/// <summary>
/// Sends a command followed by command arguments to robot.
/// </summary>
/// <param name="command">A command to send.</param>
/// <param name="args">An array of bytes specifying the arguments for the command.</param>
/// <returns>An instance of SerialResponse containing the response data received from the robot.</returns>
/// <exception cref="ApplicationException">Thrown if the serial response does not match serial command.</exception>
private SerialResponse SendCommand(SerialCommands command, params byte[] args)
{
lock (this._lockCommand)
{
// Clear the port and response buffer.
this._responseBufferLength = 0;
if (Port.BytesToRead > 0)
{
Port.ReadExisting();
}
// Send command followed by any arguments.
Port.Write(new byte[] { (byte)command }, 0, 1);
if (args != null && args.Length > 0)
{
Port.Write(args, 0, args.Length);
}
// Wait to receive a complete response or until timeout.
SerialResponse serialResponse = this.ReadResponse();
if (serialResponse.SerialCommand != command)
{
throw new ApplicationException("Serial response did not match serial command.");
}
return(serialResponse);
}
}
public override void SendCommand(SerialCommands command, object data)
{
if (command == SerialCommands.GetStatus)
{
GetStatus();
}
}
public override void SendCommand(SerialCommands command, object data)
{
if (command == SerialCommands.Start)
{
SendStart();
}
}
public override void SendCommand(SerialCommands command, object data)
{
if (command == SerialCommands.GetSettings)
{
Send(SerialCodeCommand.GetSettings);
WaitingForResponse();
}
}
public override void SendCommand(SerialCommands command, object data)
{
if (command == SerialCommands.SetSettings)
{
(uint, double)tuple = ((uint, double))data;
ChangeParameters(tuple.Item1, tuple.Item2);
}
}
public async Task <IActionResult> SendCommand(int id, [FromBody] SerialCommands commands)
{
var port = GetPort(id);
if (port == null || commands == null || commands.Commands == null)
{
return(NotFound());
}
var ret = await port.Serial.SendCommandsAsync(commands.Commands, commands.TimeOut);
return(Ok(ret));
}
private bool IsSingleByteCommand(SerialCommands command)
{
switch (command)
{
case SerialCommands.MotorControl:
case SerialCommands.LocateBeaconModeOn:
case SerialCommands.SwarmModeCommand:
return(false);
default:
return(true);
}
}
public async Task<IEnumerable<SerialCommand>> QueueCommandsAsync(IEnumerable<string> lines)
{
if (PortId >= 0)
{
using (var scope = CreateScope())
{
var cmds = new SerialCommands() { Commands = lines.ToArray() };
var response = scope.Instance.PostAsJsonAsync($@"{_api}/{PortId}/queue", cmds).Result;
if (response.IsSuccessStatusCode)
{
var value = await response.Content.ReadAsAsync<IEnumerable<SerialCommand>>();
return value;
}
}
}
throw new Exception("Queue to SerialPort failed");
}
public async Task<IEnumerable<SerialCommand>> SendCommandsAsync(IEnumerable<string> lines, int waitForMilliseconds)
{
if (PortId >= 0)
{
using (var scope = CreateScope())
{
scope.Instance.Timeout = new TimeSpan(10000L * (((long)waitForMilliseconds) + 5000));
var cmds = new SerialCommands() { Commands = lines.ToArray(), TimeOut = waitForMilliseconds };
var response = await scope.Instance.PostAsJsonAsync($@"{_api}/{PortId}/send", cmds);
if (response.IsSuccessStatusCode)
{
var value = await response.Content.ReadAsAsync<IEnumerable<SerialCommand>>();
return value;
}
}
}
throw new Exception("Send to SerialPort failed");
}
public async Task <IEnumerable <SerialCommand> > QueueCommandsAsync(IEnumerable <string> lines)
{
if (PortId != 0)
{
using (HttpClient client = CreateHttpClient())
{
var cmds = new SerialCommands()
{
Commands = lines.ToArray()
};
HttpResponseMessage response = client.PostAsJsonAsync($@"{_api}/{PortId}/queue", cmds).Result;
if (response.IsSuccessStatusCode)
{
var value = await response.Content.ReadAsAsync <IEnumerable <SerialCommand> >();
return(value);
}
}
}
throw new Exception("Queue to SerialPort failed");
}
protected override void SetupCommands()
{
// add a single command to the root commands
rootCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 21"));
// added parallel commands to the root
ParallelCommands parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 22"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 23"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 24"));
rootCommands.AddCommand(parallelCommands);
parallelCommands = new ParallelCommands();
// add serial commmands to parallel commands then add to root
SerialCommands serialCommands = new SerialCommands();
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 25"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 26"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 27"));
parallelCommands.AddCommand(serialCommands);
// add serial commmands to parallel commands then add to root
serialCommands = new SerialCommands();
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 28"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 29"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 30"));
parallelCommands.AddCommand(serialCommands);
// add serial commmands to parallel commands then add to root
rootCommands.AddCommand(parallelCommands);
serialCommands = new SerialCommands();
// Add parallel commands to serial commands then add to root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 31"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 32"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 33"));
serialCommands.AddCommand(parallelCommands);
// Add parallel commands to serial commands then add to root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 34"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 35"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 36"));
serialCommands.AddCommand(parallelCommands);
// Add parallel commands to serial commands then add to root
rootCommands.AddCommand(serialCommands);
// add parallel commands to the root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 37"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 38"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 39"));
rootCommands.AddCommand(parallelCommands);
// add the lighter commands that don't have the built in reference to a MonoBehaviour Object
rootCommands.AddCommand(new ExampleCommand().Init(null, "Command 40"));
// This shows a basic concrete command using other commands.
