private async Task <CommandResponse> SendCommand(string command, ResponseType needsResponse)
{
if (await EnsurePortIsOpen())
{
_port.DiscardInBuffer();
_port.DiscardOutBuffer();
requestIndex++;
try
{
ConsoleOutput.Info(string.Format("[{0:0000}] SERIAL: [{1}] Sending command", requestIndex, command));
_port.Write(command);
}
catch (Exception ex)
{
ConsoleOutput.Error(string.Format("[{0:0000}] SERIAL: [{1}] Failed to send command. {2}", requestIndex, command, ex.Message));
return(new CommandResponse(string.Empty, false, $"Unable to write to {_portName}. " + ex.Message));
}
try
{
switch (needsResponse)
{
case ResponseType.NoResponse:
{
ConsoleOutput.Info(string.Format("[{0:0000}] SERIAL: [{1}] No response needed for command", requestIndex, command));
return(new CommandResponse(string.Empty, true));
}
case ResponseType.DigitResponse:
{
ConsoleOutput.Info(string.Format("[{0:0000}] SERIAL: [{1}] Expecting single digit response for command, waiting...", requestIndex, command));
string response = new string((char)_port.ReadChar(), 1);
ConsoleOutput.Success(string.Format("[{0:0000}] SERIAL: [{1}] Received single digit response '{2}'", requestIndex, command, response));
return(new CommandResponse(response, true));
}
case ResponseType.FullResponse:
{
ConsoleOutput.Info(string.Format("[{0:0000}] SERIAL: [{1}] Expecting #-delimited response for Command, waiting...", requestIndex, command));
string response = _port.ReadTo("#");
ConsoleOutput.Success(string.Format("[{0:0000}] SERIAL: [{1}] Received response '{2}'", requestIndex, command, response));
return(new CommandResponse(response, true));
}
}
}
catch (Exception ex)
{
ConsoleOutput.Error(string.Format("[{0:0000}] SERIAL: [{1}] Failed to receive response to command. {2}", requestIndex, command, ex.Message));
return(new CommandResponse(string.Empty, false, $"Unable to read response to {command} from {_portName}. {ex.Message}"));
}
return(new CommandResponse(string.Empty, false, "Something weird going on..."));
}
else
{
ConsoleOutput.Error(string.Format("[{0:0000}] SERIAL: Failed to open port {1}", requestIndex, _portName));
return(new CommandResponse(string.Empty, false, $"Unable to open {_portName}"));
}
}
static async Task <bool> TestGPS()
{
Console.Clear();
ConsoleOutput.Logo();
Console.WriteLine("********* GPS TEST ***************\r");
Console.WriteLine("* Battery may need to be charged *\r");
Console.WriteLine("* first time GPS is used ~30min *\r");
Console.WriteLine("* 0 = No satelites found *\r");
Console.WriteLine("* 1 = Satelites found *\r");
Console.WriteLine("**********************************\r");
Console.WriteLine("Press ESC to stop");
int outputStart = Console.CursorTop + 1;
do
{
while (!Console.KeyAvailable)
{
Console.CursorTop = outputStart;
Console.CursorLeft = 0;
ConsoleOutput.ClearRestOfScreen();
var result = await SendCommand(":gT100#,n");
if (result.Data == "1")
{
result = await SendCommand(":Gt#,#");
var latitudeArray = result.Data.Split('*');
float latitude = float.Parse(latitudeArray[0], _oatCulture) + (float.Parse(latitudeArray[1], _oatCulture) / 60.0f);
await Task.Delay(250);
result = await SendCommand(":Gg#,#");
var longitudeArray = result.Data.Split('*');
float longitude = float.Parse(longitudeArray[0], _oatCulture) + (float.Parse(longitudeArray[1], _oatCulture) / 60.0f);
if (longitude > 180)
{
longitude -= 360;
}
await Task.Delay(250);
ConsoleOutput.Error(string.Format("Lat: {0}", latitude));
ConsoleOutput.Error(string.Format("Lon: {0}", longitude));
}
//Console.WriteLine("ESC - Exit\n");
await Task.Delay(1000);
}
} while (Console.ReadKey(true).Key != ConsoleKey.Escape);
_commHandler.Disconnect();
_commHandler = null;
Console.ReadKey();
return(true);
}
private async Task <bool> EnsurePortIsOpen()
{
if (!_port.IsOpen)
{
try
{
ConsoleOutput.Info(string.Format("SERIAL: Port {0} is not open, attempting to open...", _portName));
_port.Open();
ConsoleOutput.Info(string.Format("SERIAL: Checking if buffer contains data", _portName));
string preCheck = _port.ReadExisting();
if (!string.IsNullOrEmpty(preCheck))
{
ConsoleOutput.Error(string.Format("SERIAL: Possible problem, data already in buffer: {0}", preCheck));
ConsoleOutput.Warning("SERIAL: Flushing serial buffers...");
_port.DiscardInBuffer();
_port.DiscardOutBuffer();
}
else
{
ConsoleOutput.Success("SERIAL: No exising serial data in buffer, all good...");
}
await Task.Delay(750); // Arduino resets on connection. Give it time to start up.
ConsoleOutput.Info("SERIAL: Port is open, sending initial [:I#] command..");
_port.Write(":I#");
ConsoleOutput.Success("SERIAL: Connected!");
return(true);
}
catch (Exception ex)
{
ConsoleOutput.Error(string.Format("SERIAL: Failed to open the port. {0}", ex.Message));
return(false);
}
}
ConsoleOutput.Warning("SERIAL: Flushing serial buffers...");
_port.DiscardInBuffer();
_port.DiscardOutBuffer();
Console.WriteLine("SERIAL: Port {0} is open, continuing...", _portName);
return(true);
}
static async Task <bool> CreateCommHandler(string device)
{
var tempCon = ConnectToDevice(device);
if (tempCon == null)
{
return(true);
}
_commHandler = tempCon;
_commHandler.ReadTimeout = _readTimeout;
_commHandler.WriteTimeout = _writeTimeout;
_commHandler.BaudRate = _baudRate;
await SendCommand(":I#,");
var versionResponse = await SendCommand(":GVN#,#");
_firmwareVersion = 1000;
if (versionResponse.Success)
{
_oatFwVersion = versionResponse.Data;
var versionNumbers = _oatFwVersion.Substring(1).Split(".".ToCharArray());
if (versionNumbers.Length != 3)
{
ConsoleOutput.Error(string.Format("Unrecognizable firmware version '{0}'", _oatFwVersion));
}
else
{
try
{
_firmwareVersion = long.Parse(versionNumbers[0]) * 10000L + long.Parse(versionNumbers[1]) * 100L + long.Parse(versionNumbers[2]);
}
catch
{
ConsoleOutput.Error(string.Format("Unparseable firmware version '{0}'", _oatFwVersion));
}
}
}
return(true);
}
