public void SendCommandToMBed(NAVMBED_CMDS commandIndex)
{
navIFMutex_.WaitOne();
String msgStr;
// Shared Message flag header
msgStr = "WMsg ";
// Message specific body
switch (commandIndex)
{
case NAVMBED_CMDS.RECORD_DATA_ON:
case NAVMBED_CMDS.RECORD_DATA_OFF:
{
msgStr += "RECORDDATA ";
if (commandIndex == NAVMBED_CMDS.RECORD_DATA_ON)
{
msgStr += "Y";
}
else
{
msgStr += "N";
}
}
break;
case NAVMBED_CMDS.STREAM_POS_ON:
case NAVMBED_CMDS.STREAM_POS_OFF:
{
msgStr += "POSSTREAM ";
if (commandIndex == NAVMBED_CMDS.STREAM_POS_ON)
{
msgStr += "Y";
}
else
{
msgStr += "N";
}
}
break;
case NAVMBED_CMDS.LOG_INFO_ON:
case NAVMBED_CMDS.LOG_INFO_OFF:
{
msgStr += "LOGINFO ";
if (commandIndex == NAVMBED_CMDS.LOG_INFO_ON)
{
msgStr += "Y";
}
else
{
msgStr += "N";
}
}
break;
case NAVMBED_CMDS.POSVEL_MESSAGE:
{
msgStr += "POSVEL";
}
break;
case NAVMBED_CMDS.STATUS_MESSAGE:
{
msgStr += "STATUS";
}
break;
case NAVMBED_CMDS.FIRE_TRIGGER:
{
msgStr += "TRIGGER";
LogData("PC sending Trigger Command \n");
}
break;
case NAVMBED_CMDS.GET_MBED_FILE:
{
msgStr += "GETFILE";
LogData("send request to the nav data from mbed \n");
}
break;
}
// shared new line character
//mbedLogFile.WriteLine(" writing message: " + msgStr + " request from PC");
writeBuffer_.Enqueue(msgStr);
navIFMutex_.ReleaseMutex();
}
public void SendCommandToMBed(NAVMBED_CMDS commandIndex)
{
/////////////////////////////////////////////////////////////////////////////////////////////////
//prepare the ASCII message to send to mbed
//message structure:
// mbedmessage trig 0000000000/n
// preamble, message type (trig) data word (0000000000) -- ending with carriage line-feed
/////////////////////////////////////////////////////////////////////////////////////////////////
navIFMutex_.WaitOne();
String msgStr;
// Shared Message flag header
msgStr = "mbedmessage "; // 12 character preamble expected at the mbed
// Message specific body
switch (commandIndex)
{
case NAVMBED_CMDS.FIRE_TRIGGER:
{
msgStr += "trig "; //five characters message type expected at mbed
//mbedLogFile.WriteLine("PC sending Trigger Command \n");
//each message has a 10-numeric-character dataword
msgStr += "0000000000";
}
break;
}
// shared new line character
writeBuffer_.Enqueue(msgStr);
//logFile.WriteLine("writeBufferCount = " + writeBuffer_.Count.ToString() + " PC writing message to mbed: " + msgStr);
navIFMutex_.ReleaseMutex();
}
