection or other severe error - must terminate immediately
System.Environment.Exit(1);
}
return(null);
}
// must be called while holding a lock on sync
private static void EstablishConnection()
{
// the first action also involves passing some SystemCommands and DirectCommands
if (con == null)
{
// try to start up connection (when failing, an exception is thrown)
con = ConnectionFinder.CreateConnection(false, true);
String filename = "/tmp/EV3-Basic Session.rbf";
// download the watchdog program as a file to the brick
con.CreateEV3File(filename, HexDumpToBytes(EV3Communication.Properties.Resources.WatchDog));
// before loading the watchdog program, check if there is no other program running
ByteCodeBuffer c = new ByteCodeBuffer();
c.OP(0x0C); // opProgram_Info
c.CONST(0x16); // CMD: GET_STATUS = 0x16
c.CONST(1); // program slot 1 = user slot
c.GLOBVAR(8);
// load and start it
c.OP(0xC0); // opFILE
c.CONST(0x08); // CMD: LOAD_IMAGE = 0x08
c.CONST(1); // slot 1 = user program slot
c.STRING(filename);
c.GLOBVAR(0);
c.GLOBVAR(4);
c.OP(0x03); // opPROGRAM_START
c.CONST(1); // slot 1 = user program slot
c.GLOBVAR(0);
c.GLOBVAR(4);
c.CONST(0);
// after starting, check if indeed running now
c.OP(0x0C); // opProgram_Info
c.CONST(0x16); // CMD: GET_STATUS = 0x16
c.CONST(1); // program slot 1 = user slot
c.GLOBVAR(9);
// as additional startup-action, reset the hardware (sensors and motors)
c.OP(0x99); // opInput_Device (CMD, …)
c.CONST(0x0A); // CLR_ALL = 0x0A
c.CONST(-1); // LAYER – Specify chain layer number [0-3] (-1 = All)
byte[] response = con.DirectCommand(c, 10, 0);
if (response == null || response[8] != 0x0040 || response[9] == 0x0040)
{
throw new Exception("Could not start EV3 remote client on device");
}
// set up local ping thread to periodically send a command to the watchdog
// program to keep it alive (and check if the brick is still operating)
(new System.Threading.Thread(runpings)).Start();
}
}
public byte[] DirectCommand(ByteCodeBuffer bytecodes, int globalbytes, int localbytes)
{
// increase message counter (neccesary to check if request and respond match)
messagecounter++;
byte[] sendpacket = new byte[2 + 1 + 2 + bytecodes.Length];
sendpacket[0] = (byte)(messagecounter & 0xff);
sendpacket[1] = (byte)((messagecounter >> 8) & 0xff);
sendpacket[2] = 0x00; // DIRECT_COMMAND_REPLY
sendpacket[3] = (byte)(globalbytes & 0xff);
sendpacket[4] = (byte)(((globalbytes >> 8) & 0x3) + (localbytes << 2));
bytecodes.CopyTo(sendpacket, 5);
SendPacket(sendpacket);
for (; ;)
{
byte[] packet = ReceivePacket();
if (packet.Length < 3)
{
throw new Exception("Reply has no message counter");
}
// wait until reply arrives that has a counter that matches the command
ushort ctr = (ushort)(packet[0] + (packet[1] << 8));
// Console.WriteLine("Expected counter: "+messagecounter+ " received counter: " + ctr);
if (ctr != messagecounter)
{
continue;
}
// check if the direct command caused an error
if (packet[2] == 0x04)
{
return(null);
}
// check if problems with received packet
if (packet[2] != 0x02)
{
throw new Exception("Reply is not of correct type");
}
if (packet.Length != globalbytes + 3)
{
throw new Exception("Reply size unexpected: " + packet.Length + " instead of " + (globalbytes + 3));
}
// extract data
byte[] replydata = new byte[packet.Length - 3];
System.Array.Copy(packet, 3, replydata, 0, packet.Length - 3);
return(replydata);
}
}
public static byte[] DirectCommand(ByteCodeBuffer bytecodes, int globalbytes, int localbytes)
{
try
{
lock (sync)
{
// if not already done, memorize the start time and fire up the communication
MemorizeStartTime();
EstablishConnection();
// if requested to only queue the command, and the queue is not too full, and there is no expected response
if (queue_active && globalbytes == 0 && queue.Length + bytecodes.Length < 900) // prevent to exceed 1024 bytes in single transmission
{
bytecodes.CopyTo(queue);
queue_locals = Math.Max(queue_locals, localbytes);
queue_active = false;
return(new byte[0]);
}
else
{
queue_active = false; // remove queue-status in any case
}
// if there is data in the queue, try to merge it with the new command
if (queue.Length > 0)
{
// when total length is not too big, can send together with new command
if (queue.Length + bytecodes.Length < 900)
{
bytecodes.CopyTo(queue);
byte[] response = con.DirectCommand(queue, globalbytes, Math.Max(localbytes, queue_locals));
queue.Clear();
queue_locals = 0;
return(response);
}
// if can not be merged, send queued commands seperately
con.DirectCommand(queue, 0, queue_locals);
queue.Clear();
queue_locals = 0;
}
// finally execute the command
return(con.DirectCommand(bytecodes, globalbytes, localbytes));
}
}
catch (Exception)
{ // no connection - must terminate immediately
System.Environment.Exit(1);
}
return(null);
}
// Periodically modify a flag in the global variables of program slot 1.
