public bool SendCommand(ScribblerCommand cmd) { if (buffer != null && cmd.Data != null) { int ix = 0; //Add packet length start byte buffer[ix++] = (byte)(cmd.Data.Length + 1); if (cmd.Data != null && cmd.Data.Length > 0) { foreach (byte b in cmd.Data) { buffer[ix++] = b; } } // null terminate as stop byte for scribbler buffer[ix] = 0; try { serialPort.Write(buffer, 0, ix + 1); } catch { throw new IOException(); } return(true); } return(false); }
/// <summary> /// Handles incoming play tone requests /// </summary> private IEnumerator <ITask> PlayToneHandler(PlayTone message) { if (!_state.Connected) { LogError("trying to play tone, but not connected"); message.ResponsePort.Post(new Fault()); yield break; } ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2, message.Body.Duration, message.Body.Frequency1, message.Body.Frequency2); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); } )); yield break; }
/// <summary> /// This will poll the scribbler at a minimum frequency /// </summary> /// <param name="sender"></param> /// <param name="e"></param> private void PollTimer_Elapsed(object sender, EventArgs e) { ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); }
/// <summary> /// Handles incoming SetAllLEDs requests /// </summary> private IEnumerator <ITask> SetAllLEDsHandler(SetAllLEDs message) { //error check if (!_state.Connected) { message.ResponsePort.Post(new Fault()); yield break; } //update state _state.LEDLeft = message.Body.LeftLED; _state.LEDCenter = message.Body.CenterLED; _state.LEDRight = message.Body.RightLED; //send command ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL, _state.LEDLeft, _state.LEDCenter, _state.LEDRight); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } )); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
private IEnumerator <ITask> SetNameHandler(SetName command) { if (string.IsNullOrEmpty(command.Body.NewName)) { LogError("New name is null"); command.ResponsePort.Post(new Fault()); yield break; } if (!_state.Connected) { command.ResponsePort.Post(new Fault()); yield break; } string shortenedname; if (command.Body.NewName.Length > 8) { shortenedname = command.Body.NewName.Substring(0, 8); } else { shortenedname = command.Body.NewName; } _state.RobotName = shortenedname; ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_NAME, shortenedname); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { SaveState(_state); } )); //reply to sender command.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// Handles incoming set motor messages /// </summary> private IEnumerator <ITask> SetMotorHandler(SetMotors message) { if (!_state.Connected) { message.ResponsePort.Post(new Fault()); yield break; } //debug if (message.Body.LeftSpeed < 0 || message.Body.LeftSpeed > 200 || message.Body.RightSpeed < 0 || message.Body.RightSpeed > 200) { LogError("Scribbler SetMotorHandler: target power set incorrect"); } //update state _state.MotorLeft = message.Body.LeftSpeed; _state.MotorRight = message.Body.RightSpeed; //send command ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { //initialize notify list List <string> notify = new List <string>(); notify.Add("MOTORS"); // notify general subscribers subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest)); // notify selective subscribers submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray()); subMgrPort.Post(sub); //reply to say we are done message.ResponsePort.Post(DefaultUpdateResponseType.Instance); } )); yield break; }
/// <summary> /// Handles incoming play tone requests /// </summary> private IEnumerator <ITask> PlayToneHandler(PlayTone message) { ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2, message.Body.Duration, message.Body.Frequency1, message.Body.Frequency2); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } )); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// Handles incoming set motor messages /// </summary> private IEnumerator <ITask> SetMotorHandler(SetMotor message) { if (message.Body == null) { message.ResponsePort.Post(new Fault()); yield break; } if (message.Body.Motor == null) { message.ResponsePort.Post(new Fault()); yield break; } // Requests come too fast, so dump ones that come in too fast. if (RequestPending > 0 && message.Body.Speed != 100) { message.ResponsePort.Post(new DefaultUpdateResponseType()); yield break; } RequestPending++; if (message.Body.Motor.ToUpper().Contains("LEFT")) { _state.MotorLeft = message.Body.Speed; } else if (message.Body.Motor.ToUpper().Contains("RIGHT")) { _state.MotorRight = message.Body.Speed; } else { LogError("Motor name not set properly"); } ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { //if (response.Data[0] != (byte)ScribblerHelper.Commands.SET_MOTORS) // LogError("SetMotor picked up a wrong echo"); //initialize notify list List <string> notify = new List <string>(); notify.Add("MOTORS"); // notify general subscribers subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest)); // notify selective subscribers submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray()); subMgrPort.Post(sub); //reply to say we are done message.ResponsePort.Post(DefaultUpdateResponseType.Instance); RequestPending--; } )); yield break; }
