public static void PROCESS_instructionPacket(C_Packet lastSent)
{
if (IS_packetChangingValue(lastSent) == true)
{
if (lastSent.byteId != C_DynAdd.ID_BROADCAST)
{
C_MotorControl.ACTUALIZE_motorRegister(
lastSent.rotMotor,
e_regByteType.sentValue, // as we written them just now
lastSent.Par);
LOG_instruPacket(string.Format(
"Written OK (blind) - actualizing motor [{1}] register sentValue: \t{0}",
lastSent.PacketBytes_toString, lastSent.rotMotor));
}
else
{
// parse it and process each part alone
//LOG_instruPacket(string.Format(
// "Written OK (blind) - actualizing motors (broadcast) register sentValue: \t{0}",
// lastSent.PacketBytes_toString));
LOG_instruPacket(string.Format(
"Written OK (blind) - NOT actualizing motors (broadcast) register sentValue: \t{0}",
lastSent.PacketBytes_toString));
}
}
}
public static bool FIND_bestPairInLastSentQueues(C_Packet received, ref C_Packet paired)
{
// return through ref the best pairedPacket
e_rot rot;
bool foundMotor = C_MotorControl.GET_motorRotFromId(received.ByteId, out rot);
int rotMot = (int)rot;
if (foundMotor == true)
{
lock (queueSent_locker)
{
if (queueSent[rotMot].Count > 0)
{
List <C_Packet> listSent = (queueSent[rotMot]).ToList();
bool foundBestPair = FIND_bestPairInQueue(received, ref paired, ref listSent);
queueSent[rotMot] = new Queue <C_Packet>(listSent);
queueSent_Count[rotMot] = listSent.Count;
C_MotorControl.ACTUALIZE_queueCounts(queueSent);
return(foundBestPair);
}
else
{
LOG_debug(string.Format("lastSent queue of this motor[{0}] was empty!", rot));
return(false);
}
}
}
else
{
LOG_debug("Did not found any motor connected with this StatusPacket id : "
+ received.ByteId.ToString());
}
return(false);
}
public static void ACTUALIZE_motorRegistersFromStatusPacket(C_Packet received, C_Packet pairedLastSent)
{
try
{
if (received.byteId == pairedLastSent.byteId)
{
// we have no error in statusPacket
if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_WRITE)
{
// actualize the parameters which were written into motors - and we know they were written good
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue, // as we received statusMessage after we written the value
pairedLastSent.Par);
}
else if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_READ)
{
// actualize the parameters which were read from motors
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue,
C_CONV.listOfObjects2listOfBytes(new List <object>()
{
pairedLastSent.Par[0], received.Par
})
);
}
else
{
C_SPI.LOG_debug(string.Format(
"lastSent packet: {0}\nPaired with: {1}\n{2}",
pairedLastSent.PacketBytes_toString,
received.PacketBytes_toString,
"wasn't read neither write and yet still it was supposed to be processed as a statusPacket. Not processing!"
));
}
}
else
{
LOG_statusPacket(string.Format(
"The received status packet :\t{0}\nDoes not belong to the lastSent: \t{1}",
received.PacketBytes_toString, pairedLastSent.PacketBytes_toString
));
}
}
catch (Exception e)
{
C_SPI.LOG_debug("tak tady to padá! " + e.Message);
}
}
public static void QUEUE_PacketSent(C_Packet instructionPacket)
{
int rotMot = (int)instructionPacket.rotMotor;
if (C_Packet.IS_statusPacketFollowing(instructionPacket) == true)
{
lock (queueSent_locker)
{
instructionPacket.sentTime = DateTime.Now;
queueSent[rotMot].Enqueue(instructionPacket);
queueSent_Count[rotMot] = queueSent[rotMot].Count;
C_MotorControl.ACTUALIZE_queueCounts(queueSent);
}
}
}
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region properies
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion properies
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region INIT
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public void INIT_allMotors()
{
Ms = new C_MotorControl();
//Ms.INIT_individualMotors();
// set slider limits
SET_allSlidersLimits();
// Examples
INIT_examples();
// update position
UPDATE_slidersFromMotors();
lsChosenMotor.SelectedIndex = 0;
lsCmdEx.SelectedIndex = 0;
INIT_dgMotorData();
C_State.mot = e_stateMotor.ready;
//UPDATE_motorsFromSliders();
//UPDATE_slidersFromMotors();
}
public static bool UPDATE_portName()
{
// returns false if no COM port is found
string[] portNames = SerialPort.GetPortNames();
if (portNames == null)
{
return(false);
}
else
{
// select the last one
spi.PortName = portNames[portNames.Length - 1];
if (spi.PortName == "COM6")
{
C_MotorControl.INIT_groupSettings();
return(true);
}
else
{
return(false);
}
}
}