// The program in slot 1 is a watchdog program that will notice when this "pings" no longer
// arrive and will stop itself and shut down motors and sensors gracefully.
// On the other side, the pinger will monitor if the watchdog is still running (could have
// been stopped manually by the user) and if so, terminates the Basic program also.
private static void runpings()
{
ByteCodeBuffer c = new ByteCodeBuffer();
c.OP(0x3A); // Move32_32
c.CONST(42); // move this value
c.GLOBVAR(0); // to gloval variable 0-3
c.OP(0x7E); // Memory_Write
c.CONST(1); // program slot 1 = user slot
c.CONST(0); // write to global variables
c.CONST(0); // to global variable 0
c.CONST(4); // write 4 bytes
c.GLOBVAR(0); // take the prepared value 42
c.OP(0x0C); // opProgram_Info
c.CONST(0x16); // CMD: GET_STATUS = 0x16
c.CONST(1); // program slot 1 = user slot
c.GLOBVAR(0);
for (; ;)
{
lock (sync)
{
byte[] packet = null;
try
{
packet = con.DirectCommand(c, 4, 0);
}
catch (Exception e)
{
throw e;
}
// detected communication error or watchdog progam is no longer running
if (packet == null || packet.Length <= 0 || packet[0] == 0x40)
{
System.Environment.Exit(1);
}
}
System.Threading.Thread.Sleep(500);
}
}
private static EV3Connection TestConnection(EV3Connection con)
{
try
{
// perform a tiny direct command to check if communication works
ByteCodeBuffer c = new ByteCodeBuffer();
c.OP(0x30); // Move8_8
c.CONST(74);
c.GLOBVAR(0);
byte[] response = con.DirectCommand(c, 1, 0);
if (response == null || response.Length != 1 || response[0] != 74)
{
throw new Exception("Test DirectCommand delivers wrong result");
}
return(con);
}
catch (Exception e)
{
con.Close();
throw e;
}
}
public byte[] ReadEV3File(String fullname, ByteCodeBuffer pingercommand = null)
{
long nextping = DateTime.Now.Ticks + 500;
int chunksize = 900;
// start the transfer
BinaryBuffer b = new BinaryBuffer();
b.Append16(0); // transfer no content right now
b.AppendZeroTerminated(fullname);
byte[] response = SystemCommand(BEGIN_UPLOAD, b);
if (response == null)
{
throw new Exception("No response to BEGIN_UPLOAD");
}
if (response.Length < 6)
{
throw new Exception("Response too short for BEGIN_UPLOAD");
}
if (response[0] != SUCCESS && response[0] != END_OF_FILE)
{
throw new Exception("Unexpected status at BEGIN_UPLOAD: " + response[0]);
}
int len = ((int)response[1]) + (((int)response[2]) << 8) + (((int)response[3]) << 16) + (((int)response[4]) << 24);
int handle = response[5] & 0xff;
// Console.WriteLine("Start uploading file of size: " + len + ". handle=" + handle);
byte[] buffer = new byte[len];
int pos = 0;
// transfer bytes in small chunks
while (pos < len)
{
int transfernow = Math.Min(len - pos, chunksize);
b.Clear();
b.Append8(handle);
b.Append16(transfernow);
response = SystemCommand(CONTINUE_UPLOAD, b);
if (response == null)
{
throw new Exception("No response to CONTINUE_UPLOAD");
}
if (response.Length < 2 + transfernow)
{
throw new Exception("Response too short for CONTINUE_UPLOAD");
}
if (response[0] != SUCCESS && response[0] != END_OF_FILE)
{
throw new Exception("Unexpected status at CONTINUE_UPLOAD: " + response[0]);
}
for (int i = 0; i < transfernow; i++)
{
buffer[pos + i] = response[2 + i];
}
pos += transfernow;
// check if it is necessary to send intermediary pings to the watchdog program
if (pingercommand != null && DateTime.Now.Ticks > nextping)
{
DirectCommand(pingercommand, 4, 0);
nextping = DateTime.Now.Ticks + 500;
}
}
return(buffer);
}
