public static sAdbMessage Parse(byte[] data)
{
sAdbMessage msg = new sAdbMessage();
int offset = 0;
msg.command = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
msg.arg0 = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
msg.arg1 = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
msg.dataLength = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
msg.dataCheck = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
msg.magic = (UInt32)(data[offset++] + (data[offset++] << 8) + (data[offset++] << 16) + (data[offset++] << 24));
return(msg);
}
static void AdbListening()
{
int count = 0;
string datastring = "";
Debug.Print("Inside AdbListening");
// Read every bInterval
while (true)
{
Thread.Sleep(adbInPipe.PipeEndpoint.bInterval);
try
{
count = adbInPipe.TransferData(adbData, 0, adbData.Length);
}
catch (Exception ex)
{
Debug.Print(ex.ToString());
}
if (count == 24)
{
adbInMsg = sAdbMessage.Parse(adbData);
switch (adbInMsg.command)
{
case A_CNXN:
Debug.Print("In << CNXN " + adbInMsg.arg0.ToString() + "," + adbInMsg.arg1.ToString());
break;
case A_OPEN:
Debug.Print("In << OPEN " + adbInMsg.arg0.ToString() + "," + adbInMsg.arg1.ToString());
break;
case A_OKAY:
Debug.Print("In << OKAY " + adbInMsg.arg0.ToString() + "," + adbInMsg.arg1.ToString());
busyWrite = false;
break;
case A_CLSE:
Debug.Print("In << CLSE " + adbInMsg.arg0.ToString() + "," + adbInMsg.arg1.ToString());
SendAdbMessage(A_OKAY, adbInMsg.arg1, adbInMsg.arg0);
break;
case A_WRTE:
Debug.Print("In << WRTE " + adbInMsg.arg0.ToString() + "," + adbInMsg.arg1.ToString());
SendAdbMessage(A_OKAY, adbInMsg.arg1, adbInMsg.arg0);
break;
default:
datastring = ByteArrayToString(adbData);
Debug.Print("In << (" + count.ToString() + ") " + datastring);
break;
}
}
else if (count > 0)
{
adbData[count] = 0;
datastring = ByteArrayToString(adbData);
Debug.Print("In << (" + count.ToString() + ") " + datastring);
switch (datastring)
{
case "device::":
SendAdbMessage(A_OPEN, 1, 0, portName);
break;
default:
string[] cmds = datastring.Split(';');
for (int i = 0; i < cmds.Length; i++)
{
string[] cmd = cmds[i].Split(':');
if (cmd.Length == 2)
{
switch (cmd[0])
{
case "x":
servo1.SetPosition((byte)int.Parse(cmd[1]));
break;
case "y":
servo2.SetPosition((byte)int.Parse(cmd[1]));
break;
}
}
}
break;
}
}
else if (count == 0)
{
float value = myRanger.GetDistance_cm();
Debug.Print("myRanger reading is: " + value.ToString());
SendAdbMessage(A_WRTE, 1, 25, "a0:" + value.ToString() + ";");
Thread.Sleep(10);
}
}
}
