/// <summary>
/// Check if a Tranport Address belongs to the same network as this one.
/// </summary>
public override bool IsSameNetwork(TransportAddress ta)
{
if (ta == null || GetType() != ta.GetType())
{
return(false);
}
SerialTransportAddress t = (SerialTransportAddress)ta;
return(serialport == t.serialport);
}
public virtual void Send(TransportAddress t, byte[] data)
{
byte[] tmp;
SerialHeader header;
if (data.Length > ushort.MaxValue)
{
throw new ArgumentOutOfRangeException("there are too many bytes to transmit");
}
// Check if this message is going to use Acknowledgements
if (((SerialTransportAddress)t).forceACK)
{
header = new SafeSerialHeader();
}
else
{
header = new SerialHeader();
}
header.length = (ushort)data.Length;
if (header is SafeSerialHeader)
{
((SafeSerialHeader)header).sequence = GetSequence();
}
tmp = new byte[header.size + data.Length];
header.GetBytes().CopyTo(tmp, 0);
data.CopyTo(tmp, header.size);
header.CRC = SerialCRC.Calculate(tmp, (uint)tmp.Length);
header.GetBytes().CopyTo(tmp, 0);
if (header is SafeSerialHeader)
{
lock (SendBuffer)
{
SendBuffer.Add(sequence, new SafeData(tmp));
}
}
try
{
WriteToPort(tmp, 0, tmp.Length, header is SafeSerialHeader);
}
catch (Exception e)
{
throw e;
}
}
/// <summary> /// Check if a Tranport Address belongs to the same network /// </summary> public abstract bool IsSameNetwork(TransportAddress ta);
public void DataReceived(byte[] buffer, int offset, int length, TransportAddress t)
{
byte[] tmpBuff = new byte[length];
for (int i = 0; i < length; i++)
{
tmpBuff[i] = buffer[offset + i];
}
switch ((char)tmpBuff[0])
{
case 'f':
Engine.getInstance().ManualForward(ToShort(tmpBuff, 1));
break;
case 'b':
Engine.getInstance().ManualBackward(ToShort(tmpBuff, 1));
break;
case 'r':
Engine.getInstance().ManualRight();
break;
case 'l':
Engine.getInstance().ManualLeft();
break;
case 's':
Engine.getInstance().ManualStop();
break;
case 'm':
Engine.getInstance().ManualMode();
break;
case 'M':
Engine.getInstance().StopManualMode();
break;
case 'V':
Engine.getInstance().ManualSpeed(ToShort(tmpBuff, 1));
break;
case 'v':
Engine.getInstance().ManualTurningSpeed(ToShort(tmpBuff, 1));
break;
case 'p':
int readen = 1;
int temp;
Position p = new Position();
double x = ToDouble(tmpBuff, readen, out temp);
readen += temp;
//Engine.getInstance().Debug("X: " + x.ToString());
double y = ToDouble(tmpBuff, readen, out temp);
readen += temp;
double angle = ToDouble(tmpBuff, readen, out temp);
readen += temp;
p.x = x;
p.y = y;
p.angle = angle;
Engine.getInstance().UpdatePosition(p);
break;
case 'c':
short value = 0;
switch ((char)tmpBuff[1])
{
case 'x':
value = ToShort(tmpBuff, 2);
Engine.getInstance().calibrarX(value);
break;
case 'y':
value = ToShort(tmpBuff, 2);
Engine.getInstance().calibrarY(value);
break;
}
break;
}
}
public virtual void Send(TransportAddress t, byte[] data)
{
byte[] tmp;
SerialHeader header;
if (data.Length > ushort.MaxValue)
throw new ArgumentOutOfRangeException("there are too many bytes to transmit");
// Check if this message is going to use Acknowledgements
if (((SerialTransportAddress)t).forceACK) { header = new SafeSerialHeader(); }
else { header = new SerialHeader(); }
header.length = (ushort)data.Length;
if (header is SafeSerialHeader)
{
((SafeSerialHeader)header).sequence = GetSequence();
}
tmp = new byte[header.size + data.Length];
header.GetBytes().CopyTo(tmp, 0);
data.CopyTo(tmp, header.size);
header.CRC = SerialCRC.Calculate(tmp, (uint)tmp.Length);
header.GetBytes().CopyTo(tmp, 0);
if (header is SafeSerialHeader)
{
lock (SendBuffer)
{
SendBuffer.Add(sequence, new SafeData(tmp));
}
}
try
{
WriteToPort(tmp, 0, tmp.Length, header is SafeSerialHeader);
}
catch (Exception e)
{
throw e;
}
}
/// <summary> /// Check if a Tranport Address belongs to the same network /// </summary> abstract public bool IsSameNetwork(TransportAddress ta);
public void DataReceived(byte[] buffer, int offset, int length, TransportAddress t)
{
byte[] tmpBuff = new byte[length];
for (int i = 0; i < length; i++)
{
tmpBuff[i] = buffer[offset + i];
}
switch ((char)tmpBuff[0])
{
case 'f':
Engine.getInstance().ManualForward(ToShort(tmpBuff, 1));
break;
case 'b':
Engine.getInstance().ManualBackward(ToShort(tmpBuff, 1));
break;
case 'r':
Engine.getInstance().ManualRight();
break;
case 'l':
Engine.getInstance().ManualLeft();
break;
case 's':
Engine.getInstance().ManualStop();
break;
case 'm':
Engine.getInstance().ManualMode();
break;
case 'M':
Engine.getInstance().StopManualMode();
break;
case 'V':
Engine.getInstance().ManualSpeed(ToShort(tmpBuff, 1));
break;
case 'v':
Engine.getInstance().ManualTurningSpeed(ToShort(tmpBuff, 1));
break;
case 'p':
int readen = 1;
int temp;
Position p = new Position();
double x = ToDouble(tmpBuff, readen, out temp);
readen += temp;
//Engine.getInstance().Debug("X: " + x.ToString());
double y = ToDouble(tmpBuff, readen, out temp);
readen += temp;
double angle = ToDouble(tmpBuff, readen, out temp);
readen += temp;
p.x = x;
p.y = y;
p.angle = angle;
Engine.getInstance().UpdatePosition(p);
break;
case 'c':
short value = 0;
switch ((char)tmpBuff[1])
{
case 'x':
value = ToShort(tmpBuff, 2);
Engine.getInstance().calibrarX(value);
break;
case 'y':
value = ToShort(tmpBuff, 2);
Engine.getInstance().calibrarY(value);
break;
}
break;
}
}
/// <summary>
/// Check if a Tranport Address belongs to the same network as this one.
/// </summary>
public override bool IsSameNetwork(TransportAddress ta)
{
if (ta == null || GetType() != ta.GetType()) return false;
SerialTransportAddress t = (SerialTransportAddress)ta;
return (serialport == t.serialport);
}