private void setBaudRate(BaudRate rate)
{
Payload p = new Payload(MessageID.Configure_Serial_Port, new byte[] { 0x00, (byte)rate, 0x02 });
Write(p);
if (RESULT.RESULT_ACK == this.waitResult(MessageID.Configure_Serial_Port))
{
// 成功したから、COM ポートのボーレートも変更する
int[] ParaRate = { 4800, 9600, 19200, 38400, 57600, 115200, 230400 };
_com.BaudRate = ParaRate[(int)rate];
System.Threading.Thread.Sleep(50);
}
}
public bool EraceLatLonData()
{
try
{
Payload p = new Payload(MessageID.Clear_Data_Logging_Buffer);
Write(p);
if (RESULT.RESULT_ACK != this.waitResult(MessageID.Clear_Data_Logging_Buffer))
{
throw new Exception("削除できない");
}
return true;
}
catch (TimeoutException)
{
try
{
// Restartして終了
sendRestart();
}
catch (TimeoutException)
{
// 処理なし
recovery();
}
return false;
}
}
private void RequestBufferStatus(out UInt16 totalSectors, out UInt16 freeSectors, out bool dataLogEnable)
{
Payload p = new Payload(MessageID.Request_Information_of_the_Log_Buffer_Status);
Write(p);
Payload result;
if (RESULT.RESULT_ACK != this.waitResult(MessageID.Request_Information_of_the_Log_Buffer_Status))
{
throw new Exception("NACK!");
}
result = Read();
if (result.ID != MessageID.Output_Status_of_the_Log_Buffer)
{
throw new Exception("Sequence error");
}
totalSectors = (UInt16)result.Body[8];
totalSectors <<= 8;
totalSectors |= (UInt16)result.Body[7];
freeSectors = (UInt16)result.Body[6];
freeSectors <<= 8;
freeSectors |= (UInt16)result.Body[5];
dataLogEnable = (0x01 == result.Body[33]);
}
public Payload Read()
{
DateTime start = DateTime.Now;
TimeSpan ts;
bool findHeader1 = false;
bool findHeader2 = false;
// header check
byte readData;
while (true)
{
readData = (byte)(0x00FF & _com.ReadByte());
if (findHeader1)
{
if (START_OF_SEQUENCE_2 == readData)
{
findHeader2 = true;
break;
}
findHeader1 = false;
}
else
{
if (START_OF_SEQUENCE_1 == readData)
{
findHeader2 = false;
findHeader1 = true;
}
}
// データは読み出せたけど、目的のデータが読み出せないので、タイムアウトとして処理します。
ts = DateTime.Now - start;
if (READ_TIMEOUT < ts.TotalMilliseconds)
throw new TimeoutException();
}
// payload length
UInt16 payloadLength = (UInt16)(0x00FF & _com.ReadByte());
payloadLength <<= 8;
payloadLength |= (UInt16)(0x00FF & _com.ReadByte());
// read payload
System.Threading.Thread.Sleep(10);
byte[] rawPayload = new byte[payloadLength];
for (int readCount = 0; readCount < payloadLength;)
{
readCount += _com.Read(rawPayload, readCount, payloadLength - readCount);
}
Payload result = new Payload(rawPayload, 0, rawPayload.Length);
// CS
byte checkSum = (byte)(0x00FF & _com.ReadByte());
byte calcChecSum = 0;
for (int index = 0; index < rawPayload.Length; ++index)
{
calcChecSum ^= rawPayload[index];
}
if (checkSum != calcChecSum)
{
throw new Exception("check sum error");
}
// footer check
bool findFooter1 = false;
bool findFooter2 = false;
start = DateTime.Now;
while (true)
{
readData = (byte)(0x00FF & _com.ReadByte());
if (findFooter1)
{
if (END_OF_SEQUENCE_2 == readData)
{
findFooter2 = true;
break;
}
findFooter1 = false;
}
else
{
if (END_OF_SEQUENCE_1 == readData)
{
findFooter2 = false;
findFooter1 = true;
}
}
// データは読み出せたけど、目的のデータが読み出せないので、タイムアウトとして処理します。
ts = DateTime.Now - start;
if (READ_TIMEOUT < ts.TotalMilliseconds)
