private QcMessage IncrementState(int MotorAddress, QcMessage Datagram)
{
Motors[MotorAddress].UpdateStatus(Datagram);
QcMessage emit = Motors[MotorAddress].EmitTxMessage(Operation[MotorAddress]);
if (Motors[MotorAddress].IsComplete())
{
if (ProgressRaised[MotorAddress] != RunMode.Complete)
{
ProgressRaised[MotorAddress] = RunMode.Complete;
Progress(MotorAddress, Motors[MotorAddress].Current, Motors[MotorAddress].CommandCount, RunMode.Complete);
}
Motors[MotorAddress].CleanUp();
}
bool allcomplete = true;
foreach (KeyValuePair <int, MotorControl> motor in Motors)
{
allcomplete &= motor.Value.IsComplete();
}
if (allcomplete)
{
Progress(-1, -1, -1, RunMode.Complete);
}
return(emit);
}
public virtual void UpdateStatus(QcMessage Datagram)
{
if ((Datagram.Type == QcPacketType.Ack || (Datagram.Type == QcPacketType.Data && Datagram.Command == TxMessage.Command)) && Emitted)
{
Complete = true;
}
}
public virtual void UpdateStatus(QcMessage Datagram)
{
TxMessages[CurrentTxMessage].UpdateStatus(Datagram);
if (TxMessages[CurrentTxMessage].IsComplete())
{
IncrementStatus();
}
}
public MessageCommand(QcMessage Datagram)
{
Datagram.Type = QcPacketType.Command;
if (Datagram.Data == null)
{
Datagram.Data = new List <int>();
}
Datagram.MotorAddress = MotorAddress;
if (Datagram.Psw == null)
{
Datagram.Psw = new List <QcPsw>();
}
TxMessage = Datagram;
Complete = false;
Emitted = false;
}
public void UpdateStatus(QcMessage Datagram)
{
if (Datagram.Data == null)
{
Datagram.Data = new List <int>();
}
if (Datagram.Psw == null)
{
Datagram.Psw = new List <QcPsw>();
}
if (CurrentCommand < Commands.Count)
{
Commands[CurrentCommand].UpdateStatus(Datagram);
if (Commands[CurrentCommand].IsComplete())
{
CurrentCommand++;
}
}
}
public virtual QcMessage EmitTxMessage(RunMode OperationMode)
{
this.OperationMode = OperationMode;
if (CurrentTxMessage < TxMessages.Count)
{
TxMessagedEmitted = CurrentTxMessage;
QcMessage emit = TxMessages[CurrentTxMessage].EmitTxMessage(OperationMode);
if (emit.Type != QcPacketType.NoMessage)
{
foreach (Delegate action in MotorCommandProgress.GetInvocationList())
{
((MotorCommandProgressHandler)action).BeginInvoke(CurrentTxMessage, TxMessages.Count, RunMode.Emitting, null, null);
((MotorCommandProgressHandler)action).BeginInvoke(CurrentTxMessage, TxMessages.Count, RunMode.Running, null, null);
}
}
return(emit);
}
return(new QcMessage()
{
Type = QcPacketType.NoMessage
});
}
private void RunCommands(string RxMessage)
{
lock (Motors)
{
CommunicationTimer.Enabled = false;
List <QcMessage> Emit = new List <QcMessage>();
if (RxMessage != null)
{
QcMessage datagram = Datagram.ParseResponse(RxMessage);
QcMessage emit = IncrementState(datagram.MotorAddress, datagram);
if (emit.Type != QcPacketType.NoMessage)
{
Emit.Add(emit);
}
}
else
{
foreach (KeyValuePair <int, MotorControl> motor in Motors)
{
QcMessage emit = IncrementState(motor.Key, new QcMessage()
{
Type = QcPacketType.NoMessage
});
if (emit.Type != QcPacketType.NoMessage)
{
Emit.Add(emit);
}
}
}
if (Emit.Count > 0)
{
WriteLine(Datagram.TranslateCommand(Emit));
}
CommunicationTimer.Enabled = true;
}
}
public static QcMessage ParseResponse(string Response)
{
QcMessage r = new QcMessage()
{
Data = new List <int>(), Psw = new List <QcPsw>()
};
string[] components = Response.Split(new char[] { ' ' });
switch (components[0][0])
{
case '*':
r.Type = QcPacketType.Ack;
r.MotorAddress = Convert.ToInt32(components[1], 16);
break;
case '#':
r.Type = QcPacketType.Data;
r.MotorAddress = Convert.ToInt32(components[1], 16);
if (components.Length > 3)
{
r.Command = (QcCommand)Convert.ToInt32(components[2], 16);
for (int i = 3; i < components.Length; i++)
{
r.Data.Add(Convert.ToInt32(components[i], 16));
}
if (r.Command == 0)
{
r.Psw = ParsePSW(r.Data[0]);
}
}
else
{
r.Type = QcPacketType.BadFormat;
}
break;
case '!':
r.Type = QcPacketType.Nak;
r.MotorAddress = Convert.ToInt32(components[1], 16);
if (components.Length == 4)
{
r.Command = (QcCommand)Convert.ToInt32(components[2], 16);
for (int i = 3; i < components.Length; i++)
{
r.Data.Add(Convert.ToInt32(components[i], 16));
}
r.Nak = ParseNak(r.Data[0]);
}
else
{
r.Type = QcPacketType.BadFormat;
}
break;
case '@':
r.Type = QcPacketType.Command;
r.MotorAddress = Convert.ToInt32(components[1], 10);
if (components.Length == 4)
{
r.Command = (QcCommand)Convert.ToInt32(components[2], 10);
for (int i = 3; i < components.Length; i++)
{
r.Data.Add(Convert.ToInt32(components[i], 10));
}
}
else
{
r.Type = QcPacketType.BadFormat;
}
break;
default:
r.Type = QcPacketType.Unknown;
break;
}
return(r);
}
public static string TranslateCommand(QcMessage Message)
{
List <string> l = Message.Data == null?new List <string>():new List <string>(Message.Data.Select(i => i.ToString()).ToArray());
return(TranslateCommand(Message.MotorAddress, Message.Command, l));
}
