static public ArduinoDeviceManager Connect(String nodeID, String port, SerialBaudRate bps, int timeOut, Action <ADMMessage, ArduinoDeviceManager> listener)
{
if (String.IsNullOrEmpty(nodeID))
{
throw new Exception("ArduinoDeviceManager::Connect ... nodeID cannot be empty or null");
}
ISerialConnection connection = new XBeeFirmataSerialConnection(nodeID, port, bps);
if (connection != null)
{
var session = new ArduinoSession(connection, timeOut);
try
{
var mgr = new ArduinoDeviceManager(session, listener, port, nodeID);
mgr.Connection = connection;
return(mgr);
}
catch (Exception e)
{
if (connection.IsOpen)
{
connection.Close();
}
throw e;
}
}
return(null);
}
virtual protected void OnADMDevicesConnected(ArduinoDeviceManager adm, ADMMessage message)
{
_devicesConnected[adm.PortAndNodeID] = true;
bool startSampler = false;
if (String.IsNullOrEmpty(RequiredBoards))
{
startSampler = true;
}
else
{
String[] ar = RequiredBoards.Split(',');
startSampler = true;
for (int i = 0; i < ar.Length; i++)
{
ArduinoDeviceManager amg = GetADM(ar[i]);
if (amg == null || amg.State != ADMState.DEVICE_CONNECTED)
{
startSampler = false;
break;
}
}
}
if (startSampler)
{
Sampler.Start();
Tracing?.TraceEvent(TraceEventType.Information, 0, "Started sampler with {0} subjects and tick time of {1}", Sampler.SubjectCount, Sampler.TimerInterval);
}
String msg = String.Format("All {0} added devices connected for {1} ", adm.DeviceCount, adm.BoardID);
Broadcast(ADMEvent.DEVICES_CONNECTED, msg);
}
public ADMRequest(ArduinoDeviceManager adm, byte tag, String target, int ttl = 60 * 1000)
{
ADM = adm;
Tag = tag;
Target = target;
Requested = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
_ttl = ttl;
}
protected void AddADMRequest(ArduinoDeviceManager adm, byte tag, String replyTo)
{
if (tag == 0)
{
throw new ArgumentException("AddADMRequest: Tag cannot be 0");
}
//we intentionally allow for the possibility of this being overwritten by a future request
_admRequests.Add(new ADMRequest(adm, tag, replyTo));
}
virtual protected bool HandleADMDeviceCommand(ArduinoDeviceManager adm, String deviceID, String command, List <Object> args, Message response)
{
if (adm == null)
{
throw new Exception("No ADM provided");
}
if (!adm.HasDevice(deviceID))
{
throw new Exception(String.Format("Device {0} has not been added to ADM", deviceID));
}
bool respond = true;
ArduinoDevice device = null;
MessageSchema schema = new ADMService.MessageSchema(response);
switch (command)
{
case "list-commands":
device = adm.GetDevice(deviceID);
schema.AddDeviceCommands(device);
break;
case "status":
device = adm.GetDevice(deviceID);
if (device.BoardID == 0)
{
throw new Exception(String.Format("Device {0} does not have a board ID", deviceID));
}
AddADMRequest(adm, adm.RequestStatus(device.BoardID), response.Target);
respond = false;
break;
default:
var commands = command.Split(',');
foreach (var cmd in commands)
{
var tcmd = cmd.Trim();
if (tcmd.ToLower().IndexOf("wait") == 0)
{
int delay = tcmd.Length > 4 ? System.Convert.ToInt16(tcmd.Substring(4, tcmd.Length - 4)) : 200;
System.Threading.Thread.Sleep(delay);
}
else
{
byte tag = adm.IssueCommand(deviceID, tcmd, args);
if (tag > 0)
{
AddADMRequest(adm, tag, response.Target);
respond = false;
}
}
}
break;
}
return(respond);
}
private void TryHandleADMMessage(ADMMessage message, ArduinoDeviceManager adm)
{
try
{
HandleADMMessage(message, adm);
} catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 100, "HandleADMMessage Error handling {0}: {1}", message.Type, e.Message);
}
}
protected virtual bool OnADMInactivityTimeout(ArduinoDeviceManager adm, long msQuiet)
{
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADMService::MonitorADM: Last activity of ADM (BoardID={0}) on {1} was {2} ms ago ... so attempting a clear", adm.BoardID, adm.PortAndNodeID, msQuiet);
try
{
adm.Clear();
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::MonitorADM: Clearing ADM (BoardID={0}) on {1} was successful so attempting to Ping", adm.BoardID, adm.PortAndNodeID);
adm.RequestStatus();
return(true);
}
catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::MonitorADM: Error clearing ADM (BoardID={0}) on {1}: {2} {3}", adm.BoardID, adm.PortAndNodeID, e.GetType(), e.Message);
return(false);
}
}
virtual protected void DisconnectADM(String port, String nodeID = null)
