public async Task Start(string portName, int baudRate, CancellationTokenSource cts)
{
Debug.WriteLine("Element:CommunicationTask: Start: port: {0} baudRate: {1}", portName, baudRate);
//serialPort = new CommunicationChannelBT();
serialChannel = new CommunicationChannelSerial(cts)
{
Name = portName,
BaudRate = (uint)baudRate
};
try
{
Debug.WriteLine("IP: Element:CommunicationTask: serialPort " + portName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: Element:CommunicationTask: serialPort " + portName + " opened");
//await Task.Delay(2000);
// Notify users to initialize any devices
// they have before we start processing commands:
element.StartingCommunication(serialChannel);
running = true;
ClearJobQueues();
Task workerTask = new Task(() => ThreadProc(cts.Token), cts.Token);
workerTask.Start();
Debug.WriteLine("IP: Element:CommunicationTask: trying to synch up with the board - resetting...");
// try to synch up with the board
string resp = EnqueueCommJobAndWait(Priority.High, "reset");
//await Task.Delay(3000); // let other processes continue
// This HAS TO BE HERE...Since it takes the Element about a second to boot up
// using the new Tiny Bootloader...
//Thread.Sleep(1000);
await Task.Delay(2000);
// Clear receive buffer out, since the bootloader can send
// some junk characters, which might hose subsequent command responses:
serialChannel.DiscardInBuffer();
stopWatch.Start();
}
catch (AggregateException aexc)
{
throw new CommunicationException("CommunicationTask: Could not start communication");
}
catch (Exception exc)
{
Debug.WriteLine("Error: Element:CommunicationTask: exception while opening serial port " + portName + " : " + exc);
//await Stop();
//throw new CommunicationException("CommunicationTask: Could not start communication");
throw;
}
}
public async Task Open(CancellationTokenSource cts)
{
cancellationTokenSource = cts;
serialChannel = new CommunicationChannelSerial(cts, false)
{
Name = ComPortName,
BaudRate = (uint)ComBaudRate,
NewLineIn = "\n",
NewLineOut = "\n" // not really used
};
try
{
Debug.WriteLine("IP: PixyCamera: serialPort " + ComPortName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: PixyCamera: serialPort " + ComPortName + " opened");
running = true;
Task workerTask = new Task(() => ThreadProc(cts.Token), cts.Token);
workerTask.Start();
}
catch (AggregateException aexc)
{
throw new CommunicationException("PixyCamera: Could not start communication to Pixy board");
}
catch (Exception exc)
{
Debug.WriteLine("Error: PixyCamera: exception while opening serial port " + ComPortName + " : " + exc);
throw;
}
}
public async Task Start(string portName, int baudRate, CancellationTokenSource cts)
{
Debug.WriteLine("Element:CommunicationTask: Start: port: {0} baudRate: {1}", portName, baudRate);
//serialPort = new CommunicationChannelBT();
serialChannel = new CommunicationChannelSerial(cts)
{
Name = portName,
BaudRate = (uint)baudRate
};
try
{
Debug.WriteLine("IP: Element:CommunicationTask: serialPort " + portName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: Element:CommunicationTask: serialPort " + portName + " opened");
//await Task.Delay(2000);
// Notify users to initialize any devices
// they have before we start processing commands:
element.StartingCommunication(serialChannel);
running = true;
ClearJobQueues();
Task workerTask = new Task(() => ThreadProc(cts.Token), cts.Token);
workerTask.Start();
Debug.WriteLine("IP: Element:CommunicationTask: trying to synch up with the board - resetting...");
// try to synch up with the board
string resp = EnqueueCommJobAndWait(Priority.High, "reset");
//await Task.Delay(3000); // let other processes continue
// This HAS TO BE HERE...Since it takes the Element about a second to boot up
// using the new Tiny Bootloader...
