public void _PortSerie_DataReceived(object sender, SerialDataReceivedEventArgs arg)
{
Logger.GlobalLogger.debug("_PortSerie_DataReceived");
TrameProtocole trame = _protocol.getTrame(); // recuperre la trame reçue
if (Protocol.crc16_protocole(trame) == trame.crc) // Verification du CRC
{
Logger.GlobalLogger.debug("CRC OK");
byte idSource = trame.src;
ArduinoBots robot = FlotteRobots.Find(ArduinoBots.ById(idSource));
if (robot == null) // Robot inconnu
{
Logger.GlobalLogger.info("Robot inconnu, Creation Nouveau robot");
robot = new ArduinoBots(idSource);
FlotteRobots.Add(robot);
}
if (trame.dst == BROADCAST_ID) // Broadcast
{
}
else if (trame.dst == COMPUTER_ID) // Ordi
{
}
else
{
}
}
else
{
Logger.GlobalLogger.error("CRC FAILED");
}
}
private byte[] MakeTrameBinary(TrameProtocole trame)
{
List <byte> trameBinary = new List <byte>();
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_START_1);
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_START_2);
addToTrameBinary(trameBinary, trame.src);
addToTrameBinary(trameBinary, trame.dst);
addToTrameBinary(trameBinary, (byte)(trame.num >> 8));
addToTrameBinary(trameBinary, (byte)(trame.num & 0xFF));
addToTrameBinary(trameBinary, trame.length);
foreach (byte data in trame.data)
{
addToTrameBinary(trameBinary, data);
}
addToTrameBinary(trameBinary, (byte)(trame.crc >> 8));
addToTrameBinary(trameBinary, (byte)(trame.crc & 0xFF));
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_STOP);
return(trameBinary.ToArray());
}
public void SendTrame(TrameProtocole trame)
{
if (PortSerie == null)
{
return;
}
if (!PortSerie.IsOpen)
{
return;
}
byte[] Bin = MakeTrameBinary(trame);
Log.log(Bin.ToString());
PortSerie.Write(Bin, 0, Bin.Length);
}
private void sendMoveMessage(bool Sens)
{
PCtoEMBMessageMove Message = new PCtoEMBMessageMove();
Message.headerMess = (byte)PCtoEMBmessHeads.MOVE;
Message.sens = (byte)((Sens) ? 0x01 : 0x00);
Message.speed = (byte)0xF0;
Message.distance = (byte)0xF0;
byte[] data = Message.getBytes();
byte Dst = (byte)Convert.ToUInt16(txt_idDst.Text);
byte Src = (byte)Convert.ToUInt16(txt_idSrc.Text);
TrameProtocole pTrame = g_Protocol.MakeTrame(Src, Dst, g_ProtocolCpt, data);
}
private void sendTurnMessage(bool Sens)
{
PCtoEMBMessageTurn Message = new PCtoEMBMessageTurn();
Message.headerMess = (byte)PCtoEMBmessHeads.TURN;
Message.direction = (byte)((Sens) ? 0x01 : 0x00);
Message.angle = (byte)0x5A;
byte[] data = Message.getBytes();
byte Dst = (byte)Convert.ToUInt16(txt_idDst.Text);
byte Src = (byte)Convert.ToUInt16(txt_idSrc.Text);
TrameProtocole pTrame = g_Protocol.MakeTrame(Src, Dst, g_ProtocolCpt, data);
g_Logger.debug(pTrame.data.ToString());
}
public TrameProtocole MakeTrame(byte src, byte dst, ushort num, byte[] data)
{
if (data.Length > BUFFER_DATA_IN)
{
return(default(TrameProtocole));
}
TrameProtocole trame = new TrameProtocole();
trame.src = src;
trame.dst = dst;
trame.num = num;
trame.length = Convert.ToByte(data.Length);
trame.data = data;
trame.crc = crc16_protocole(trame);
return(trame);
}
public void traiterNouvelleTrameRecu(TrameProtocole trame)
{
if (trame.data.Length != trame.length)
{
Logger.GlobalLogger.error("traiterNouvelleTrameRecu : trame.data.Length != trame.length");
return;
}
if (trame.length >= 1 && trame.data.Length == trame.length)
{
