public Byte GetByte(PTCommand cmd, UInt16 arg)
{
Byte hi = (byte)(arg >> 8); // high-order byte
Byte lo = (byte)arg; // low-order byte
return(GetByte(cmd, hi, lo));
}
public Byte GetByte(PTCommand cmd, UInt32 arg)
{
Byte b1 = (byte)(arg >> 24);
Byte b2 = (byte)(arg >> 16);
Byte b3 = (byte)(arg >> 8);
Byte b4 = (byte)(arg);
return(GetByte(cmd, b1, b2, b3, b4));
}
private void WriteCommand(PTCommand cmd, params Byte[] args)
{
Debug.WriteLine(cmd.ToString() + "(" + ToCsv(args) + ")");
_port.BaseStream.WriteByte((byte)cmd);
_port.BaseStream.Write(args, 0, args.Length); // if args.Length == 0 then it won't get written, no need to guard this.
_port.BaseStream.Flush();
}
/// <summary>Strongly recommend setting the timeout to ~250ms before calling. Don't forget to reset it afterwards.</summary>
public String GetLine(PTCommand cmd, params Byte[] args)
{
lock ( _portLock ) {
WriteCommand(cmd, args);
String line = _port.ReadLine();
return(line);
}
}
public UInt32 GetUInt32(PTCommand cmd, params Byte[] args)
{
byte[] buffer = GetKnownBuffer(cmd, 4, args);
UInt32 value = BitConverter.ToUInt32(buffer, 0);
if (BitConverter.IsLittleEndian)
{
value = Utility.FlipEndian(value);
}
return(value);
}
public Int16 GetInt16(PTCommand cmd, params Byte[] args)
{
byte[] buffer = GetKnownBuffer(cmd, 2, args);
Int16 value = BitConverter.ToInt16(buffer, 0);
if (BitConverter.IsLittleEndian)
{
value = Utility.FlipEndian(value);
}
return(value);
}
public Byte GetByte(PTCommand cmd, params Byte[] args)
{
lock ( _portLock ) {
WriteCommand(cmd, args);
int data = _port.BaseStream.ReadByte();
Byte r = (byte)data;
return(r);
}
}
public void SetSpeedMode(PTSpeedControlMode mode)
{
PTCommand cmd = mode == PTSpeedControlMode.Independent ?
PTCommand.SetControlModeIndependent :
PTCommand.SetControlModePureVelocity;
Byte result = _c.GetByte(cmd);
ValidateResult(result);
this._controlMode = mode;
}
public void SetCommandMode(PTCommandMode mode)
{
PTCommand cmd = mode == PTCommandMode.Immediate ?
PTCommand.SetCommandModeImmediate :
PTCommand.SetCommandModeSlaved;
Byte result = _c.GetByte(cmd);
ValidateResult(result);
this._commandMode = mode;
}
private Byte[] GetKnownBuffer(PTCommand cmd, int size, params Byte[] args)
{
lock ( _portLock ) {
WriteCommand(cmd, args);
WaitForData(size);
Byte[] buffer = new Byte[size];
_port.Read(buffer, 0, size);
return(buffer);
}
}
public Byte GetByte(PTCommand cmd, Int16 arg)
{
return(GetByte(cmd, (UInt16)arg));
}