//Thread.Sleep(1000);
await Task.Delay(2000);
// Clear receive buffer out, since the bootloader can send
// some junk characters, which might hose subsequent command responses:
serialChannel.DiscardInBuffer();
stopWatch.Start();
}
catch (AggregateException aexc)
{
throw new CommunicationException("CommunicationTask: Could not start communication");
}
catch (Exception exc)
{
Debug.WriteLine("Error: Element:CommunicationTask: exception while opening serial port " + portName + " : " + exc);
//await Stop();
//throw new CommunicationException("CommunicationTask: Could not start communication");
throw;
}
}
private void HandleConnectionPolling(object state)
{
lock (_syncLock)
{
if (!_connected)
{
//try connection..
_communication.Open(_rem);
}
}
}
/// <summary>
/// Creates the transaction processor ready for use. Also creates and initialises the
/// device endpoint and the communications channel and opens the channel.
/// </summary>
/// <returns>ITransactionProcessor.</returns>
public ITransactionProcessor CreateTransactionProcessor()
{
Channel = new ChannelFactory().FromConnectionString(ConnectionString);
observer = new TransactionObserver(Channel);
processor = new ReactiveTransactionProcessor();
processor.SubscribeTransactionObserver(observer, TimeSpan.FromMilliseconds(100));
Channel.Open();
// iOptron ZEQ25 may need a second to initialize after starting the connection
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
return(processor);
}
/// <inheritdoc />
/// <summary>
/// Creates the transaction processor ready for use. Also creates and initialises the
/// device endpoint and the communications channel and opens the channel.
/// </summary>
/// <returns>ITransactionProcessor.</returns>
public ITransactionProcessor CreateTransactionProcessor()
{
var factory = new ChannelFactory(); // ToDo - inject the factory in the constructor
Channel = factory.FromConnectionString(connectionString);
observer = new TransactionObserver(Channel);
processor = new ReactiveTransactionProcessor();
processor.SubscribeTransactionObserver(observer);
Channel.Open();
return(processor);
}
/// <summary>
/// Creates the transaction processor ready for use. Also creates and initialises the
/// device endpoint and the communications channel and opens the channel.
/// </summary>
/// <returns>ITransactionProcessor.</returns>
public ITransactionProcessor CreateTransactionProcessor()
{
Endpoint = DeviceEndpoint.FromConnectionString(ConnectionString);
Channel = CommunicationsStackBuilder.BuildChannel(Endpoint);
observer = new TransactionObserver(Channel);
processor = new ReactiveTransactionProcessor();
processor.SubscribeTransactionObserver(observer, TimeSpan.FromMilliseconds(100));
Channel.Open();
//Task.Delay(TimeSpan.FromSeconds(2)).Wait(); // Arduino needs 2 seconds to initialize
Thread.Sleep(TimeSpan.FromSeconds(3));
return(processor);
}
public void Open(bool performOnConnectActions = true)
{
SubscribeControllerEvents();
channel.Open();
stateMachine.Initialize(new RequestStatusState(stateMachine)); // Rotator
stateMachine.Initialize(new OfflineState(stateMachine)); // Shutter
stateMachine.WaitForReady(configuration.TimeToWaitForShutterOnConnect);
connectedTimestamp = DateTime.UtcNow;
if (performOnConnectActions)
{
PerformActionsOnConnect();
}
}
public void Open(bool performOnConnectActions = true)
{
SubscribeControllerEvents();
channel.Open();
if (performOnConnectActions)
{
stateMachine.Initialize(new RequestStatus(stateMachine));
}
else
{
stateMachine.Initialize(new Ready(stateMachine));
}
stateMachine.WaitForReady(TimeSpan.FromSeconds(5));
if (performOnConnectActions && configuration.PerformShutterRecovery)
{
PerformShutterRecovery();
}
}
public async Task Start(string portName, int baudRate, CancellationTokenSource cts)
