public void StopOnlineMode()
{
LogMessage("Stopping online mode");
if (Connection == ConnectionStatus.Connected)
{
throw new InvalidOperationException("Interface is not in online mode");
}
ThrowWhenNotConnected();
_updateValuesTimer.Stop();
_updateValuesTimer.Close();
_updateValuesTimer = null;
StopAllOutputs();
try
{
var responseStopOnline = new ResponseStopOnline();
TxtCommunication.SendCommand(new CommandStopOnline(), responseStopOnline);
_onlineStopped?.Invoke(this, new EventArgs());
Connection = ConnectionStatus.Connected;
}
catch (Exception e)
{
LogMessage($"Exception while stopping online mode: {e.Message}");
HandleException(e);
}
LogMessage("Online mode stopped");
}
public void Disconnect()
{
LogMessage("Disconnecting");
ThrowWhenNotConnected();
try
{
TxtCommunication.CloseConnection();
Connection = ConnectionStatus.NotConnected;
}
catch (Exception e)
{
LogMessage($"Exception while disconnecting: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
}
_disconnected?.Invoke(this, new EventArgs());
TxtCommunication.Dispose();
TxtCommunication = null;
TxtCamera.Dispose();
TxtCamera = null;
LogMessage("Disconnected");
_masterInterface.ResetValues();
}
public void Connect(string ip)
{
LogMessage($"Connecting to {ip}");
Ip = ip;
if (Connection == ConnectionStatus.Connected || Connection == ConnectionStatus.Online)
{
throw new InvalidOperationException("Already connected to an interface");
}
TxtCommunication?.Dispose();
TxtCommunication = new TxtCommunication(this);
TxtCamera = new TxtCameraCommunication(TxtCommunication);
try
{
TxtCommunication.OpenConnection();
Connection = TxtCommunication.Connected ? ConnectionStatus.Connected : ConnectionStatus.NotConnected;
}
catch (Exception e)
{
LogMessage($"Exception while connecting: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
}
_masterInterface.ResetValues();
LogMessage("Connected");
_connected?.Invoke(this, new EventArgs());
}
public bool IsValidInterface(string address)
{
if (TxtCommunication == null)
{
TxtCommunication = new TxtCommunication(this);
}
return(TxtCommunication.IsValidInterface(address));
}
public string RequestControllerName(string address)
{
if (TxtCommunication == null)
{
TxtCommunication = new TxtCommunication(this);
}
return(TxtCommunication.RequestControllerName(address));
}
public string GetInterfaceName()
{
ThrowWhenNotConnected();
try
{
var responseQueryStatus = new ResponseQueryStatus();
TxtCommunication.SendCommand(new CommandQueryStatus(), responseQueryStatus);
return(responseQueryStatus.GetControllerName());
}
catch (Exception e)
{
HandleException(e);
}
return(string.Empty);
}
public void StartOnlineMode()
{
LogMessage("Starting online mode");
if (Connection == ConnectionStatus.Online)
{
throw new InvalidOperationException("Already in online mode");
}
ThrowWhenNotConnected();
_updateValuesTimer = new Timer(UpdateInterval);
_updateValuesTimer.Elapsed += UpdateValuesTimerTick;
_updateValuesTimer.AutoReset = true;
_soundPlayIndex = 0;
_configurationIndex = 0;
var responseStartOnline = new ResponseStartOnline();
try
{
TxtCommunication.SendCommand(new CommandStartOnline(), responseStartOnline);
Connection = ConnectionStatus.Online;
_updateValuesTimer.Start();
_onlineStarted?.Invoke(this, new EventArgs());
List <int> inputPorts = new List <int>();
for (int i = 0; i < UniversalInputs; i++)
{
inputPorts.Add(i);
}
InputValueChangedEventArgs eventArgs = new InputValueChangedEventArgs(inputPorts);
_inputValueChanged?.Invoke(this, eventArgs);
}
catch (Exception e)
{
LogMessage($"Exception while starting online mode: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
}
LogMessage("Online mode started");
}
public void Dispose()
{
Connection = ConnectionStatus.NotConnected;
if (TxtCommunication != null)
{
TxtCommunication.Dispose();
TxtCommunication = null;
}
if (TxtCamera != null)
{
TxtCamera.Dispose();
TxtCamera = null;
}
_masterInterface.ResetValues();
}
private void UpdateConfiguration()
{
ThrowWhenNotConnected();
// ReSharper disable once UseObjectOrCollectionInitializer
var commandUpdateConfig = new CommandUpdateConfig();
var responseUpdateConfig = new ResponseUpdateConfig();
// Increase the configuration id to notify that the configuration has changed
commandUpdateConfig.ConfigId = (short)++_configurationIndex;
for (int i = 0; i < _masterInterface.InputModes.Length; i++)
{
commandUpdateConfig.Config.UniversalInputs[i].Mode = (byte)_masterInterface.InputModes[i];
}
for (int i = 0; i < _masterInterface.InputIsDigital.Length; i++)
{
commandUpdateConfig.Config.UniversalInputs[i].Digital = _masterInterface.InputIsDigital[i]
? (byte)1
: (byte)0;
}
for (int i = 0; i < _masterInterface.OutputModes.Length; i++)
{
commandUpdateConfig.Config.Motor[i] = _masterInterface.OutputModes[i]
? (byte)1
: (byte)0;
}
try
{
TxtCommunication.SendCommand(commandUpdateConfig, responseUpdateConfig);
}
catch (Exception e)
{
HandleException(e);
}
_configurationChanged = false;
}
public void UpdateValues()
{
ThrowWhenNotConnected();
if (_configurationChanged)
{
UpdateConfiguration();
_configurationChanged = false;
}
var commandExchangeData = new CommandExchangeData();
var responseExchangeData = new ResponseExchangeData();
for (int i = 0; i < _masterInterface.OutputValues.Length; i++)
{
commandExchangeData.PwmOutputValues[i] = (short)_masterInterface.OutputValues[i];
}
commandExchangeData.SoundCommandId = (ushort)_soundPlayIndex;
if (_soundChanged)
{
commandExchangeData.SoundCommandId = (ushort)++_soundPlayIndex;
commandExchangeData.SoundIndex = _masterInterface.SoundIndex;
commandExchangeData.SoundRepeat = _masterInterface.SountRepeatCount;
_soundChanged = false;
_soundPlaying = true;
}
try
{
TxtCommunication.SendCommand(commandExchangeData, responseExchangeData);
}
catch (Exception e)
{
HandleException(e);
return;
}
IList <int> valueChanged = new List <int>();
for (int i = 0; i < responseExchangeData.UniversalInputs.Length; i++)
{
var newInputValue = responseExchangeData.UniversalInputs[i];
if (_masterInterface.GetInputValue(i) != newInputValue)
{
_masterInterface.SetInputValue(i, newInputValue);
valueChanged.Add(i);
}
}
if (valueChanged.Count > 0)
{
// Fire an event when an input value has changed
InputValueChangedEventArgs eventArgs = new InputValueChangedEventArgs(valueChanged);
_inputValueChanged?.Invoke(this, eventArgs);
}
if (responseExchangeData.SoundCommandId != _soundPlayIndex - 1 && _soundPlaying)
{
_soundPlaying = false;
// Fire an event when the sound playback has finished
_soundPlaybackFinished?.Invoke(this, new EventArgs());
}
}
