/// <summary>
/// Creates a response packet for a given request packet.
/// </summary>
/// <param name="request">Packet containing the request for data.</param>
public EosPacket(EosPacket request)
: this()
{
Destination = request.Source;
Command = request.Command;
IsResponse = true;
}
/// <summary>
/// Transmits the current packet to the bus
/// </summary>
private void TransmitPacket(EosPacket sendPacket)
{
byte[] buffer = new byte[64];
lock (sendPacket)
{
sendPacket.Source = 0;
buffer[0] = 0xbb;
buffer[1] = 0x88;
buffer[2] = sendPacket.Destination;
buffer[3] = sendPacket.Source;
buffer[4] = sendPacket.Command;
buffer[5] = (byte)(sendPacket.Data.Count);
sendPacket.Data.CopyTo(buffer, 6);
buffer[6 + sendPacket.Data.Count] = sendPacket.Checksum;
_masterState = BusMasterState.TRANSMITTING;
SendData(buffer, 0, sendPacket.Data.Count + 7);
if (sendPacket.Command > 127)
{
_resposneAddress = sendPacket.Destination;
}
else
{
_resposneAddress = 0xff;
}
_busTimer.Interval = TRANSMIT_CHECK_INTERVAL;
_busTimer.Start();
sendPacket.IsSent = true;
}
}
/// <summary>
/// Requests the config items for a servo.
/// </summary>
/// <param name="servo">ID of the servo to get the config for.</param>
public void GetServoConfig(byte servo)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SERVO_GET_CONFIG;
_bus.SendPacket(packet);
}
/// <summary>
/// Sends a command to the bus.
/// </summary>
/// <param name="address">Address of the device this command is for.</param>
/// <param name="command">Command of this address</param>
/// <param name="data">Data to include in this command.</param>
public void SendCommand(byte address, EosBusCommands command, byte[] data = null)
{
EosPacket packet = new EosPacket();
packet.Destination = address;
packet.Command = (byte)command;
packet.Add(data);
}
/// <summary>
/// Requests the config items for a stepper.
/// </summary>
/// <param name="servo">ID of the stepper to get the config for.</param>
public void GetStepperConfig(byte stepper)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.STEPPER_GET_CONFIG;
_bus.SendPacket(packet);
}
/// <summary>
/// Sends a GetInfo packet to the given device.
/// </summary>
/// <param name="address">Address to send the GetInfo packet to.</param>
public void GetInfo(byte address)
{
EosPacket packet = new EosPacket();
packet.Destination = address;
packet.Command = 130;
SendPacket(packet);
}
public override void SendPacket(EosPacket packet)
{
_sendPackets.Enqueue(packet);
if (State == EosBusState.IDLE)
{
_busTimer.Interval = TRANSMIT_CHECK_INTERVAL;
_busTimer.Start();
}
}
/// <summary>
/// Sets the current position of the stepper to zero.
/// </summary>
/// <param name="stepperId">ID of the stepper to zero.</param>
public void ZeroStepperPosition(byte stepperId)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.ZERO_STEPPER;
packet.Add(stepperId);
_bus.SendPacket(packet);
}
protected void OnPacketReceived(EosPacket packet)
{
EosPacketEventArgs e = new EosPacketEventArgs(packet);
EosPacketEventHandler handler = PacketReady;
if (handler != null)
{
handler(this, e);
}
}
/// <summary>
/// Creates an EOS Bus Device for an address and the supplied info packet from the device.
/// </summary>
/// <param name="bus">Bus that this device is attached to.</param>
/// <param name="address">Address which this device is assigned.</param>
/// <param name="data">Data from this devices INFO_RESPONSE packet.</param>
internal EosDevice(EosBus bus, byte address, List <byte> data)
{
_bus = bus;
_address = address;
_pollingErrors = 0;
byte[] stringBuffer = { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int length = 8;
for (int i = 0; i < 8; i++)
{
if (data[i] == 0)
{
length = i;
break;
}
stringBuffer[i] = data[i];
}
_name = System.Text.ASCIIEncoding.ASCII.GetString(stringBuffer, 0, length);
length = 4;
for (int i = 0; i < 4; i++)
{
if (data[i] == 0)
{
length = i;
break;
}
stringBuffer[i] = data[i + 8];
}
stringBuffer[4] = 0;
_firmware = System.Text.ASCIIEncoding.ASCII.GetString(stringBuffer, 0, 4);
_digialInputs = data[12];
_analogInputs = data[13];
_rotaryEncoders = data[14];
_ledOutputs = data[15];
_steppers = data[16];
_servos = data[17];
_alphaNumericDisplays = data[18];
_groupAddress = data[19];
if (data.Count >= 21)
{
_coilOutputs = data[20];
}
_powerPacket = new EosPacket(Address, EosBusCommands.BACKLIGHT_POWER);
_powerPacket.Add((byte)0);
_powerPacket.IsSent = true;
_levelPacket = new EosPacket(Address, EosBusCommands.BACKLIGHT_LEVEL);
_levelPacket.Add((byte)0);
_levelPacket.IsSent = true;
}
/// <summary>
/// Sets the signal output value for the servo.
