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 void Send(string s)
{
await serialChannel.WriteLine(s);
}
