public virtual void RaiseCommunicationComplete(CommunicationCompleteEventArgs e)
{
EventHandler <CommunicationCompleteEventArgs> handler = communicationCompleteHandler;
if (handler != null)
{
handler(this, e);
}
}
static void onCommunicationComplete(object sender, CommunicationCompleteEventArgs e)
{
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, "ArduinoInterface.onCommunicationComplete: reply = {0}", e.reply);
#endregion
if (e.reply.StartsWith("tag:"))
{
_tag = e.reply.Substring("tag:".Length);
}
else if (e.reply.StartsWith("error:"))
{
_error = e.reply.Substring("error:".Length);
}
}
private void SendCommand(string command,
bool waitForReply = true,
ArduinoStatus interimStatus = ArduinoStatus.Communicating,
int timeoutMillis = 0)
{
if (_serialPort == null)
{
_error = "_serialPort is null";
_status = ArduinoStatus.BadPort;
return;
}
else if (!_serialPort.IsOpen)
{
_error = string.Format("port \"{0}\" not open", _serialPortName);
_status = ArduinoStatus.PortNotOpen;
return;
}
char[] crnls = { '\r', '\n' };
if (timeoutMillis != 0)
{
_timeoutMillis = timeoutMillis;
communicationTimer = new Timer(communicationTimedOut);
communicationTimer.Change(_timeoutMillis, Timeout.Infinite);
}
else
{
_timeoutMillis = 0;
}
_command = command;
_status = interimStatus;
_error = null;
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, string.Format("arduino status: {0}", _status));
#endregion
try
{
communicatorTask = Task.Run(() =>
{
string packet = mkPacket(command);
string reply = null;
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, "Arduino: Communicate: Sending \"{0}\" ...", _command);
#endregion
lock (_serialLock)
{
_serialPort.Write(packet);
if (waitForReply)
{
Thread.Sleep(1000);
reply = getPacket().TrimEnd(crnls);
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, "Arduino: Communicate(\"{0}\") ==> \"{1}\"", _command, reply);
#endregion
}
}
CommunicationCompleteEventArgs e = new CommunicationCompleteEventArgs();
e.reply = reply;
_status = ArduinoStatus.Idle;
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, string.Format("arduino status: {0}", _status));
#endregion
RaiseCommunicationComplete(e);
});
}
catch (Exception ex)
{
communicatorTask.Dispose();
_status = ArduinoStatus.Idle;
#region debug
debugger.WriteLine(Debugger.DebugLevel.DebugLogic, string.Format("arduino status: {0}, communication exception: {1}", _status, ex.Message));
#endregion
}
}