public GpsReader(CommunicationTask cTask, CancellationToken ct, int si)
: base("GpsReader", cTask, ct, si)
{
FixType = GpsFixTypes.None;
Altitude = null;
Start();
}
public GpsReader(CommunicationTask cTask, CancellationToken ct, int si)
: base("GpsReader", cTask, ct, si)
{
FixType = GpsFixTypes.None;
Altitude = null;
Start();
}
public AnalogSensor(CommunicationTask cTask, CancellationToken ct, int si, AnalogPinId p, int vct)
: base("AnalogSensor", cTask, ct, si)
{
pin = p;
valueChangedThreshold = vct;
Start();
}
public AnalogSensor(CommunicationTask cTask, CancellationToken ct, int si, AnalogPinId p, int vct)
: base("AnalogSensor", cTask, ct, si)
{
pin = p;
valueChangedThreshold = vct;
Start();
}
public DifferentialMotorController(CommunicationTask cTask, CancellationToken ct, int si)
: base("DifferentialMotorController", cTask, ct, si)
{
Start();
}
public int Yaw { get; set; } // -180..+180
public MotionPlug(CommunicationTask cTask, CancellationToken ct, int si)
: base("MotionPlug", cTask, ct, si)
{
Start();
}
public OdometryReader(CommunicationTask cTask, CancellationToken ct, int si)
: base("OdometryReader", cTask, ct, si)
{
Start();
}
public void CommandEventHandler(object sender, CommunicationTask.CommandEventArgs e)
{
byte[] decodedBinaryCode;
if (e.CommandString.StartsWith(mWriteWIFIAddressCmdCode[0].ToString("x2"), StringComparison.InvariantCultureIgnoreCase))
{
decodedBinaryCode = ASCIIRepresentor.String2ByteArray(e.CommandString);
}
else
{
decodedBinaryCode = null;
}
//binary process
if (decodedBinaryCode != null && decodedBinaryCode[0] == mWriteWIFIAddressCmdCode[0])
{
bool isWriteWIFIAddressCmd = true;
for (int i = 0; i < mWriteWIFIAddressCmdCode.Length; i++)
{
if (decodedBinaryCode[i] != mWriteWIFIAddressCmdCode[i])
{
isWriteWIFIAddressCmd = false;
break;
}
}
bool isReadWIFIAddressCmd = true;
for (int i = 0; i < mReadWIFIAddressCmdCode.Length; i++)
{
if (decodedBinaryCode[i] != mReadWIFIAddressCmdCode[i])
{
isReadWIFIAddressCmd = false;
break;
}
}
if (!isWriteWIFIAddressCmd && !isReadWIFIAddressCmd)
{
//no, I'm not interesting with the command
return;
}
if (isWriteWIFIAddressCmd)
{
byte[] wifiAddress = new byte[mWIFIAddressLength];
Array.Copy(decodedBinaryCode, mWriteWIFIAddressCmdCode.Length, wifiAddress, 0, mWIFIAddressLength);
string commandString = string.Format("write wifi address {0};", ASCIIRepresentor.ASCIIByteArray2String(wifiAddress));
e.CommandString = commandString;
CommandEventHandler(sender, e);
e.CommandResult = new byte[mWriteWIFIAddressCmdCode.Length + 1];
//command.Result[0] = Convert.ToByte(mWriteBTAddressResponseFormat[0, 2]);
Array.Copy(mWriteWIFIAddressCmdCode, 0, e.CommandResult, 1, mWriteWIFIAddressCmdCode.Length);
e.CommandResult[mWriteWIFIAddressCmdCode.Length] = 0x00;
}
else if(isReadWIFIAddressCmd)
{
e.CommandString="read wifi address;";
CommandEventHandler(sender,e);
byte[] tempResult=new byte[12];
Array.Copy(mReadWIFIAddressCmdCode, 0, tempResult, 0, mReadWIFIAddressCmdCode.Length);
if (e.CommandResult != null)
{
tempResult[mReadWIFIAddressCmdCode.Length] = 0x00;
Array.Copy(e.CommandResult, 0, tempResult, mReadWIFIAddressCmdCode.Length + 1, mWIFIAddressLength);
}
else
{
tempResult[mReadWIFIAddressCmdCode.Length] = 0x01;
Array.Clear(tempResult, mReadWIFIAddressCmdCode.Length + 1, mWIFIAddressLength);
}
e.CommandResult = tempResult;
}
}
//literals process
else if(mInterestedPattern.IsMatch(e.CommandString))
{
//I'm interesting now, pass me the code
bool isWriteWIFICmd = mWriteWIFIAddressPattern.IsMatch(e.CommandString);
bool isReadWIFICmd = mReadWIFIAddressPattern.IsMatch(e.CommandString);
if (isWriteWIFICmd)
{
Match match = mWriteWIFIAddressPattern.Match(e.CommandString);
if (mExecuter == null)
{
mExecuter = ResolveExecuter(match.Groups[1].Value);
}
mExecuter.Write(match.Groups[2].Value);
}
else if (isReadWIFICmd)
{
Match match=mReadWIFIAddressPattern.Match(e.CommandString);
if(mExecuter==null)
{
mExecuter=ResolveExecuter(match.Groups[1].Value);
}
var result=mExecuter.Read(null);
e.CommandResult=result as byte[];
}
}
}
private void Initialize()
{
commTask = new CommunicationTask(this);
}
public ParkingSonar(CommunicationTask cTask, CancellationToken ct, int uf)
: base("ParkingSonar", cTask, ct, uf)
{
Start();
}
public DifferentialMotorController(CommunicationTask cTask, CancellationToken ct, int si)
: base("DifferentialMotorController", cTask, ct, si)
{
Start();
}
public OdometryReader(CommunicationTask cTask, CancellationToken ct, int si)
: base("OdometryReader", cTask, ct, si)
{
Start();
}
public ParkingSonar(CommunicationTask cTask, CancellationToken ct, int uf)
: base("ParkingSonar", cTask, ct, uf)
{
Start();
}
} // -180..+180
public MotionPlug(CommunicationTask cTask, CancellationToken ct, int si)
: base("MotionPlug", cTask, ct, si)
{
Start();
}