EMBtoPCmessHeads header = (EMBtoPCmessHeads)trame.data[0]; // Recuperation de l'entete du message
Logger.GlobalLogger.info("HEADER : " + header.ToString());
switch (header)
{
case EMBtoPCmessHeads.ASK_CONN:
TraiterMessageASK_CONN((EMBtoPCMessageAskConn)trame.data);
break;
case EMBtoPCmessHeads.ACK:
TraiterMessageACK((EMBtoPCMessageGlobalAck)trame.data);
break;
case EMBtoPCmessHeads.RESP_PING:
TraiterMessageRESP_PING((EMBtoPCMessageRespPing)trame.data);
break;
case EMBtoPCmessHeads.RESP_SENSOR:
TraiterMessageRESP_SENSOR((EMBtoPCMessageRespSensor)trame.data);
break;
default:
Logger.GlobalLogger.error("Header Inconnu !");
break;
}
}
else
{
Logger.GlobalLogger.error("traiterNouvelleTrameRecu : trame.data.Length == 0");
return;
}
}
byte[] getBytes(TrameProtocole trame)
{
byte[] retVal = new byte[trame.length + 5];
/*public byte src;
* public byte dst;
* public ushort num;
* public byte length;
* public byte[] data;*/
int index = 0;
retVal[index++] = trame.src;
retVal[index++] = trame.dst;
retVal[index++] = (byte)(trame.num >> 8);
retVal[index++] = (byte)(trame.num & 0xFF);
retVal[index++] = trame.length;
foreach (byte data in trame.data)
{
retVal[index++] = data;
}
return(retVal);
}
private byte[] MakeTrameBinary(TrameProtocole trame)
{
List<byte> trameBinary = new List<byte>();
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_START_1);
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_START_2);
addToTrameBinary(trameBinary, trame.src);
addToTrameBinary(trameBinary, trame.dst);
addToTrameBinary(trameBinary, (byte)(trame.num >> 8));
addToTrameBinary(trameBinary, (byte)(trame.num & 0xFF));
addToTrameBinary(trameBinary, trame.length);
foreach (byte data in trame.data)
addToTrameBinary(trameBinary, data);
addToTrameBinary(trameBinary, (byte)(trame.crc >> 8));
addToTrameBinary(trameBinary, (byte)(trame.crc & 0xFF));
trameBinary.Add((byte)ProtocoleChar.PROTOCOL_STOP);
return trameBinary.ToArray();
}
byte[] getBytes(TrameProtocole trame)
{
byte[] retVal = new byte[trame.length + 5];
/*public byte src;
public byte dst;
public ushort num;
public byte length;
public byte[] data;*/
int index = 0;
retVal[index++] = trame.src;
retVal[index++] = trame.dst;
retVal[index++] = (byte)(trame.num >> 8);
retVal[index++] = (byte)(trame.num & 0xFF);
retVal[index++] = trame.length;
foreach (byte data in trame.data)
retVal[index++] = data;
return retVal;
}
ushort crc16_protocole(TrameProtocole trame)
{
return crc16.calc_crc16(getBytes(trame), trame.length + 5);
}
public void SendTrame(TrameProtocole trame)
{
if (PortSerie == null)
return;
if (!PortSerie.IsOpen)
return;
byte[] Bin = MakeTrameBinary(trame);
Log.log(Bin.ToString());
PortSerie.Write(Bin, 0,Bin.Length);
}
public TrameProtocole MakeTrame(byte src, byte dst, ushort num, byte[] data)
{
if (data.Length > BUFFER_DATA_IN)
return default(TrameProtocole);
TrameProtocole trame = new TrameProtocole();
trame.src = src;
trame.dst = dst;
trame.num = num;
trame.length = Convert.ToByte(data.Length);
trame.data = data;
trame.crc = crc16_protocole(trame);
return trame;
}
ushort crc16_protocole(TrameProtocole trame)
{
return(crc16.calc_crc16(getBytes(trame), trame.length + 5));
}
public static ushort crc16_protocole(TrameProtocole trame)
{
return crc16.calc_crc16(Protocol.getBytes(trame), trame.length + 5);
}
