/// <summary>
/// Sends a packet to the arduino.
/// </summary>
/// <param name="cmd">The command number.</param>
/// <param name="buffer">The bytearray to be sent.</param>
public void Send(int cmd, ArduinoDataType dataType, byte[] buffer)
{
// build serial packet
int checksum = Crc16.ComputeChecksum(buffer);
byte[] serialPacket = new byte[buffer.Length + headerSize];
serialPacket[0] = (byte)(buffer.Length & 0xff);
serialPacket[1] = (byte)((buffer.Length >> 8) & 0xff);
serialPacket[2] = (byte)(checksum & 0xff);
serialPacket[3] = (byte)((checksum >> 8) & 0xff);
serialPacket[4] = (byte)cmd;
serialPacket[5] = (byte)dataType;
Array.Copy(buffer, 0, serialPacket, headerSize, buffer.Length);
// encode packet
byte[] encodedBuffer = new byte[COBS.GetEncodedBufferSize(serialPacket.Length)];
int encodedBufferSize = COBS.Encode(ref serialPacket, serialPacket.Length, ref encodedBuffer);
Array.Resize(ref encodedBuffer, encodedBufferSize + 1);
encodedBuffer[encodedBufferSize] = 0;
// add msg to outgoing queue
lock (sendLockObject)
{
sendPackets.Enqueue(encodedBuffer);
}
}
private void SendDisplayString(string displayString)
{
if (displayString == null || String.Equals(displayString, _lastDisplayStringSent, StringComparison.Ordinal))
{
return;
}
lock (_serialPortLock)
{
try
{
if (_serialPort == null || !_serialPort.IsOpen || displayString == null)
{
return;
}
var cobsEncodedPacket = COBS.Encode(Encoding.ASCII.GetBytes(displayString));
_serialPort.Write(cobsEncodedPacket, offset: 0, count: cobsEncodedPacket.Length);
_serialPort.Write(new byte[] { 0 }, 0, 1);
_serialPort.BaseStream.Flush();
_lastDisplayStringSent = displayString;
_bytesSentSignal.State = cobsEncodedPacket.Length;
}
catch (Exception e)
{
_log.Error(e.Message, e);
}
}
}
public void TestEncodingMaxSize()
{
// Create an array of maximum allowed size
var maxSizeArray = new byte[254];
// Attempt to encode the array
var result = COBS.Encode(maxSizeArray);
// Assert the array was created correctly
Assert.True(result.All(c => c == 1));
}
public void TestEncoding()
{
Assert.True(encoded1.SequenceEqual(COBS.Encode(decoded1)));
Assert.True(encoded2.SequenceEqual(COBS.Encode(decoded2)));
Assert.True(encoded3.SequenceEqual(COBS.Encode(decoded3)));
Assert.True(encoded4.SequenceEqual(COBS.Encode(decoded4)));
Assert.True(encoded5.SequenceEqual(COBS.Encode(decoded5)));
Assert.True(encoded6.SequenceEqual(COBS.Encode(decoded6)));
Assert.True(encoded7.SequenceEqual(COBS.Encode(decoded7)));
Assert.True(encoded8.SequenceEqual(COBS.Encode(decoded8)));
Assert.True(encoded9.SequenceEqual(COBS.Encode(decoded9)));
}
private void SendDrawingCommands(string svgPathString)
{
lock (_serialPortLock)
{
try
{
if (_serialPort == null || !_serialPort.IsOpen || svgPathString == null)
{
return;
}
var drawPoints = new SVGPathToVectorScopePointsListConverter(bezierCurveInterpolationSteps: BEZIER_CURVE_INTERPOLATION_STEPS)
.ConvertToDrawPoints(svgPathString)
.ApplyCentering(_config.Centering)
.ApplyInversion(VIEWBOX_WIDTH, VIEWBOX_HEIGHT, invertX: false, invertY: true)
.ApplyRotation(VIEWBOX_WIDTH / 2.0, VIEWBOX_HEIGHT / 2.0, _config.RotationDegrees)
.ApplyScaling(_config.Scaling.ScaleX, _config.Scaling.ScaleY, VIEWBOX_WIDTH, VIEWBOX_HEIGHT)
.ApplyCalibration(_config.XAxisCalibrationData, _config.YAxisCalibrationData)
.ApplyClipping(VIEWBOX_WIDTH, VIEWBOX_HEIGHT)
;
var drawPointsAsBytes = drawPoints.Select(x => (byte[])x).SelectMany(x => x).ToArray();
var cobsEncodedPacket = COBS.Encode(drawPointsAsBytes);
_serialPort.Write(cobsEncodedPacket, offset: 0, count: cobsEncodedPacket.Length);
_serialPort.Write(new byte[] { 0 }, 0, 1);
_serialPort.BaseStream.Flush();
_numDrawPointsSentSignal.State = drawPoints.Count();
_bytesSent.State = cobsEncodedPacket.Length;
}
catch (Exception e)
{
_log.Error(e.Message, e);
}
}
}
public void Encoding8()
{
byte[] expected8 = COBS.Encode(decoded8);
Assert.IsTrue(expected8.SequenceEqual(encoded8));
}
public void TestEncodingEmpty()
{
Assert.True(new List <byte>().SequenceEqual(COBS.Encode(new List <byte>())));
}
public void TestEncodingNull()
{
Assert.Null(COBS.Encode(null));
}
public void Encoding9()
{
byte[] expected9 = COBS.Encode(decoded9);
Assert.IsTrue(expected9.SequenceEqual(encoded9));
}
public void Encoding10()
{
byte[] expected10 = COBS.Encode(decoded10);
Assert.IsTrue(expected10.SequenceEqual(encoded10));
}
public void Encoding7()
{
byte[] expected7 = COBS.Encode(decoded7);
Assert.IsTrue(expected7.SequenceEqual(encoded7));
}
public void Encoding1()
{
byte[] expected1 = COBS.Encode(decoded1);
Assert.IsTrue(expected1.SequenceEqual(encoded1));
}
public void Encoding6()
{
byte[] expected6 = COBS.Encode(decoded6);
Assert.IsTrue(expected6.SequenceEqual(encoded6));
}
public void Encoding5()
{
byte[] expected5 = COBS.Encode(decoded5);
Assert.IsTrue(expected5.SequenceEqual(encoded5));
}
public void Encoding4()
{
byte[] expected4 = COBS.Encode(decoded4);
Assert.IsTrue(expected4.SequenceEqual(encoded4));
}
public void Encoding3()
{
byte[] expected3 = COBS.Encode(decoded3);
Assert.IsTrue(expected3.SequenceEqual(encoded3));
}
public void Encoding2()
{
byte[] expected2 = COBS.Encode(decoded2);
Assert.IsTrue(expected2.SequenceEqual(encoded2));
}