/// <summary> /// Serial Port data event handler /// </summary> /// <param name="sender"></param> /// <param name="e"></param> void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs e) { if (e.EventType == SerialData.Chars) { try { while (serialPort.BytesToRead >= 2) { int messageLength = serialPort.ReadByte(); while ((messageLength > 5 || messageLength == 0) && serialPort.BytesToRead > 0) { messageLength = serialPort.ReadByte(); } if (messageLength >= 2) { byte[] data = new byte[messageLength]; serialPort.Read(data, 0, messageLength); //debug foreach (byte b in data) { if (b != 0) { Console.Write(b + " "); } else { Console.Write("` "); } } Console.Write("\n"); if (ScribblerHelper.IsSensorResponse(data[0])) { SensorNotification sensorMsg = new SensorNotification(data[0], data[1]); ScribblerComInboundPort.Post(sensorMsg); } else { ScribblerCommand echo = new ScribblerCommand(); echo.Data = data; ScribblerComInboundPort.Post(echo); } } } } catch (ArgumentException ex) { if (ex.Message == "Offset and length were out of bounds for the array or count is greater than the number of elements from index to the end of the source collection.") { Exception invalidBaudRate = new IOException(); System.Diagnostics.Debug.WriteLine("Invalid Baud Rate"); ScribblerComInboundPort.Post(invalidBaudRate); } else { Console.WriteLine("Error reading from the serial port in ComBase(): {0}", ex.Message); System.Diagnostics.Debug.WriteLine("Error reading from the serial port in ComBase(): {0}", ex.Message); ScribblerComInboundPort.Post(ex); } } catch (TimeoutException ex) { ScribblerComInboundPort.Post(ex); // Ignore timeouts for now. } catch (IOException ex) { Console.WriteLine("Error reading from the serial port in CommBase(): {0}", ex.Message); ScribblerComInboundPort.Post(ex); } catch (Exception ex) { Console.WriteLine("Error reading from the serial port in CommBase(): {0}", ex.Message); ScribblerComInboundPort.Post(ex); } } }
/// <summary> /// Handles incoming set motor messages /// </summary> private IEnumerator<ITask> SetMotorHandler(SetMotor message) { if (message.Body == null) { message.ResponsePort.Post(new Fault()); yield break; } if (message.Body.Motor == null) { message.ResponsePort.Post(new Fault()); yield break; } // Requests come too fast, so dump ones that come in too fast. if (RequestPending > 0 && message.Body.Speed != 100) { message.ResponsePort.Post(new DefaultUpdateResponseType()); yield break; } RequestPending++; if (message.Body.Motor.ToUpper().Contains("LEFT")) { _state.MotorLeft = message.Body.Speed; } else if (message.Body.Motor.ToUpper().Contains("RIGHT")) { _state.MotorRight = message.Body.Speed; } else { LogError("Motor name not set properly"); } ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { //if (response.Data[0] != (byte)ScribblerHelper.Commands.SET_MOTORS) // LogError("SetMotor picked up a wrong echo"); //initialize notify list List<string> notify = new List<string>(); notify.Add("MOTORS"); // notify general subscribers subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest)); // notify selective subscribers submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray()); subMgrPort.Post(sub); //reply to say we are done message.ResponsePort.Post(DefaultUpdateResponseType.Instance); RequestPending--; } ); yield break; }
/// <summary> /// Handles incoming SetLED requests /// </summary> private IEnumerator<ITask> SetLEDHandler(SetLED message) { ScribblerCommand cmd; switch (message.Body.LED) { case 0: //left LED if (message.Body.State) cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON); else cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF); break; case 1: //center LED if (message.Body.State) cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON); else cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF); break; case 2: //right LED if (message.Body.State) cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON); else cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF); break; case 3: //all LEDs if (message.Body.State) cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_ON); else cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_OFF); break; default: LogError("LED number set incorrect"); cmd = new ScribblerCommand(); break; } SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } ); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// Handles incoming play tone requests /// </summary> private IEnumerator<ITask> PlayToneHandler(PlayTone message) { ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2, message.Body.Duration, message.Body.Frequency1, message.Body.Frequency2); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } ); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
