public Microcontroller(SerialPort port, int speed = 1000, int count = 30)
{
serialPort = port;
serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
state = MicrocontrollerState.Idle;
dataSpeed = speed;
sensorCount = count;
}
public Microcontroller(SerialPort port, int speed = 1000, int count = 30)
{
serialPort = port;
serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
state = MicrocontrollerState.Idle;
dataSpeed = speed;
sensorCount = count;
}
private void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs args)
{
Packet packet = null;
try
{
byte startOfFrame = (byte)serialPort.ReadByte();
if (startOfFrame != 0xFE)
{
return;
}
byte command = (byte)serialPort.ReadByte();
byte payloadLength = (byte)serialPort.ReadByte();
byte[] payload = new byte[payloadLength];
if (serialPort.Read(payload, 0, payloadLength) < payloadLength)
{
return;
}
byte Xor = (byte)serialPort.ReadByte();
packet = new Packet(command, payloadLength, payload);
if (packet.Xor != Xor)
{
return;
}
}
catch (TimeoutException)
{
return;
}
if (packet == null)
{
return;
}
switch (state)
{
case MicrocontrollerState.Idle:
if (packet.command == ((byte)PacketType.Start | (byte)PacketSender.GUI))
{ // If we're idle and waiting to be told to do something and we receive a start packet from the GUI
Packet startReplyPacket = new Packet(((byte)PacketSender.Microcontroller | (byte)PacketType.Start));
float[] data = new float[5];
Buffer.BlockCopy(packet.payload, 0, data, 0, packet.payloadLength);
writePacket(startReplyPacket);
Thread.Sleep(dataSpeed);
writePacket(createDataPacket());
state = MicrocontrollerState.SendingData;
}
break;
case MicrocontrollerState.SendingData:
if ((packet.command == ((byte)PacketType.Report | (byte)PacketSender.GUI)) &&
(packet.payload[0] == sensor))
{ // If we're sending data packets and we receive an acknowledge from the GUI
Thread.Sleep(dataSpeed);
writePacket(createDataPacket());
}
if (packet.command == ((byte)PacketType.Stop | (byte)PacketSender.GUI))
{ // If we're sending data packets and we receive a stop packet from the GUI
Packet stopReplyPacket = new Packet(((byte)PacketSender.Microcontroller | (byte)PacketType.Stop));
writePacket(stopReplyPacket);
state = MicrocontrollerState.Idle;
}
break;
case MicrocontrollerState.SendingError:
if (packet.command == ((byte)PacketType.Error | (byte)PacketSender.GUI))
{ // If we're waiting for an error acknowledge packet and we receive one from the GUI
if ((packet.payloadLength == 1) && (packet.payload[0] == errorSent))
{
state = MicrocontrollerState.Idle;
}
}
break;
default:
break;
}
}
private void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs args)
{
Packet packet = null;
try
{
byte startOfFrame = (byte)serialPort.ReadByte();
if (startOfFrame != 0xFE)
{
return;
}
byte command = (byte)serialPort.ReadByte();
byte payloadLength = (byte)serialPort.ReadByte();
byte[] payload = new byte[payloadLength];
if (serialPort.Read(payload, 0, payloadLength) < payloadLength)
{
return;
}
byte Xor = (byte)serialPort.ReadByte();
packet = new Packet(command, payloadLength, payload);
if (packet.Xor != Xor)
{
return;
}
}
catch (TimeoutException)
{
return;
}
if (packet == null)
return;
switch (state)
{
case MicrocontrollerState.Idle:
if (packet.command == ((byte)PacketType.Start | (byte)PacketSender.GUI))
{// If we're idle and waiting to be told to do something and we receive a start packet from the GUI
Packet startReplyPacket = new Packet(((byte)PacketSender.Microcontroller | (byte)PacketType.Start));
float[] data = new float[5];
Buffer.BlockCopy(packet.payload, 0, data, 0, packet.payloadLength);
writePacket(startReplyPacket);
Thread.Sleep(dataSpeed);
writePacket(createDataPacket());
state = MicrocontrollerState.SendingData;
}
break;
case MicrocontrollerState.SendingData:
if ((packet.command == ((byte)PacketType.Report | (byte)PacketSender.GUI)) &&
(packet.payload[0] == sensor))
{// If we're sending data packets and we receive an acknowledge from the GUI
Thread.Sleep(dataSpeed);
writePacket(createDataPacket());
}
if (packet.command == ((byte)PacketType.Stop | (byte)PacketSender.GUI))
{// If we're sending data packets and we receive a stop packet from the GUI
Packet stopReplyPacket = new Packet(((byte)PacketSender.Microcontroller | (byte)PacketType.Stop));
writePacket(stopReplyPacket);
state = MicrocontrollerState.Idle;
}
break;
case MicrocontrollerState.SendingError:
if (packet.command == ((byte)PacketType.Error | (byte)PacketSender.GUI))
{// If we're waiting for an error acknowledge packet and we receive one from the GUI
if ((packet.payloadLength == 1) && (packet.payload[0] == errorSent))
state = MicrocontrollerState.Idle;
}
break;
default:
break;
}
}
private void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs args)
{
Packet packet = null;
bool dontStart = false;
try {
System.Threading.Thread.Sleep(100);
byte startOfFrame = (byte)serialPort.ReadByte();
if (startOfFrame != 0xFE)
{
return;
}
byte command = (byte)serialPort.ReadByte();
byte payloadLength = (byte)serialPort.ReadByte();
byte[] payload = new byte[payloadLength];
if (serialPort.Read(payload, 0, payloadLength) < payloadLength)
{
return;
}
byte Xor = (byte)serialPort.ReadByte();
packet = new Packet(command, payload);
if (packet.Xor != Xor)
{
return;
}
} catch (TimeoutException) {
return;
}
if (packet == null)
{
return;
}
switch (state)
{
case MicrocontrollerState.Idle:
if (packet.Command == (byte)PacketType.Config)
{
this.sensorMultiplexerAddresses = packet.Payload;
this.sensorCount = packet.PayloadLength;
ConfigReplyPacket configReplyPacket = new ConfigReplyPacket();
writePacket <ConfigReplyPacket>(configReplyPacket);
}
if (packet.Command == (byte)PacketType.Start)
{ // If we're idle and waiting to be told to do something and we receive a start packet from the GUI
#if INCLUDE_ERRORS
if (this.starts % 5 == 0)
{
writePacket(createStartErrorPacket());
dontStart = true;
}
#endif
StartReplyPacket startReplyPacket = new StartReplyPacket(packet.Payload);
writePacket <StartReplyPacket>(startReplyPacket);
if (!dontStart)
{
timer = new Timer(new TimerCallback(timerEvent));
timer.Change(this.dataSpeed, 0);
state = MicrocontrollerState.SendingData;
}
}
break;
case MicrocontrollerState.SendingData:
if (packet.Command == (byte)PacketType.Stop)
{ // If we're sending data packets and we receive a stop packet from the GUI
StopReplyPacket stopReplyPacket = new StopReplyPacket();
writePacket <StopReplyPacket>(stopReplyPacket);
state = MicrocontrollerState.Idle;
sensor = 0x00;
}
break;
/*case MicrocontrollerState.SendingError:
* if (packet.command == ((byte)PacketType.Error | (byte)PacketSender.GUI))
* {// If we're waiting for an error acknowledge packet and we receive one from the GUI
* if ((packet.payloadLength == 1) && (packet.payload[0] == errorSent))
* state = MicrocontrollerState.Idle;
* }
* break;*/
default:
break;
}
}