rootCommands.AddCommand(new ExampleWrapperCommand().Init());
// This shows a basic concrete command using a Serial Command. It's probably best to not create child classes of SerialCommands and ParrellelComands to avoid too much polymorphing.
// Instead try encapsulating them in a child of a basic Command, look at the above ExampleWrapperCommand example.
rootCommands.AddCommand(new ExampleSerialCommand().Init());
}
public void SendCommand(SerialCommands command, object data)
{
senders.ForEach(x => x.SendCommand(command, data));
}
public async Task <ActionResult <IEnumerable <SerialCommand> > > SendWhileOkCommand(int id, [FromBody] SerialCommands commands)
{
var port = await GetPort(id);
if (port == null || commands == null || commands.Commands == null)
{
return(NotFound());
}
var ret = new List <SerialCommand>();
foreach (var c in commands.Commands)
{
var result = await port.Serial.SendCommandsAsync(new[] { c }, commands.TimeOut);
ret.AddRange(result);
if (result.Any() && result.LastOrDefault().ReplyType != EReplyType.ReplyOK)
{
break;
}
}
return(Ok(ret));
}
public SerialResponse(SerialCommands serialCommand, object data)
{
this._serialCommand = serialCommand;
this._data = data;
}
public SerialResponse(SerialCommands serialCommand) : this(serialCommand, null)
{
}
public ExampleSerialCommand()
{
serialCommands = new SerialCommands();
}
public async Task <ActionResult <IEnumerable <SerialCommand> > > QueueCommand(int id, [FromBody] SerialCommands commands)
{
var port = await GetPort(id);
if (port == null || commands == null || commands.Commands == null)
{
return(NotFound());
}
var ret = await port.Serial.QueueCommandsAsync(commands.Commands);
return(Ok(ret));
}
public async Task <ActionResult <IEnumerable <SerialCommand> > > SendCommand(int id, [FromBody] SerialCommands commands)
{
var port = await SerialPortList.GetPortAndRescan(id);
if (port == null || commands == null || commands.Commands == null)
{
return(NotFound());
}
var ret = await port.Serial.SendCommandsAsync(commands.Commands, commands.TimeOut);
return(Ok(ret));
}
protected override void SetupCommands()
{
// add a single command to the root commands
rootCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 1"));
// added parallel commands to the root
ParallelCommands parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 2"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 3"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 4"));
rootCommands.AddCommand(parallelCommands);
parallelCommands = new ParallelCommands();
// add serial commmands to parallel commands then add to root
SerialCommands serialCommands = new SerialCommands();
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 5"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 6"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 7"));
parallelCommands.AddCommand(serialCommands);
// add serial commmands to parallel commands then add to root
serialCommands = new SerialCommands();
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 8"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 9"));
serialCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 10"));
parallelCommands.AddCommand(serialCommands);
// add serial commmands to parallel commands then add to root
rootCommands.AddCommand(parallelCommands);
serialCommands = new SerialCommands();
// Add parallel commands to serial commands then add to root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 11"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 12"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 13"));
serialCommands.AddCommand(parallelCommands);
// Add parallel commands to serial commands then add to root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 14"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 15"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 16"));
serialCommands.AddCommand(parallelCommands);
// Add parallel commands to serial commands then add to root
rootCommands.AddCommand(serialCommands);
// add parallel commands to the root
parallelCommands = new ParallelCommands();
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 17"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 18"));
parallelCommands.AddCommand(new ExampleMonoBehaviourCommand().Init(monoBehaviourObject, null, "Command 19"));
rootCommands.AddCommand(parallelCommands);
// add the lighter commands that don't have the built in reference to a MonoBehaviour Object
rootCommands.AddCommand(new ExampleCommand().Init(null, "Command 20"));
}
public abstract void SendCommand(SerialCommands command, object data);