/// </summary>
/// <param name="servo">ID of the servo to set the output signal for.</param>
/// <param name="value">Signal value in microseconds.</param>
public void SetServoValue(byte servo, int value)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SERVO_VALUE;
packet.Add(servo);
packet.Add(value);
_bus.SendPacket(packet);
}
/// <summary>
/// Sets the target position for a stepper on this device.
/// </summary>
/// <param name="stepperId">ID of the stepper to set the position for.</param>
/// <param name="position">Position to move the stepper to.</param>
public void SetStepperTargetPosition(byte stepperId, long position)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.STEPPER_TARGET;
packet.Add(stepperId);
packet.Add(position);
_bus.SendPacket(packet);
}
/// <summary>
/// Sets the position of a coil needle.
/// </summary>
/// <param name="coil">ID of the coil to set the position for.</param>
/// <param name="position">Position of the coil clamped from -255 to 255.</param>
public void SetCoilPosition(byte coil, int position)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.COIL_SET_POSITION;
packet.Add(coil);
packet.Add(position);
_bus.SendPacket(packet);
}
/// <summary>
/// Sends a response to the given packet.
/// </summary>
/// <param name="request"></param>
/// <param name="data"></param>
public void SendResponse(EosPacket request, byte[] data = null)
{
EosPacket packet = new EosPacket();
packet.Destination = request.Source;
packet.Command = request.Command;
packet.IsResponse = true;
packet.Add(data);
SendPacket(packet);
}
/// <summary>
/// Sets a new address for a node on this device.
/// </summary>
/// <param name="newAddress">New address that this device should respond to.</param>
public void SetNodeAddress(byte newAddress)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SET_ADDRESS;
packet.Add(newAddress);
_bus.SendPacket(packet);
_address = newAddress;
}
/// <summary>
/// Sets a new group address for this device.
/// </summary>
/// <param name="newGroup">New address taht this device should listen on.</param>
public void SetGroup(byte newGroup)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SET_GROUP;
packet.Add(newGroup);
_bus.SendPacket(packet);
_groupAddress = newGroup;
}
/// <summary>
/// Sets the config items for a stepper.
/// </summary>
/// <param name="stepper">ID of the setpper to set the config for.</param>
/// <param name="maxSpeed">Minimum singal value in microseconds.</param>
/// <param name="maxValue">Maximum signal value in microseconds.</param>
/// <param name="defaultValue">Default signal value in microseconds.</param>
public void SetStepperConfig(byte stepper, uint maxSpeed, ulong idleSleep)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.STEPPER_SET_CONFIG;
packet.Add(stepper);
packet.Add((int)maxSpeed);
packet.Add((long)idleSleep);
_bus.SendPacket(packet);
}
/// <summary>
/// Sets the config items for a servo.
/// </summary>
/// <param name="servo">ID of the servo to set the config for.</param>
/// <param name="minValue">Minimum singal value in microseconds.</param>
/// <param name="maxValue">Maximum signal value in microseconds.</param>
/// <param name="defaultValue">Default signal value in microseconds.</param>
public void SetServoConfig(byte servo, int minValue, int maxValue, int defaultValue)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SERVO_SET_CONFIG;
packet.Add(servo);
packet.Add(minValue);
packet.Add(maxValue);
packet.Add(defaultValue);
_bus.SendPacket(packet);
}
internal EosLed(EosDevice device, byte id)
: base(device, id)
{
_powerPacket = new EosPacket(device.Address, EosBusCommands.LED_POWER);
_powerPacket.Add((byte)id);
_powerPacket.Add((byte)0);
_powerPacket.IsSent = true;
_levelPacket = new EosPacket(device.Address, EosBusCommands.LED_LEVEL);
_levelPacket.Add((byte)id);
_levelPacket.Add((byte)0);
_levelPacket.IsSent = true;
}
// Helper function to construct LED packets
private void LedPacket(EosBusCommands command, byte data1, byte?data2 = null)
{
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)command;
packet.Add(data1);
if (data2 != null)
{
packet.Add((byte)data2);
}
_bus.SendPacket(packet);
}
public override void SendPacket(EosPacket packet)
{
byte[] buffer = new byte[64];
buffer[0] = 115;
buffer[1] = packet.Destination;
buffer[2] = packet.Command;
buffer[3] = (byte)(packet.Data.Count);
packet.Data.CopyTo(buffer, 4);
SendData(buffer, 0, packet.Data.Count + 4);
if (packet.Command > 127)
{
State = EosBusState.WAITING_RESPONSE;
}
}
/// <summary>
/// Sets the name that this device reports on the bus.
/// </summary>
/// <param name="name">New name for this device.</param>
public void SetName(string name)
{
byte[] nameBuffer = new byte[9];
System.Text.Encoding.ASCII.GetBytes(name, 0, Math.Min(8, name.Length), nameBuffer, 0);
nameBuffer[8] = 0;
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SET_NAME;
for (int i = 0; i < name.Length && i < 8; i++)
{
packet.Add(nameBuffer[i]);
}
_bus.SendPacket(packet);
_name = name;
}
/// <summary>
/// Sets the text output for an alphanumeric display on this device.
