public void ClearSession()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.Clear();
session.Dispose();
}
public void Dispose()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.Dispose();
}
public void Disconnect()
{
foreach (ArduinoDevice dev in _devices.Values)
{
dev.Disconnect();
}
State = ADMState.NOT_CONNECTED;
LastDisconnectedOn = DateTime.Now;
_session?.Dispose();
}
private void TimeTest()
{
var session = new ArduinoSession(new SerialConnection("COM3", SerialBaudRate.Bps_57600)) {TimeOut = 1000};
session.MessageReceived += session_OnMessageReceived;
var firmata = (II2CProtocol)session;
var x = firmata.GetI2CReply(0x68, 7);
Console.WriteLine();
Console.WriteLine("{0} bytes received.", x.Data.Length);
Console.WriteLine("Starting");
session.Dispose();
}
private void TimeTest()
{
var session = new ArduinoSession(new SerialConnection("COM4", SerialBaudRate.Bps_57600))
{
TimeOut = 1000
};
session.MessageReceived += Session_OnMessageReceived;
var firmata = (II2CProtocol)session;
var x = firmata.GetI2CReply(0x68, 7);
Console.WriteLine();
Console.WriteLine("{0} bytes received.", x.Data.Length);
Console.WriteLine("Starting");
Console.WriteLine("Press a key to abort.");
Console.ReadKey(true);
session.Dispose();
}
public ArduinoSession GetArduinoSession()
{
if (arduinoSession == null)
{
var connection = GetConnection();
var session = new ArduinoSession(connection);
var firmware = session.GetFirmware();
if (firmware.MajorVersion >= 2)
{
session.ResetBoard();
//步进电机
session.CreateStepperMoveCompleteMonitor().Monitor(f =>
{
GetStepperStep(f.DeviceNumber).Invoke(f.DeviceNumber);
});
session.CreateReceivedStringMonitor().Monitor(f =>
{
});
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 26,
DirectionOrPin2Number = 28,
EnablePinNumber = 24,
InvertEnablePinNumber = true
});
session.StepperEnable(0, true);
session.StepperSetSpeed(0, 32767);
session.StepperSetScceleration(0, 5000);
arduinoSession = session;
}
else
{
session.Dispose();
throw new Exception("读取设备失败");
}
}
return(arduinoSession);
}
public void Dispose_OnOpenConnection()
{
var connection = new MockSerialConnection();
connection.Open();
var session = new ArduinoSession(connection);
session.Dispose();
}
public void Dispose()
{
_session.Dispose();
}