private IEnumerator<ITask> SetNameHandler(SetName command) { if (command.Body == null || string.IsNullOrEmpty(command.Body.NewName)) { command.ResponsePort.Post(new Fault()); yield break; } string shortenedname; if (command.Body.NewName.Length > 8) shortenedname = command.Body.NewName.Substring(0, 8); else shortenedname = command.Body.NewName; _state.RobotName = shortenedname; ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_NAME, shortenedname); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { SaveState(_state); } ); //reply to sender command.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// This will poll the scribbler at a minimum frequency /// </summary> /// <param name="sender"></param> /// <param name="e"></param> private void PollTimer_Elapsed(object sender, EventArgs e) { ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); }
/// <summary> /// Handles incoming SetLED requests /// </summary> private IEnumerator <ITask> SetLEDHandler(SetLED message) { if (!_state.Connected) { LogError("Trying to set LED, but not connected"); message.ResponsePort.Post(new Fault()); yield break; } ScribblerCommand cmd; switch (message.Body.LED) { case 0: //left LED _state.LEDLeft = message.Body.State; if (message.Body.State) { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON); } else { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF); } break; case 1: //center LED _state.LEDCenter = message.Body.State; if (message.Body.State) { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON); } else { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF); } break; case 2: //right LED _state.LEDRight = message.Body.State; if (message.Body.State) { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON); } else { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF); } break; case 3: //all LEDs _state.LEDLeft = message.Body.State; _state.LEDCenter = message.Body.State; _state.LEDRight = message.Body.State; if (message.Body.State) { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_ON); } else { cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_OFF); } break; default: LogError("LED number set incorrect"); cmd = new ScribblerCommand(); break; } SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } )); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// DO NOT USE THIS COMMAND DIRECTLY. /// In Scribbler.cs, post a message to _scribblerComPort /// </summary> /// <param name="cmd"></param> /// <returns></returns> internal ScribblerResponse SendCommand(ScribblerCommand cmd) { ScribblerResponse echo = null; ScribblerResponse response = null; byte[] buffer = new byte[outMessageSize]; if (buffer != null) { int ix = 0; //buffer = cmd.ToByteArray(); buffer[ix++] = cmd.CommandType; if (cmd.Data != null && cmd.Data.Length > 0) { foreach (byte b in cmd.Data) { buffer[ix++] = b; } } //fill to standard size while (ix < outMessageSize) { buffer[ix++] = 0; } //DEBUG //Console.Write("\nSent: "); //foreach (byte b in buffer) //{ // if (b != 0) // Console.Write(b + " "); // else // Console.Write("` "); //} //Console.Write("\n"); //DEBUG // When requesting a response, clear the inbound buffer if (_serialPort.BytesToRead > 0) { _serialPort.DiscardInBuffer(); } try { _serialPort.Write(buffer, 0, ix); } catch { Console.WriteLine("Serial Port Timeout. Turn on Scribbler."); //throw new IOException(); } echo = GetEcho(buffer); response = GetCommandResponse(helper.ReturnSize((ScribblerHelper.Commands)cmd.CommandType)); } return(response); }
public SendScribblerCommand(ScribblerCommand cmd) { this.Body = cmd; }