/// </summary>
/// <param name="display">ID of the display to set the text for.</param>
/// <param name="text">Text to display on the device.</param>
public void SetDisplayText(byte display, string text)
{
byte[] bytes = new byte[248];
byte length = (byte)Math.Min(248, text.Length);
System.Text.Encoding.ASCII.GetBytes(text, 0, length, bytes, 0);
EosPacket packet = new EosPacket();
packet.Destination = _address;
packet.Command = (byte)EosBusCommands.SET_TEXT;
packet.Add(display);
packet.Add(length);
for (int i = 0; i < length; i++)
{
packet.Add(bytes[i]);
}
_bus.SendPacket(packet);
}
/// <summary>
/// Executes the appropraite action when the bus is idle
/// </summary>
private void DoIdle()
{
EosPacket sendPacket = null;
if (_sendPackets.TryDequeue(out sendPacket))
{
//Console.WriteLine("Transmitting Packet Begin");
TransmitPacket(sendPacket);
//Console.WriteLine("Transmitting Packet End");
}
else
{
switch (State)
{
case EosBusState.POLLING:
if (_polling)
{
NextPoll();
}
else
{
State = EosBusState.IDLE;
}
break;
case EosBusState.SCANNING:
NextScan();
break;
case EosBusState.IDLE:
if (_polling)
{
State = EosBusState.POLLING;
}
break;
}
}
}
public EosPacketEventArgs(EosPacket packet)
{
_packet = packet;
}
protected void OnResponseReceived(EosPacket packet)
{
OnResponseReceived(new EosPacketEventArgs(packet));
}
/// <summary>
/// Resets the parser to start looking for the packet start.
/// </summary>
public void Reset()
{
_parseTimer.Stop();
_state = BUSRECIEVESTATE.PACKET_S_START;
_currentPacket = null;
}
/// <summary>
/// Processes a byte received on the bus.
/// </summary>
/// <param name="data">Byte recevied on the bus</param>
public bool ProcessData(byte data)
{
//Console.Write("{0,2:x} ", data);
bool packetReady = false;
switch (_state)
{
case BUSRECIEVESTATE.PACKET_S_START:
if (data == START_BYTE)
{
//Console.WriteLine("Start");
_state = BUSRECIEVESTATE.PACKET_S_LEADIN;
}
else
{
//Console.WriteLine("Skip");
}
break;
case BUSRECIEVESTATE.PACKET_S_LEADIN:
if (data == LEADIN_BYTE)
{
//Console.WriteLine("Leadin");
_state = BUSRECIEVESTATE.PACKET_S_ADDRESS;
}
else
{
//Console.WriteLine("Reset");
_state = BUSRECIEVESTATE.PACKET_S_START;
}
break;
case BUSRECIEVESTATE.PACKET_S_ADDRESS:
//Console.WriteLine("Destination");
_parseTimer.Stop();
_parseTimer.Start();
_currentPacket = new EosPacket();
_currentPacket.Destination = data;
_state = BUSRECIEVESTATE.PACKET_S_SRC;
break;
case BUSRECIEVESTATE.PACKET_S_SRC:
//Console.WriteLine("Source");
_parseTimer.Stop();
_parseTimer.Start();
_currentPacket.Source = data;
_state = BUSRECIEVESTATE.PACKET_S_COMMAND;
break;
case BUSRECIEVESTATE.PACKET_S_COMMAND:
//Console.WriteLine("Command");
_parseTimer.Stop();
_parseTimer.Start();
_currentPacket.Command = data;
_state = BUSRECIEVESTATE.PACKET_S_DATALEN;
break;
case BUSRECIEVESTATE.PACKET_S_DATALEN:
//Console.WriteLine("Data Length");
_parseTimer.Stop();
_parseTimer.Start();
_dataRemainig = data;
if (_dataRemainig > 0)
{
_state = BUSRECIEVESTATE.PACKET_S_DATA;
}
else
{
_state = BUSRECIEVESTATE.PACKET_S_CHKSUM;
}
break;
case BUSRECIEVESTATE.PACKET_S_DATA:
//Console.WriteLine("Data");
_parseTimer.Stop();
_parseTimer.Start();
_currentPacket.Add(data);
if (--_dataRemainig == 0)
{
_state = BUSRECIEVESTATE.PACKET_S_CHKSUM;
}
break;
case BUSRECIEVESTATE.PACKET_S_CHKSUM:
_parseTimer.Stop();
if (_parseTimer != null)
{
_parseTimer.Stop();
}
if (data == _currentPacket.Checksum)
{
//Console.WriteLine("Good Packet");
OnPacketReceived(_currentPacket);
}
else
{
//Console.WriteLine("Bad Packet");
OnParesError(EosParserError.CorruptPacket);
}
Reset();
packetReady = true;
break;
}
return packetReady;
}
/// <summary> /// Sends a packet to the bus. /// </summary> /// <param name="packet">Packet which to send.</param> public abstract void SendPacket(EosPacket packet);
public void UpdateState(EosPacket packet)
{
_state = packet.Data;
}