{
Debug.WriteLine("ArduinoBrick:CommunicationTask: Start: port: {0} baudRate: {1}", portName, baudRate);
cancellationTokenSource = cts;
//serialPort = new CommunicationChannelBT();
serialChannel = new CommunicationChannelSerial(cts)
{
Name = portName,
BaudRate = (uint)baudRate,
NewLineIn = "\r\n>",
NewLineOut = "\r"
};
try
{
Debug.WriteLine("IP: ArduinoBrick:CommunicationTask: serialPort " + portName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: serialPort " + portName + " opened");
//await Task.Delay(2000);
// Notify users to initialize any devices
// they have before we start processing commands:
arduinoBrick.StartingCommunication(serialChannel);
//commandsBufferBlock = new BufferBlock<CommandAndResponse>(
// new DataflowBlockOptions() { CancellationToken = cts.Token });
actionBlock = new ActionBlock <CommandAndResponse>(
async prompt =>
{
await serialChannel.WriteLine(prompt.command);
string response = await serialChannel.ReadLine();
prompt.completionSource.SetResult(response);
},
new ExecutionDataflowBlockOptions()
{
CancellationToken = cts.Token, BoundedCapacity = 10
});
//commandsBufferBlock.LinkTo(actionBlock, new DataflowLinkOptions { PropagateCompletion = true });
Debug.WriteLine("IP: ArduinoBrick:CommunicationTask: trying to synch up with the board - resetting...");
string resp = null;
int count = 10;
bool boardFound = false;
while (count-- > 0)
{
// try to sync up with the board
resp = await SendAndReceive("reset");
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: 'reset' -> '" + resp + "'");
if (string.Equals(resp, "Arduino firmware Plucky Wheels"))
{
boardFound = true;
break;
}
}
if (boardFound)
{
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: found Plucky Wheels Arduino brick");
}
else
{
throw new CommunicationException("CommunicationTask: Could not find Plucky Wheels Arduino brick, invalid response to 'reset' at serial port " + portName);
}
stopWatch.Start();
running = true;
}
catch (AggregateException aexc)
{
throw new CommunicationException("CommunicationTask: Could not start communication");
}
catch (Exception exc)
{
Debug.WriteLine("Error: ArduinoBrick:CommunicationTask: exception while opening serial port " + portName + " : " + exc);
//await Stop();
//throw new CommunicationException("CommunicationTask: Could not start communication");
throw;
}
}
public async Task Start(string portName, int baudRate, CancellationTokenSource cts)
{
Debug.WriteLine("ArduinoBrick:CommunicationTask: Start: port: {0} baudRate: {1}", portName, baudRate);
cancellationTokenSource = cts;
//serialPort = new CommunicationChannelBT();
serialChannel = new CommunicationChannelSerial(cts)
{
Name = portName,
BaudRate = (uint)baudRate,
NewLineIn = "\r\n>",
NewLineOut = "\r"
};
try
{
Debug.WriteLine("IP: ArduinoBrick:CommunicationTask: serialPort " + portName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: serialPort " + portName + " opened");
//await Task.Delay(2000);
// Notify users to initialize any devices
// they have before we start processing commands:
arduinoBrick.StartingCommunication(serialChannel);
//commandsBufferBlock = new BufferBlock<CommandAndResponse>(
// new DataflowBlockOptions() { CancellationToken = cts.Token });
actionBlock = new ActionBlock<CommandAndResponse>(
async prompt =>
{
await serialChannel.WriteLine(prompt.command);
string response = await serialChannel.ReadLine();
prompt.completionSource.SetResult(response);
},
new ExecutionDataflowBlockOptions() { CancellationToken = cts.Token, BoundedCapacity = 10 });
//commandsBufferBlock.LinkTo(actionBlock, new DataflowLinkOptions { PropagateCompletion = true });
Debug.WriteLine("IP: ArduinoBrick:CommunicationTask: trying to synch up with the board - resetting...");
string resp = null;
int count = 10;