{
if (PortSharing)
{
//when using a shared port we connect all the boards in one go
var ar = nodeID == null?RequiredBoards.Split(',') : new String[]
{
nodeID
};
foreach (String nid in ar)
{
String key = port + ":" + nid;
if (!ADMS.ContainsKey(key))
{
continue;
}
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Attempting to disconnect board @ {0}", key);
ArduinoDeviceManager adm = ADMS[key];
if (adm != null)
{
adm.Disconnect();
}
ADMS.Remove(key);
_devicesConnected.Remove(key);
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Disconnected board @ {0}", key);
}
}
else
{
if (!ADMS.ContainsKey(port))
{
return;
}
ArduinoDeviceManager adm = ADMS[port];
if (adm != null)
{
adm.Disconnect();
}
ADMS.Remove(port);
_devicesConnected.Remove(port);
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Board {0} on port {1} disconnected", adm.BoardID, port);
Broadcast(ADMEvent.DISCONNECTED, String.Format("{0} disconnected from port {1}", adm.BoardID, port));
}
}
public void PrepareForBroadcast(ArduinoDeviceManager adm)
{
ADMMessage message = (ADMMessage)Message;
message.AddValue("BoardID", adm.BoardID);
ArduinoDevice dev = null;
if (message.TargetID > 0)
{
dev = adm.GetDeviceByBoardID(message.TargetID);
}
else if (message.Sender != null && message.Sender != String.Empty)
{
dev = adm.GetDevice(message.Sender);
}
message.AddValue(DEVICE_ID, dev != null ? dev.ID : "");
message.AddValue(DEVICE_NAME, dev != null ? dev.Name : "");
}
protected ADMRequest GetADMRequest(ArduinoDeviceManager adm, byte tag, bool remove = true)
{
ADMRequest req2return = null;
foreach (ADMRequest req in _admRequests)
{
if (req.ADM == adm && req.Tag == tag)
{
req2return = req;
break;
}
}
if (req2return != null)
{
_admRequests.Remove(req2return);
}
return(req2return);
}
static public ArduinoDeviceManager Connect(String port, SerialBaudRate bps, int timeOut, Action <ADMMessage, ArduinoDeviceManager> listener)
{
ISerialConnection connection = new EnhancedSerialConnection(port, bps);
if (connection != null)
{
var session = new ArduinoSession(connection, timeOut);
try
{
var mgr = new ArduinoDeviceManager(session, listener, port);
return(mgr);
} catch (Exception e)
{
if (connection.IsOpen)
{
connection.Close();
}
throw e;
}
}
return(null);
}
abstract protected void AddADMDevices(ArduinoDeviceManager adm, ADMMessage message);
/// <summary>
/// Called by a timer
/// </summary>
/// <param name="sender"></param>
/// <param name="eventArgs"></param>
protected virtual void MonitorADM(Object sender, ElapsedEventArgs eventArgs)
{
_admtimer.Stop();
try
{
lock (_lockMonitorADM)
{
//get all current ports that have boards connected
List <String> ports = ArduinoDeviceManager.GetBoardPorts(SupportedBoards, AllowedPorts, DeniedPorts);
//build a list of any ADMs that are no longer connected to one of these ports (e.g. USB has been yanked out)
List <ArduinoDeviceManager> adms = ADMS.Values.ToList();
foreach (ArduinoDeviceManager adm in adms)
{
if (adm == null)
{
continue;
}
if (!ports.Contains(adm.Port))
{
//if for some reason (config change?) the port for the ADM is not a possible board port
DisconnectADM(adm.Port);
}
}
//now we try and connect all the boards that we have not just disconnected but have not yet been connected
if (ports.Count > 0 && ADMS.Count < RequiredBoardsCount)
{
_noPortsFoundWarning = false;
foreach (String port in ports)
{
try
{
ConnectADM(port);
}
catch (System.IO.IOException e)
{
switch (e.HResult)
{
case Win32.ERROR_ATTACHED_DEVICE_NOT_FUNCTIONING:
ResetPort(port, e);
break;
}
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::MonitorADM: Connecting ADM to port {0} produced IOException {1} ({2}): {3}", port, e.GetType().ToString(), e.HResult, e.Message);
}
catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::MonitorADM: Connecting ADM to port {0} produced Exception {1} ({2}): {3}", port, e.GetType().ToString(), e.HResult, e.Message);
}
}
}
else if (ADMS.Count < RequiredBoardsCount)
{
if (!_noPortsFoundWarning)
{
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADMService::MonitorADM: No boards connected to any port");
_noPortsFoundWarning = true;
}
}
//Finally we check on the state of the ADM
foreach (ArduinoDeviceManager adm in adms)
{
if (adm == null)
{
continue;
}
if (!adm.IsConnected)
{
//TODO: how do we handle this?
