/// <summary>
/// Receives input from the microcontroller (used for acks informing of turn/stop complete).
///
/// This method is NOT CURRENTLY COMPLETE, due to changes in the specification.
/// </summary>
/// <param name="sender">The sending object</param>
/// <param name="e">The event</param>
private void serialPort_dataRecieved(object sender, SerialDataReceivedEventArgs e)
{
while (myMotors.BytesToRead > 0)
{
int b = myMotors.ReadByte();
switch (state)
{
case 0:
if (b == (int)MotorCommands.COMMAND_START) state = 1;
break;
case 1:
switch (b)
{
case (int)MotorCommands.ACK:
receive_ack = "Acknowledged";
SendAck a = new SendAck();
motorAckRecieve.Post(a);
state = 2;
break;
case (int)MotorCommands.STOP:
receive_ack = "STOP Acknowledged";
Stop stop = new Stop();
motorAckRecieve.Post(stop);
StopComplete c = new StopComplete();
motorAckRecieve.Post(c);
state = 2;
break;
case (int)MotorCommands.TURN:
receive_ack = "TURN Acknowledged";
Turn turn = new Turn();
motorAckRecieve.Post(turn);
state = 2;
break;
case (int)MotorCommands.MOVE:
receive_ack = "MOVE Acknowledged";
SetSpeed ss = new SetSpeed();
motorAckRecieve.Post(ss);
state = 2;
break;
case (int)MotorCommands.HAS_STOPPED:
receive_ack = "Has Stopped";
StopComplete sc = new StopComplete();
motorAckRecieve.Post(sc);
state = 2;
break;
case (int)MotorCommands.TURN_COMPLETE:
receive_ack = "Turn complete in serial handler";
TurnComplete tc = new TurnComplete();
motorAckRecieve.Post(tc);
state = 2;
break;
case (int)MotorCommands.BUMPER_ACTIVE:
bumper.sendBumperNotification();
state = 2;
break;
default:
receive_ack = "Unexpected input from motors!";
state = 0;
break;
}
Console.WriteLine(receive_ack);
break;
case 2:
if (b == (int)MotorCommands.COMMAND_STOP) state = 0;
// motorAckRecieve.Post(a);
Console.WriteLine(receive_ack);
break;
default:
state = 0;
break;
}
}
}
public IEnumerator<ITask> SendAckHandler(SendAck s)
{
_motor.sendAck();
yield break;
}
