private async Task SoftReset()
{
// INS12350-Serial-API-Host-Appl.-Prg.-Guide | 6.1 Initializatio
// 1) Close host serial port if it is open
// 2) Open the host serial port at 115200 baud 8N1.
// 3) Send the NAK
// 4) Send SerialAPI command: FUNC_ID_SERIAL_API_SOFT_RESET
// 5) Wait 1.5s
var message = new RequestMessage(new Payload((byte)Function.SerialApiSoftReset));
var frame = MessageBroker.Encode(message);
var writer = new FrameWriter(Port);
await writer.Write(Frame.NAK, CancellationToken.None);
await writer.Write(frame, CancellationToken.None);
await Task.Delay(1500);
}
private void WriteAndRead(FrameWriter writer, FrameReader reader, Input.DirectX.Identifier input, Output.Joystick.Identifier output, Axis axis, double value)
{
writer.Write(new Dictionary <Output.IIdentifier, State>
{
{ output, new State()
{
Axis = new Dictionary <Axis, double>
{
{ axis, value }
}
} }
});
Thread.Sleep(1);
var actual = reader.Read()[input].Axis[axis];
Assert.IsTrue(value <= actual + 0.001 && actual - 0.001 <= value);
}
public async Task WriteReadDataFrame()
{
var input = new byte[] { 1, 12, 0, 4, 0, 15, 6, 49, 5, 4, 34, 0, 3, 239 };
var stream = new MockDuplexStream();
stream.Input.Write(input, 0, input.Length);
stream.Input.Position = 0;
var reader = new FrameReader(stream);
var response = (DataFrame)(await reader.Read(CancellationToken.None));
var request = new DataFrame(DataFrameType.REQ, response.Payload);
var writer = new FrameWriter(stream);
await writer.Write(request, CancellationToken.None);
var output = stream.Output.ToArray();
Assert.IsTrue(input.SequenceEqual(output));
}
public async Task WriteReadAckFrame()
{
var stream = new MockDuplexStream();
var writer = new FrameWriter(stream);
var request = Frame.ACK;
await writer.Write(request, CancellationToken.None);
var data = stream.Output.ToArray();
await stream.Input.WriteAsync(data, 0, data.Length);
stream.Input.Position = 0;
var reader = new FrameReader(stream);
var response = await reader.Read(CancellationToken.None);
Assert.AreEqual(request, response);
}
private Task Execute(IObserver <Frame> observer, CancellationToken cancellationToken = default)
{
if (observer == null)
{
throw new ArgumentNullException(nameof(observer));
}
return(_task = Task.Run(async() =>
{
_logger.LogDebug("Started");
// execute until externally cancelled
while (!cancellationToken.IsCancellationRequested)
{
var frame = default(Frame);
try
{
// read next frame
frame = await _reader.Read(cancellationToken);
}
catch (StreamClosedException ex)
{
// most likely removal of ZStick from host
_logger.LogDebug(ex.Message);
observer.OnError(ex);
return;
}
catch (OperationCanceledException) when(cancellationToken.IsCancellationRequested)
{
observer.OnCompleted();
// the read was cancelled by the passed cancellationtoken so end gracefully
break;
}
catch (ChecksumException ex)
{
// checksum failure on received frame, might happen during startup when we
// are not synchronized and receive a partially frame
_logger.LogWarning(ex.Message);
// send NACK and hopefully the controller will send this frame again
_logger.LogDebug($"Writing: {Frame.NAK}");
await _writer.Write(Frame.NAK, cancellationToken);
// wait for next frame
continue;
}
//
if (frame == Frame.ACK || frame == Frame.NAK || frame == Frame.CAN)
{
if (frame == Frame.ACK)
{
_logger.LogDebug($"Received: {frame}");
}
else
{
_logger.LogWarning($"Received: {frame}");
}
// publish the frame
observer.OnNext(frame);
// wait for next frame
continue;
}
if (frame is DataFrame dataFrame)
{
_logger.LogDebug($"Received: {frame}");
// dataframes must be aknowledged
_logger.LogDebug($"Writing: {Frame.ACK}");
await _writer.Write(Frame.ACK, cancellationToken);
// publish the frame
observer.OnNext(dataFrame);
// wait for next frame
continue;
}
}
_logger.LogDebug("Completed");
}, cancellationToken));
}