bool boardFound = false;
while (count-- > 0)
{
// try to sync up with the board
resp = await SendAndReceive("reset");
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: 'reset' -> '" + resp + "'");
if (string.Equals(resp, "Arduino firmware Plucky Wheels"))
{
boardFound = true;
break;
}
}
if (boardFound)
{
Debug.WriteLine("OK: ArduinoBrick:CommunicationTask: found Plucky Wheels Arduino brick");
}
else
{
throw new CommunicationException("CommunicationTask: Could not find Plucky Wheels Arduino brick, invalid response to 'reset' at serial port " + portName);
}
stopWatch.Start();
running = true;
}
catch (AggregateException aexc)
{
throw new CommunicationException("CommunicationTask: Could not start communication");
}
catch (Exception exc)
{
Debug.WriteLine("Error: ArduinoBrick:CommunicationTask: exception while opening serial port " + portName + " : " + exc);
//await Stop();
//throw new CommunicationException("CommunicationTask: Could not start communication");
throw;
}
}
public async Task Open(CancellationTokenSource cts)
{
cancellationTokenSource = cts;
serialChannel = new CommunicationChannelSerial(cts)
{
Name = ComPortName,
BaudRate = (uint)ComBaudRate,
NewLineIn = "\r\n",
NewLineOut = "\r\n"
};
try
{
Debug.WriteLine("IP: PixyCamera: serialPort " + ComPortName + " opening...");
await serialChannel.Open();
Debug.WriteLine("OK: PixyCamera: serialPort " + ComPortName + " opened");
//commandsBufferBlock = new BufferBlock<CommandAndResponse>(
// new DataflowBlockOptions() { CancellationToken = cts.Token });
//actionBlock = new ActionBlock<CommandAndResponse>(
// async prompt =>
// {
// await serialChannel.WriteLine(prompt.command);
// string response = await serialChannel.ReadLine();
// prompt.completionSource.SetResult(response);
// },
// new ExecutionDataflowBlockOptions() { CancellationToken = cts.Token, BoundedCapacity = 10 });
//commandsBufferBlock.LinkTo(actionBlock, new DataflowLinkOptions { PropagateCompletion = true });
Debug.WriteLine("IP: PixyCamera: trying to synch up with the board - resetting...");
string resp = null;
int count = 10;
bool boardFound = false;
while (count-- > 0)
{
// try to sync up with the board
//resp = await SendAndReceive("reset");
Debug.WriteLine("OK: PixyCamera: 'reset' -> '" + resp + "'");
if (string.Equals(resp, "Arduino firmware Plucky Wheels"))
{
boardFound = true;
break;
}
}
if (boardFound)
{
Debug.WriteLine("OK: PixyCamera: found Plucky Wheels Arduino brick");
}
else
{
throw new CommunicationException("CommunicationTask: Could not find Plucky Wheels Arduino brick, invalid response to 'reset' at serial port " + ComPortName);
}
stopWatch.Start();
running = true;
}
catch (AggregateException aexc)
{
throw new CommunicationException("CommunicationTask: Could not start communication");
}
catch (Exception exc)
{
Debug.WriteLine("Error: PixyCamera: exception while opening serial port " + ComPortName + " : " + exc);
//await Stop();
//throw new CommunicationException("CommunicationTask: Could not start communication");
throw;
}
/*
* TODO: port to Universal Windows
try
{
_serialPort = new SerialPort(ComPortName, ComBaudRate, Parity.None, 8, StopBits.One);
_serialPort.Handshake = Handshake.RequestToSendXOnXOff; //.None;
_serialPort.Encoding = Encoding.ASCII; // that's only for text read, not binary
_serialPort.NewLine = "\r\n";
_serialPort.ReadTimeout = 1100;
_serialPort.WriteTimeout = 10000;
_serialPort.DtrEnable = false;
_serialPort.RtsEnable = false;
//p.ParityReplace = 0;
_serialPort.Open();
_serialPort.DiscardInBuffer();
_serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
Debug.WriteLine("OK: PixyCamera Open(" + ComPortName + ") success!");
}
catch
{
Debug.WriteLine("Error: PixyCamera Open(" + ComPortName + ") failed");
_serialPort = null;
}
*/
}
