Exemple #1
0
        public void loop()
        {
            stopExecuting = false;

            using (RobustSerial arduinoPort = connectArduino())
                using (Cls2SimSocket brunnerSocket = connectBrunner(required: false))
                {
                    var timer = new HighPrecisionTimer.MultimediaTimer();
                    timer.Interval   = timerMs;
                    timer.Resolution = 2;
                    //do what you need with the serial port here
                    try
                    {
                        arduinoPort.WaitForConnection();
                        logger.Info("Checking Arduino Firmware version");
                        CheckArduinoSketchVersion(arduinoPort, maxSeconds: 3);
                        _isArduinoConnected = true;
                        if (brunnerSocket != null)
                        {
                            _isBrunnerConnected = true;
                        }

                        timer.Elapsed += (o, e) => Communicate(arduinoPort, brunnerSocket);
                        timer.Start();

                        while (arduinoPort.IsOpen && !stopExecuting)
                        {
                            var currentPosition = new int[2];
                            _position.CopyTo(currentPosition, 0);
                            positionHistory.Enqueue(currentPosition);
                            var prueba = positionHistory.ToArray();
                            if (positionHistory.Count > 60)
                            {
                                positionHistory.Dequeue();
                            }
                            System.Threading.Thread.Sleep(100);
                        }
                        timer.Stop();
                        System.Threading.Thread.Sleep(500); // Give it time to the timer events to finish
                    }
                    catch (Exception ex)
                    {
                        logger.Error(ex, ex.StackTrace);
                        logger.Error(ex, ex.Message);
                    }
                    finally
                    {
                        _isArduinoConnected = false;
                        _isBrunnerConnected = false;
                        if (timer.IsRunning)
                        {
                            timer.Stop();
                        }
                    }
                }
        }
Exemple #2
0
        private void Communicate(RobustSerial arduinoPort, Cls2SimSocket brunnerSocket)
        {
            bool lockTaken = false;

            Interlocked.Decrement(ref ticksToNextPositionChange);
            Monitor.TryEnter(lockObject, TimeSpan.FromMilliseconds(1), ref lockTaken);
            try
            {
                if (lockTaken)
                {
                    // wait for receiving new position
                    if (brunnerSocket != null)
                    {
                        // Notice we change the order of Aileron,Elevator
                        ForceMessage forceMessage = new ForceMessage(
                            ArduinoForce2Brunner(force[1]), ArduinoForce2Brunner(force[0]));
                        if (delaySeconds > 0)
                        {
                            forceMessage.aileron  = 0;
                            forceMessage.elevator = 0;
                        }
                        PositionMessage positionMessage = brunnerSocket.SendForcesReadPosition(forceMessage);
                        UpdatePosition(positionMessage);
                    }

                    // send the current position to the Arduino
                    if (arduinoPort.semaphore >= 1 && ticksToNextPositionChange <= 0)
                    {
                        arduinoPort.WriteOrder(Order.POSITION);
                        arduinoPort.WriteInt16(this.position[0]);
                        arduinoPort.WriteInt16(this.position[1]);
                        Interlocked.Exchange(ref ticksToNextPositionChange, (forcedArduinoCalculation / timerMs) + 1);
                        axisHasMoved[0] = false;
                        axisHasMoved[1] = false;
                    }

                    if (arduinoPort.semaphore >= 1)
                    {
                        arduinoPort.WriteOrder(Order.FORCES);
                    }
                }
            }
            catch (Exception ex)
            {
                logger.Error(ex, ex.StackTrace);
                logger.Error(ex, ex.Message);
                stopExecuting = true;
            }
        }
Exemple #3
0
 private Cls2SimSocket connectBrunner(bool required)
 {
     try
     {
         Cls2SimSocket sock = new Cls2SimSocket(cls2SimHost, cls2SimPort);
         sock.Connect();
         return(sock);
     }
     catch (Exception ex)
     {
         if (required)
         {
             logger.Error(ex, ex.Message);
             throw;
         }
         else
         {
             logger.Warn($"Couldn't connect to Brunner CLS2Sim: {ex.Message}");
             return(null);
         }
     }
 }