/// <summary>
/// Sends the specified command to the ardunino interface
/// and reads the output sent back.
/// </summary>
/// <param name="command">The command to send.</param>
/// <returns>
/// The output sent back from the arduino
/// </returns>
public string SendRead(Command command)
{
// send out the command
byte[] buffer = GetBuffer(command);
Debug.WriteLine(
string.Format("Sending command: - {0}|{1}|{2}|{3}",
friendlyNumber, command.CommandNumber,
command.Pin, command.Value, backupNumber));
this.serialPort.Write(buffer, 0, buffer.Length);
Thread.Sleep(500); // wait a sec
// read it back
int count = this.serialPort.BytesToRead;
string returnMessage = "";
int intReturnASCII = 0;
while (count > 0)
{
intReturnASCII = this.serialPort.ReadByte();
returnMessage = returnMessage + Convert.ToChar(intReturnASCII);
count--;
}
Debug.WriteLine("Arduino sent back: " + returnMessage);
return returnMessage;
}
/// <summary>
/// Takes a command and generates a buffer of bytes from it.
/// </summary>
/// <param name="command">The command to parse.</param>
/// <returns>A byte array to send to arduino.</returns>
private byte[] GetBuffer(Command command)
{
byte[] buffer = new byte[5];
buffer[0] = Convert.ToByte(friendlyNumber);
buffer[1] = Convert.ToByte(command.CommandNumber);
buffer[2] = Convert.ToByte(command.Pin);
buffer[3] = Convert.ToByte(command.Value);
buffer[4] = Convert.ToByte(backupNumber);
return buffer;
}
/// <summary>
/// Sends the specified command to the arduino interface.
/// </summary>
/// <param name="command">The command to send to the arduino.</param>
public void Send(Command command)
{
byte[] buffer = GetBuffer(command);
Debug.WriteLine(
string.Format("Sending command - {0}|{1}|{2}|{3}",
friendlyNumber, command.CommandNumber,
command.Pin, command.Value, backupNumber));
this.serialPort.Write(buffer, 0, buffer.Length);
}