throw new TimeoutException();
}
return result;
}
private void sendReadBuffer(int offsetSector, int sectorCount)
{
Payload p = new Payload(MessageID.Enable_data_read_from_the_log_buffer, new byte[] { 0x00, 0x00, 0x00, 0x02 });
p.Body[0] = (byte)(0x00FF & (offsetSector >> 8));
p.Body[1] = (byte)(0x00FF & (offsetSector >> 0));
p.Body[2] = (byte)(0x00FF & (sectorCount >> 8));
p.Body[3] = (byte)(0x00FF & (sectorCount >> 0));
Write(p);
this.waitResult(MessageID.Enable_data_read_from_the_log_buffer);
}
private void sendRestart()
{
Payload p = new Payload(MessageID.System_Restart, new byte[] { 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 });
Write(p);
if (RESULT.RESULT_ACK == this.waitResult(MessageID.System_Restart))
{
// リセットが成功したのでボーレートも戻す
_com.BaudRate = 38400;
System.Threading.Thread.Sleep(50);
}
}
private byte[] convert(Payload payload)
{
// payload length
UInt16 payloadLength = (UInt16)(payload.ByteLength);
// 2 = sizeof([Start of Sequence])
// 2 = sizeof([Payload Length])
// 1 = sizeof([CS])
// 2 = sizeof([End of Sequence])
int size = payloadLength + 7;
// command buffer
byte[] result = new byte[size];
// set [Start of Sequence]
result[0] = START_OF_SEQUENCE_1;
result[1] = START_OF_SEQUENCE_2;
// set [Payload Length]
result[2] = (byte)(MASK_LOBYTE & (payloadLength >> 8));
result[3] = (byte)((MASK_LOBYTE & payloadLength));
// payload
payload.CopyTo(result, 4, payloadLength);
// [CS]
byte checkSum = 0x00;
for (int index = 0; index < payloadLength + 1; ++index)
{
checkSum ^= result[index + 4];
}
result[size - 3] = checkSum;
// [End of Sequence]
result[size - 2] = END_OF_SEQUENCE_1;
result[size - 1] = END_OF_SEQUENCE_2;
return result;
}
public void Write(Payload payload)
{
byte[] command = convert(payload);
_com.Write(command, 0, command.Length);
}
public Payload Read()
{
bool findHeader1 = false;
bool findHeader2 = false;
// header check
byte readData;
while (true)
{
readData = (byte)(0x00FF & _com.ReadByte());
if (findHeader1)
{
if (START_OF_SEQUENCE_2 == readData)
{
findHeader2 = true;
break;
}
findHeader1 = false;
}
else
{
if (START_OF_SEQUENCE_1 == readData)
{
findHeader2 = false;
findHeader1 = true;
}
}
}
// payload length
UInt16 payloadLength = (UInt16)(0x00FF & _com.ReadByte());
payloadLength <<= 8;
payloadLength |= (UInt16)(0x00FF & _com.ReadByte());
// read payload
System.Threading.Thread.Sleep(10);
byte[] rawPayload = new byte[payloadLength];
for (int readCount = 0; readCount < payloadLength;)
{
readCount += _com.Read(rawPayload, readCount, payloadLength - readCount);
}
Payload result = new Payload(rawPayload, 1, rawPayload.Length);
// CS
byte checkSum = (byte)(0x00FF & _com.ReadByte());
byte calcChecSum = 0;
for (int index = 0; index < rawPayload.Length; ++index)
{
calcChecSum ^= rawPayload[index];
}
if (checkSum != calcChecSum)
{
throw new Exception("check sum error");
}
// footer check
bool findFooter1 = false;
bool findFooter2 = false;
while (true)
{
readData = (byte)(0x00FF & _com.ReadByte());
if (findFooter1)
{
if (END_OF_SEQUENCE_2 == readData)
{
findFooter2 = true;
break;
}
findFooter1 = false;
}
else
{
if (END_OF_SEQUENCE_1 == readData)
{
findFooter2 = false;
findFooter1 = true;
}
}
}
return result;
}
