void ChangeState(UpdateStateDelegate newState)
{
if (newState != UpdateState)
{
RespawnNavAgent();
UpdateState = newState;
}
}
public CpuModel(ICpuModelOutput output)
{
_output = output;
Reset();
_updateStateDelegate = new UpdateStateDelegate(UpdateState);
_commandHasRunDelegate = new UpdateStateDelegate(CommandHasRunAsync);
}
private void StateChanged(object sender, EyeTrackingStateChangedEventArgs eyeTrackingStateChangedEventArgs)
{
// Forward state change to UI thread
if (InvokeRequired)
{
var updateStateDelegate = new UpdateStateDelegate(UpdateState);
Invoke(updateStateDelegate, new object[] { eyeTrackingStateChangedEventArgs });
}
else
{
UpdateState(eyeTrackingStateChangedEventArgs);
}
}
private void Update()
{
if (CurrentState != NextState)
{
UpdateStateDelegate = null;
FinishStateDelegate?.Invoke();
FinishStateDelegate = null;
CurrentState = NextState;
StartEvents();
StartStateDelegate?.Invoke();
StartStateDelegate = null;
OnStartState?.Invoke(CurrentState);
return;
}
UpdateStateDelegate?.Invoke();
}
/// <summary>
/// 注册一个状态，不适用的方法可以传递Null
/// </summary>
public void RegistState(T state, EnterStateDelegate onEnter = null, ExitStateDelegate onExit = null, UpdateStateDelegate onUpdate = null, CheckSwitchStateEnableDelegate checkSwitchEnable = null)
{
StateController <T> sc = new StateController <T>(state);
sc.onEnter = onEnter;
sc.onExit = onExit;
sc.onUpdate = onUpdate;
sc.checkSwitchEnable = checkSwitchEnable;
if (null == CurState)
{
//设置为第一个状态
CurState = state;
}
_stateDic[state] = sc;
}
public bool registerUpdateStateDelegate(
UpdateStateDelegate aUpdateStateDelegate)
{
bool lresult = false;
do
{
if (mSession == null)
{
break;
}
try
{
object lUnknown;
mSession.getIConnectionPointContainer(
typeof(IConnectionPointContainer).GUID,
out lUnknown);
if (lUnknown == null)
{
break;
}
var lConnectionPointContainer = lUnknown as IConnectionPointContainer;
if (lConnectionPointContainer == null)
{
break;
}
IConnectionPoint lConnectionPoint = null;
lConnectionPointContainer.FindConnectionPoint(
typeof(CaptureManagerLibrary.ISessionCallback).GUID,
out lConnectionPoint);
if (lConnectionPoint == null)
{
break;
}
int lId = 0;
lConnectionPoint.Advise(
new SessionCallback(aUpdateStateDelegate),
out lId);
mStateDelegate[aUpdateStateDelegate] = lId;
lresult = true;
}
catch (Exception exc)
{
LogManager.getInstance().write(exc.Message);
}
} while (false);
return(lresult);
}
public SessionCallback(
UpdateStateDelegate aUpdateStateDelegate)
{
mUpdateStateDelegate = aUpdateStateDelegate;
}
public bool FwUpdate(UpdateStateDelegate handler, string fileName, bool programWrite = true, bool programVerify = true, bool programStart = true, string password = "******")
{
try
{
handler?.Invoke(UpdateState.ReadHex);
byte[] buffer = new byte[MaximumBufferSize];
if (!LoadProgramFile(fileName, buffer, out uint updateBufferUsed))
{
return(false);
}
handler?.Invoke(UpdateState.Connect);
if (!Connect(password, out bool oneWireMode))
{
return(false);
}
_failureAddress = 0;
_oneWire = oneWireMode;
bool supportsCrc = DetectSupport(CommandProgramCheckCRC);
ResetCrc();
bool supportsVerify = DetectSupport(CommandProgramVerify);
string deviceRevision = ReadRevisionInfo();
if (string.IsNullOrEmpty(deviceRevision))
{
return(false);
}
if (string.Compare(deviceRevision, ValidBootloader, StringComparison.OrdinalIgnoreCase) != 0)
{
return(false);
}
string deviceSignature = ReadSignatureInfo();
if (string.IsNullOrEmpty(deviceSignature))
{
return(false);
}
string deviceName = GetDeviceName(deviceSignature);
if (string.IsNullOrEmpty(deviceName))
{
return(false);
}
long deviceFlashSize = ReadFlashSizeInfo();
if (deviceFlashSize < 0)
{
return(false);
}
if (deviceFlashSize > buffer.Length)
{
return(false);
}
if (deviceFlashSize < updateBufferUsed)
{
return(false);
}
long deviceWriteBuffer = ReadBufferSizeInfo();
if (deviceWriteBuffer < MinimumWriteBuffer)
{
return(false);
}
if (supportsCrc)
{
if (!CheckCrc())
{
return(false);
}
}
if (programWrite)
{
handler?.Invoke(UpdateState.Update);
if (!WriteFirmware(buffer, (int)updateBufferUsed, (int)deviceWriteBuffer))
{
return(false);
}
}
if (programVerify && supportsVerify)
{
handler?.Invoke(UpdateState.Verify);
if (!VerifyFirmware(buffer, (int)updateBufferUsed))
{
return(false);
}
}
if (supportsCrc)
{
if (!CheckCrc())
{
return(false);
}
}
if (programStart)
{
handler?.Invoke(UpdateState.StartFw);
if (!StartFirmware())
{
return(false);
}
}
Thread.Sleep(500);
return(true);
}
catch (Exception)
{
return(false);
}
}
