/// <summary>
/// Main run loop for incoming traffic. Runs in its own thread.
/// <para>
/// Marking this thread virtual causes tests to randomly fail :-(
/// </para>
/// </summary>
public void run()
{
// should set to highest priority
int arg1;
int arg2;
int numPins;
int size;
byte[] data;
try
{
// this was while(true) in the java code
while (true)
{
CancelTokenSource_.Token.ThrowIfCancellationRequested();
arg1 = readByte();
LOG.Debug("T:" + IncomingTask_.Id + " Processing reply Type " + arg1.ToString("X"));
switch (arg1)
{
case (int)IOIOProtocolCommands.ESTABLISH_CONNECTION:
if (readByte() != 'I' || readByte() != 'O' || readByte() != 'I' ||
readByte() != 'O')
{
throw new IOException("Bad establish connection magic");
}
byte[] hardwareId = readBytes(8);
byte[] bootloaderId = readBytes(8);
byte[] firmwareId = readBytes(8);
Handler_.HandleEstablishConnection(hardwareId, bootloaderId, firmwareId);
break;
case (int)IOIOProtocolCommands.SOFT_RESET:
// why only analog pins?
AnalogFramePins_.Clear();
Handler_.HandleSoftReset();
break;
case (int)IOIOProtocolCommands.REPORT_DIGITAL_IN_STATUS:
// Pin number and state are in same byte
arg1 = readByte();
Handler_.HandleReportDigitalInStatus(arg1 >> 2, (arg1 & 0x01) == 1);
break;
case (int)IOIOProtocolCommands.SET_CHANGE_NOTIFY:
// Pin number and state are in same byte
arg1 = readByte();
Handler_.HandleSetChangeNotify(arg1 >> 2, (arg1 & 0x01) == 1);
break;
case (int)IOIOProtocolCommands.REGISTER_PERIODIC_DIGITAL_SAMPLING:
// TODO: implement
break;
case (int)IOIOProtocolCommands.REPORT_PERIODIC_DIGITAL_IN_STATUS:
// TODO: implement
break;
case (int)IOIOProtocolCommands.REPORT_ANALOG_IN_FORMAT:
numPins = readByte();
NewFramePins_.Clear();
for (int i = 0; i < numPins; ++i)
{
NewFramePins_.Add(readByte());
}
calculateAnalogFrameDelta();
foreach (int i in RemovedPins_)
{
Handler_.HandleAnalogPinStatus(i, false);
}
foreach (int i in AddedPins_)
{
Handler_.HandleAnalogPinStatus(i, true);
}
break;
case (int)IOIOProtocolCommands.REPORT_ANALOG_IN_STATUS:
numPins = AnalogFramePins_.Count();
int header = 0;
AnalogPinValues_.Count();
for (int i = 0; i < numPins; ++i)
{
if (i % 4 == 0)
{
header = readByte();
}
AnalogPinValues_.Add((readByte() << 2) | (header & 0x03));
header >>= 2;
}
Handler_.HandleReportAnalogInStatus(AnalogFramePins_, AnalogPinValues_);
break;
case (int)IOIOProtocolCommands.UART_REPORT_TX_STATUS:
arg1 = readByte();
arg2 = readByte();
Handler_.HandleUartReportTxStatus(arg1 & 0x03, (arg1 >> 2) | (arg2 << 6));
break;
case (int)IOIOProtocolCommands.UART_DATA:
arg1 = readByte();
size = (arg1 & 0x3F) + 1;
// HACK HACK HACK while troubleshooting a buffer issue
// size = 1;
data = readBytes(size);
Handler_.HandleUartData(arg1 >> 6, size, data);
break;
case (int)IOIOProtocolCommands.UART_STATUS:
arg1 = readByte();
if ((arg1 & 0x80) != 0)
{
Handler_.HandleUartOpen(arg1 & 0x03);
}
else
{
Handler_.HandleUartClose(arg1 & 0x03);
}
break;
case (int)IOIOProtocolCommands.SPI_DATA:
arg1 = readByte();
arg2 = readByte();
size = (arg1 & 0x3F) + 1;
data = readBytes(size);
Handler_.HandleSpiData(arg1 >> 6, arg2 & 0x3F, data, size);
break;
case (int)IOIOProtocolCommands.SPI_REPORT_TX_STATUS:
arg1 = readByte();
arg2 = readByte();
Handler_.HandleSpiReportTxStatus(arg1 & 0x03, (arg1 >> 2) | (arg2 << 6));
break;
case (int)IOIOProtocolCommands.SPI_STATUS:
arg1 = readByte();
if ((arg1 & 0x80) != 0)
{
Handler_.HandleSpiOpen(arg1 & 0x03);
}
else
{
Handler_.HandleSpiClose(arg1 & 0x03);
}
break;
case (int)IOIOProtocolCommands.I2C_STATUS:
arg1 = readByte();
if ((arg1 & 0x80) != 0)
{
Handler_.HandleI2cOpen(arg1 & 0x03);
}
else
{
Handler_.HandleI2cClose(arg1 & 0x03);
}
break;
case (int)IOIOProtocolCommands.I2C_RESULT:
arg1 = readByte();
arg2 = readByte();
if (arg2 != 0xFF)
{
data = readBytes(arg2);
}
else
{
data = new byte[0];
}
Handler_.HandleI2cResult(arg1 & 0x03, arg2, data);
break;
case (int)IOIOProtocolCommands.I2C_REPORT_TX_STATUS:
arg1 = readByte();
arg2 = readByte();
Handler_.HandleI2cReportTxStatus(arg1 & 0x03, (arg1 >> 2) | (arg2 << 6));
break;
case (int)IOIOProtocolCommands.CHECK_INTERFACE_RESPONSE:
// this is 0x63 on my sparkfun 016 running 503 sw
arg1 = readByte();
Handler_.HandleCheckInterfaceResponse((arg1 & 0x01) == 1);
break;
case (int)IOIOProtocolCommands.ICSP_REPORT_RX_STATUS:
arg1 = readByte();
arg2 = readByte();
Handler_.HandleIcspReportRxStatus(arg1 | (arg2 << 8));
break;
case (int)IOIOProtocolCommands.ICSP_RESULT:
size = 2;
data = readBytes(size);
Handler_.HandleIcspResult(size, data);
break;
case (int)IOIOProtocolCommands.ICSP_CONFIG:
arg1 = readByte();
if ((arg1 & 0x01) == 1)
{
Handler_.HandleIcspOpen();
}
else
{
Handler_.HandleIcspClose();
}
break;
case (int)IOIOProtocolCommands.INCAP_STATUS:
arg1 = readByte();
if ((arg1 & 0x80) != 0)
{
Handler_.HandleIncapOpen(arg1 & 0x0F);
}
else
{
Handler_.HandleIncapClose(arg1 & 0x0F);
}
break;
case (int)IOIOProtocolCommands.INCAP_REPORT:
arg1 = readByte();
size = arg1 >> 6;
if (size == 0)
{
size = 4;
}
data = readBytes(size);
Handler_.HandleIncapReport(arg1 & 0x0F, size, data);
break;
case (int)IOIOProtocolCommands.SOFT_CLOSE:
LOG.Debug("T:" + IncomingTask_.Id + " Received soft close.");
throw new IOException("Soft close");
case (int)IOIOProtocolCommands.CAPSENSE_REPORT:
arg1 = readByte();
arg2 = readByte();
Handler_.HandleCapSenseReport(arg1 & 0x3F, (arg1 >> 6) | (arg2 << 2));
break;
case (int)IOIOProtocolCommands.SET_CAPSENSE_SAMPLING:
arg1 = readByte();
Handler_.HandleSetCapSenseSampling(arg1 & 0x3F, (arg1 & 0x80) != 0);
break;
case (int)IOIOProtocolCommands.SEQUENCER_EVENT:
arg1 = readByte();
// OPEN and STOPPED events has an additional argument.
if (arg1 == 2 || arg1 == 4)
{
arg2 = readByte();
}
else
{
arg2 = 0;
}
try
{
// should be able to cast since enums are really int (gag)
Handler_.HandleSequencerEvent((SequencerEventState)arg1, arg2);
}
catch (Exception e)
{
throw new IOException("Unexpected event: " + arg1, e);
}
break;
case (int)IOIOProtocolCommands.SYNC:
Handler_.HandleSync();
break;
default:
throw new ProtocolError("Received unexpected command: 0x"
+ arg1.ToString("X"));
}
}
}
catch (System.Threading.ThreadAbortException e)
{
LOG.Error("T:" + IncomingTask_.Id + " Probably aborted: (" + e.GetType() + ")" + e.Message);
LOG.Error("T:" + IncomingTask_.Id + e.StackTrace);
}
catch (ObjectDisposedException e)
{
//// see this when steram is closed
LOG.Error("T:" + IncomingTask_.Id + " Probably closed incoming Stream_: (" + e.GetType() + ")" + e.Message);
LOG.Error("T:" + IncomingTask_.Id + e.StackTrace);
}
catch (IOException e)
{
LOG.Error("T:" + IncomingTask_.Id + " Probably aborted incoming: (" + e.GetType() + ")" + e.Message);
LOG.Error("T:" + IncomingTask_.Id + e.StackTrace);
}
catch (Exception e)
{
LOG.Error("T:" + IncomingTask_.Id + " Unexpected Exception: (" + e.GetType() + ")" + e.Message);
LOG.Error("T:" + IncomingTask_.Id + e.StackTrace);
}
finally
{
// we don't play swith Stream_ since we didn't create it
Handler_.HandleConnectionLost();
LOG.Info("T:" + IncomingTask_.Id + " Throwing thread cancel to stop incoming thread");
CancelTokenSource_.Cancel();
// debugger will always stop here in unit tests if test or app dynamically determines what Port_ ot use
// just hit continue in the debugger when you get here on startup
CancelTokenSource_.Token.ThrowIfCancellationRequested();
Stream_ = null;
this.IncomingTask_ = null;
}
}