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADM (BDID={0}) @ {1} is of state", adm.State);
}
else if (ADMInactivityTimeout > 0)
{
//if there has been a suspicioius lack of activity...
long msQuiet = (DateTime.Now.Ticks - adm.LastMessageReceivedOn.Ticks) / TimeSpan.TicksPerMillisecond;
if (msQuiet > ADMInactivityTimeout)
{
OnADMInactivityTimeout(adm, msQuiet);
}
}
}
} //end of monitor lock
} catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 100, "Unknown exception in MonitorADM: {0}, {1}", e.GetType().ToString(), e.Message);
}
_admtimer.Start();
}
virtual protected void ReconnectADM(ArduinoDeviceManager adm)
{
DisconnectADM(adm.Port, adm.NodeID);
System.Threading.Thread.Sleep(1000);
ConnectADM(adm.Port, adm.NodeID);
}
virtual protected void ConnectADM(String port, String nodeID = null)
{
//turn off the sampler ... it will start again when all boards have been connected
Sampler.Stop();
if (PortSharing)
{
if (RequiredBoards == null)
{
throw new Exception("If using a shared port, 'Nodes' on the port must be specified as the 'RequiredBoards' property");
}
//when using a shared port we connect all the boards in one go
var boards = nodeID == null?RequiredBoards.Split(',') : new String[]
{
nodeID
};
List <Exception> exs = new List <Exception>();
foreach (String nid in boards)
{
String key = port + ":" + nid;
if (ADMS.ContainsKey(key))
{
continue;
}
try
{
//now proceed to connect
ADMS[key] = null; //reserve a place (cos the connection process takes a while)
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Attempting to connect board @ {0}", key);
ArduinoDeviceManager adm = ArduinoDeviceManager.Connect(nid, port, BaudRate, TryHandleADMMessage);
adm.Sampler = Sampler;
adm.Tracing = Tracing;
ADMS[key] = adm;
_devicesConnected[key] = false;
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Connected to board @ {0}", key);
Broadcast(ADMEvent.CONNECTED, String.Format("ADM now Connected @ {0}", key));
//Wait here (i.e. before connecting to another board) until the adm is of status device connected
while (!adm.DevicesConnected)
{
System.Threading.Thread.Sleep(1000);
}
} catch (Exception e)
{
ADMS.Remove(key);
//TODO: remove the trace and create a single 'aggregate' exception and throw that after th eloop
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::ConnectADM: Error connection to board @ {0}: {1}", key, e.Message);
exs.Add(e);
}
} //end loop of all required boards
}
else
{
String key = port;
if (ADMS.ContainsKey(key))
{
throw new Exception("ADMService::ConnectADM: port " + port + " already has an assigned ADM");
}
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Attempting to connect board on {0} port {0}", port);
try
{
ADMS[key] = null; //reserve a place (cos the connection process takes a while)
//now connct
ArduinoDeviceManager adm = ArduinoDeviceManager.Connect(port, BaudRate, TryHandleADMMessage);
adm.Sampler = Sampler;
adm.Tracing = Tracing;
ADMS[key] = adm;
_devicesConnected[key] = false;
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Connected to board on port {0}", port);
Broadcast(ADMEvent.CONNECTED, String.Format("Connected ADM to port {0}", port));
} catch (Exception e) {
ADMS.Remove(key);
//TODO: remove the trace and create a single 'aggregate' exception and throw that after th eloop
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::ConnectADM: Error connection to board @ {0}: {1}", key, e.Message);
}
}
}
override public bool HandleCommand(Connection cnn, Message message, String cmd, List <Object> args, Message response)
{
bool respond = true;
MessageSchema schema = new ADMService.MessageSchema(response);
