/// <summary>
/// Method to handle STARTUP phase of Motion Board
/// </summary>
private void HandleACK()
{
var ack = new byte[2];
UInt16 ack_check = BitConverter.ToUInt16(StartCondition, 0);
// We know that we have already received data --> READ it out
var read_ret = mPort.Read(ack, 0, 2);
// ACK must contain 2 bytes!
if (read_ret != 2)
{
PrintInformation("ERROR: Did not receive correct amount of bytes for ACK!");
StartUpFailed?.Invoke(this, EventArgs.Empty);
return;
}
// Check if we received the CORRECT ACK bytes
if (BitConverter.ToUInt16(ack, 0) != ack_check)
{
PrintInformation("ERROR: Did not receive ACK from Board!");
StartUpFailed?.Invoke(this, EventArgs.Empty);
return;
}
// SET GLOBAL FLAG
IsConnected = true;
return;
}
/// <summary>
/// CTOR
/// </summary>
/// <param name="newDataEvent"></param>
public MotionData(int PortNumber)
{
// TODO: remove this --> the correct port number is given in as parameter
// Open Serial Port to read from Board
Console.WriteLine("Available COM Ports: {0}", SerialPort.GetPortNames().Length);
int i = 1;
foreach (var item in SerialPort.GetPortNames())
{
Console.WriteLine("[{0}] Port Name: {1}", i++, item);
}
// Ask user to SELECT correct PORT
Console.WriteLine("Select Port number and press ENTER!");
var input = Console.ReadLine();
int portnum = 0;
if (!int.TryParse(input, out portnum) || (portnum > SerialPort.GetPortNames().Length))
{
Console.WriteLine("ERROR: wrong PORT number!");
return;
}
// Create NEW SERIAL PORT
mPort = new SerialPort(SerialPort.GetPortNames()[portnum - 1], 115200, Parity.None, 8, StopBits.One);
//mPort = new SerialPort(SerialPort.GetPortNames()[PortNumber - 1], 115200, Parity.None, 8, StopBits.One);
// Attach a method to be called when there
// is data waiting in the port's buffer
mPort.DataReceived += new SerialDataReceivedEventHandler(Port_DataReceived_Handler);
mPort.ReadTimeout = 10000; // Exception if now data is received after 10 sec
// Begin communications
try {
mPort.Open();
}
catch (Exception)
{
PrintInformation("ERROR: could not open PORT!");
StartUpFailed?.Invoke(this, EventArgs.Empty);
return;
}
// Check if port is really OPEN
if (!mPort.IsOpen)
{
PrintInformation("ERROR: could not open PORT!");
StartUpFailed?.Invoke(this, EventArgs.Empty);
return;
}
// Firstly: send port START condition
try {
mPort.Write(StartCondition, 0, 2);
}
catch (Exception)
{
PrintInformation("ERROR: could not send START condition!");
StartUpFailed?.Invoke(this, EventArgs.Empty);
return;
}
timer = new Timer();
timer.Elapsed += new ElapsedEventHandler(OnTimedEvent);
timer.Interval = 5000; // 1 sec
timer.Enabled = true;
timer.AutoReset = false;
}