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost) { // Use helper to read form data ReadFormData readForm = new ReadFormData(httpPost.Body.Context); _httpUtilities.Post(readForm); // Wait for result Activate(Arbiter.Choice(readForm.ResultPort, delegate(NameValueCollection parameters) { if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerConfig") { if (parameters["buttonOk"] == "Change" && _state.Connected) { SetNameBody newname = new SetNameBody(parameters["Name"]); SetName newnamemessage = new SetName(newname); _mainPort.Post(newnamemessage); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, newnamemessage.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, newnamemessage.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } else if (parameters["buttonOk"] == "Connect" && _state.Connected) { //close down this connection to make a new connection below PollTimer.Close(); System.Threading.Thread.Sleep(100); _scribblerCom.Close(); _state.Connected = false; } if (parameters["buttonOk"] == "Connect" && !_state.Connected) { int port = 0; int.TryParse(parameters["ComPort"], out port); string name = parameters["Name"]; if (!string.IsNullOrEmpty(name) && name.Length > 8) { name = name.Substring(0, 8); } _state.ComPort = port; _state.RobotName = name; //open Scribbler Communications port if (ConnectToScribbler()) { // Listen for a single Serial port request with an acknowledgement Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler)); PollTimer = new System.Timers.Timer(); PollTimer.Interval = TimerDelay; PollTimer.AutoReset = true; PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed); PollTimer.Start(); //play startup tone PlayToneBody startTone = new PlayToneBody(200, 1000, 2000); PlayTone playToneMessage = new PlayTone(startTone); _mainPort.Post(playToneMessage); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } else { HttpPostFailure(httpPost, "Connection to Scribbler failed"); } } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerSensors") { if (parameters["buttonOk"] == "Poll" && _state.Connected) { ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); Activate( Arbiter.Choice( Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, sendcmd.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerMotors") { if (parameters["buttonOk"] == "Set" && _state.Connected) { int left = _state.MotorLeft; int right = _state.MotorRight; int.TryParse(parameters["LeftMotor"], out left); int.TryParse(parameters["RightMotor"], out right); SetMotorsBody setMotorsBody = new SetMotorsBody(left, right); SetMotors setMotorsRequest = new SetMotors(setMotorsBody); _mainPort.Post(setMotorsRequest); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } else if (parameters["buttonOk"] == "All Stop" && _state.Connected) { SetMotorsBody setMotorsBody = new SetMotorsBody(100, 100); SetMotors setMotorsRequest = new SetMotors(setMotorsBody); _mainPort.Post(setMotorsRequest); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerLEDs") { if (parameters["buttonOk"] == "Set" && _state.Connected) { bool left = ((parameters["LeftLED"] ?? "off") == "on"); bool center = ((parameters["CenterLED"] ?? "off") == "on"); bool right = ((parameters["RightLED"] ?? "off") == "on"); SetAllLedsBody leds = new SetAllLedsBody(left, center, right); SetAllLEDs setAllLeds = new SetAllLEDs(leds); _mainPort.Post(setAllLeds); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, setAllLeds.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, setAllLeds.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerSpeaker") { if (parameters["buttonOk"] == "Play" && _state.Connected) { int tone1 = 0; int tone2 = 0; int duration = 0; int.TryParse(parameters["Tone1"], out tone1); int.TryParse(parameters["Tone2"], out tone2); int.TryParse(parameters["Duration"], out duration); PlayToneBody playTone = new PlayToneBody(duration, tone1, tone2); PlayTone playToneMessage = new PlayTone(playTone); _mainPort.Post(playToneMessage); Activate( Arbiter.Choice( Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else { HttpPostFailure(httpPost, "Unknown Http Post"); } }, delegate(Exception Failure) { LogError(Failure.Message); }) ); yield break; }
/// <summary> /// DO NOT USE THIS COMMAND DIRECTLY. /// In Scribbler.cs, post a message to _scribblerComPort /// </summary> /// <param name="cmd"></param> /// <returns></returns> internal ScribblerResponse SendCommand(ScribblerCommand cmd) { ScribblerResponse echo = null; ScribblerResponse response = null; byte[] buffer = new byte[outMessageSize]; if (buffer != null) { int ix = 0; //buffer = cmd.ToByteArray(); buffer[ix++] = cmd.CommandType; if (cmd.Data != null && cmd.Data.Length > 0) foreach (byte b in cmd.Data) buffer[ix++] = b; //fill to standard size while (ix < outMessageSize) buffer[ix++] = 0; //DEBUG //Console.Write("\nSent: "); //foreach (byte b in buffer) //{ // if (b != 0) // Console.Write(b + " "); // else // Console.Write("` "); //} //Console.Write("\n"); //DEBUG // When requesting a response, clear the inbound buffer if (_serialPort.BytesToRead > 0) _serialPort.DiscardInBuffer(); try { _serialPort.Write(buffer, 0, ix); } catch { Console.WriteLine("Serial Port Timeout. Turn on Scribbler."); //throw new IOException(); } echo = GetEcho(buffer); response = GetCommandResponse(helper.ReturnSize((ScribblerHelper.Commands)cmd.CommandType)); } return response; }