DeviceManager devMgr;
ArduinoDeviceManager adm;
switch (cmd)
{
case "status":
schema.AddADMS(ADMS);
List <String> ports = ArduinoDeviceManager.GetBoardPorts(SupportedBoards, AllowedPorts, DeniedPorts);
schema.AddPorts(ports);
schema.AddRequiredBoards(RequiredBoards);
devMgr = DeviceManager.GetInstance();
List <String> portDevices = new List <String>();
foreach (String port in ports)
{
List <DeviceManager.DeviceInfo> devs = devMgr.GetDevices("(" + port + ")");
foreach (DeviceManager.DeviceInfo devInfo in devs)
{
String s = String.Format("{0} ({1}): {2}", devInfo.Description, devInfo.InstanceID, devInfo.Status);
portDevices.Add(s);
}
}
response.AddValue("PortDevices", portDevices);
break;
case "disable-port":
case "enable-port":
case "reset-port":
if (args.Count != 1 || args[0] == null || args[0].ToString() == String.Empty)
{
throw new Exception("No port specified");
}
String devicePort = args[0].ToString().ToUpper();
devMgr = DeviceManager.GetInstance();
List <DeviceManager.DeviceInfo> ar = devMgr.GetDevices("(" + devicePort + ")");
if (ar.Count != 1)
{
throw new Exception("Cannot find device on port " + devicePort);
}
DeviceManager.DeviceInfo di = ar[0];
//first we check if there is an ADM on this port
String output = "";
lock (_lockMonitorADM)
{
if (ADMS.ContainsKey(devicePort))
{
output += String.Format("Found ADM on port {0} so disconnecting first", devicePort) + Environment.NewLine;
DisconnectADM(devicePort);
System.Threading.Thread.Sleep(500);
if (SerialPorts.IsOpen(devicePort))
{
throw new Exception("Serial port is open on " + devicePort);
}
}
Process proc = null;
if (cmd == "disable-port")
{
proc = devMgr.DisableDevice(di.InstanceID);
}
else if (cmd == "enable-port")
{
proc = devMgr.EnableDevice(di.InstanceID);
}
else
{
proc = devMgr.ResetDevice(di.InstanceID);
}
output += proc.StandardOutput.ReadToEnd();
}
response.Value = output;
break;
default:
var tgtcmd = cmd.Split(':');
if (tgtcmd.Length < 2)
{
throw new Exception(String.Format("ADM: Unrecognised command {0}", cmd));
}
//Check that there are any boards connected
if (ADMS.Count == 0)
{
throw new Exception("ADM: No boards connected");
}
//so this is an ADM command, find the board first
adm = GetADM(tgtcmd[0]);
if (adm == null)
{
throw new Exception(String.Format("ADM: Cannot find ADM {0}", tgtcmd[0]));
}
if (!adm.IsConnected)
{
throw new Exception(String.Format("ADM: {0} is not conntected", adm.BoardID));
}
//handle commands related to the board (i.e. not to a specific added device)
if (tgtcmd.Length == 2)
{
int repeat; //frequently used var name
int delay; //frequently used var name
switch (tgtcmd[1].ToLower())
{
case "status":
AddADMRequest(adm, adm.RequestStatus(), response.Target);
respond = false;
break;
case "ping":
AddADMRequest(adm, adm.Ping(), response.Target);
respond = false;
break;
case "pingloadtest":
repeat = args != null && args.Count > 0 ? System.Convert.ToInt16(args[0]) : 10;
delay = args != null && args.Count > 1 ? System.Convert.ToInt16(args[1]) : 500;
Task.Run(() =>
{
for (int i = 0; i < repeat; i++)
{
adm.Ping();
System.Threading.Thread.Sleep(delay);
}
});
respond = false;
break;
case "capability":
var lbc = adm.ListBoardCapability();
response.AddValue("PinCount: ", lbc.Count);
response.AddValue("Pins", lbc);
break;
case "disconnect":
DisconnectADM(adm.Port);
break;
case "setdigitalpin":
if (args.Count < 2)
{
throw new Exception("Insufficient arguments ... must supply a pin number and value");
}
int pin = System.Convert.ToInt16(args[0]);
bool val = Chetch.Utilities.Convert.ToBoolean(args[1]);
if (!adm.IsPinCapable(pin, Solid.Arduino.Firmata.PinMode.DigitalOutput))
{
