public override byte Open(CTRE.Gadgeteer.IPortUart portDef, int arg)
{
m_uartPort = new System.IO.Ports.SerialPort(portDef.UART, arg, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
m_uartPort.DataReceived += GetDataHandler;
m_uartPort.Open();
m_localBuf = new byte[256];
start = end = 0;
return(0);
}
public int Init(CTRE.Gadgeteer.IPortUart portDef, int arg)
{
long t0;
byte res;
res = m_link.Open(portDef, arg);
if (res < 0)
{
return(res);
}
// wait for pixy to be ready -- that is, Pixy takes a second or 2 boot up
// getVersion is an effective "ping". We timeout after 5s.
for (t0 = millis(); millis() - t0 < 5000;)
{
if (GetVersion() >= 0) // successful version get -> pixy is ready
{
GetResolution(); // get resolution so we have it
return(PIXY_RESULT_OK);
}
}
// timeout
return(PIXY_RESULT_TIMEOUT);
}
public Pixy2UART(CTRE.Gadgeteer.IPortUart portDef, int baudrate = Link2UART.PIXY_UART_BAUDRATE) : base()
{
m_link = new Link2UART();
m_link.Open(portDef, baudrate);
}
abstract public byte Open(CTRE.Gadgeteer.IPortUart portDef, int arg);