throw new Exception(String.Format("Pin {0} is not capabale of digital output", pin));
}
if (adm.GetDevicesByPin(pin) != null)
{
throw new Exception(String.Format("Pin {0} is being used by a device", pin));
}
adm.SetDigitalPinMode(pin, Solid.Arduino.Firmata.PinMode.DigitalOutput);
adm.SetDigitalPin(pin, val);
break;
case "setdigitalport":
if (args.Count < 2)
{
throw new Exception("Insufficient arguments ... must supply a port number and value");
}
int port = System.Convert.ToInt16(args[0]);
bool enable = Chetch.Utilities.Convert.ToBoolean(args[1]);
adm.SetDigitalReportMode(port, enable);
//adm.G
break;
case "list-devices":
schema.AddDevices(adm.GetDevices());
break;
case "list-pins":
break;
default:
throw new Exception(String.Format("No ADM direct command {0}", tgtcmd[1]));
}
}
else
{
//handle command specific to device
try
{
respond = HandleADMDeviceCommand(adm, tgtcmd[1], tgtcmd[2], args, response);
} catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 0, "Exception: {0}", e.Message);
throw e;
}
}
if (response.Value == null || response.Value == String.Empty)
{
response.Value = "Handled " + cmd;
}
break;
}
return(respond);
}
virtual protected void HandleADMMessage(ADMMessage message, ArduinoDeviceManager adm)
{
switch (message.Type)
{
case MessageType.ERROR:
ErrorCode errCode = message.HasValue("ErrorCode") ? message.GetEnum <ErrorCode>("ErrorCode") : ErrorCode.ERROR_UNKNOWN;
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADM {0} produced error: {1}", adm.BoardID, errCode);
switch (errCode)
{
case ErrorCode.ERROR_ADM_NOT_INITIALISED:
ReconnectADM(adm);
break;
default:
//currently do nothing
break;
}
break;
case MessageType.WARNING:
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADM {0} produced warning: {1}", adm.BoardID, message.Value);
break;
case MessageType.STATUS_RESPONSE:
if (!PortSharing && !IsRequiredBoard(adm.BoardID))
{
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADM {0} is not one of the required boards ({1}). Disconnecting from port {2}...", adm.BoardID, RequiredBoards, adm.Port);
DisconnectADM(adm.Port);
break;
}
if (adm.State == ADMState.DEVICE_READY)
{
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: Ready to add devices to {0} on port {1} ...", adm.BoardID, adm.PortAndNodeID);
AddADMDevices(adm, message);
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: {0} devices added to {1} on port {2}. Now configure board", adm.DeviceCount, adm.BoardID, adm.PortAndNodeID);
adm.Configure();
}
else if (adm.State == ADMState.DEVICE_CONNECTED)
{
if (message.HasValue("Initialised") && !message.GetBool("Initialised"))
{
//Console.WriteLine("Whoa ... {0} has reset without us knowing", adm.PortAndNodeID);
}
}
break;
case MessageType.CONFIGURE_RESPONSE:
String key = adm.PortAndNodeID;
if (adm.State == ADMState.DEVICE_CONNECTED && !_devicesConnected[key])
{
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: All {0} devices now configured and connected to board {1} on port {2}", adm.DeviceCount, adm.BoardID, adm.PortAndNodeID);
OnADMDevicesConnected(adm, message);
}
break;
case MessageType.PING_RESPONSE:
break;
}
if (message.Tag > 0)
{
ADMRequest req = GetADMRequest(adm, message.Tag);
if (req != null)
{
if (req.HasExpired())
{
Tracing?.TraceEvent(TraceEventType.Warning, 0, "ADM request for tag {0} and target {1} has expired so not returning message of type {2}", message.Tag, req.Target, message.Type);
return;
}
else
{
message.Target = req.Target;
}
}
}
var schema = new ADMService.MessageSchema(message);
schema.PrepareForBroadcast(adm);
//notify other clients listening to this client
Broadcast(ADMEvent.MESSAGE, message);
}