public void send <T>(GloObject <T> obj) where T : struct
{
if (!connectionOpen())
{
return;
}
byte[] dataBytes = GloLink.StructureToByteArray(ref obj.data);
transferBuffer[0] = Convert.ToByte(messageFrame[0]);
transferBuffer[1] = Convert.ToByte(messageFrame[1]);
transferBuffer[2] = Convert.ToByte(messageFrame[2]);
transferBuffer[3] = obj.ID;
transferBuffer[4] = Convert.ToByte((obj.instance << 8) >> 8);
transferBuffer[5] = Convert.ToByte(obj.instance >> 8);
transferBuffer[6] = Convert.ToByte(dataBytes.Length);
transferBuffer[dataBytes.Length + 7] = 0x0D;
transferBuffer[dataBytes.Length + 8] = 0x0A; //CR LF
dataBytes.CopyTo(transferBuffer, 7);
// how much space is actually used up for current packet
int packetLength = dataBytes.Length + 9;
connection.Write(transferBuffer, packetLength);
NumberPacketsSent++;
NumberBytesSent += packetLength;
}
void link_PacketReceived(object sender, PacketReceivedEventArgs e)
{
switch (e.ID)
{
case (byte)Glo.IDs.AssertMessage:
GloObject <GloAssertMessage> assertMessage = new GloObject <GloAssertMessage>(Glo.IDs.AssertMessage);
assertMessage.data = GloLink.ByteArrayToStructure <GloAssertMessage>(e.Data);
logAndDisplayMessage(assertMessage.data.text, MessageSource.RobotAssert);
break;
case (byte)Glo.IDs.DebugMessage:
GloObject <GloDebugMessage> debugMessage = new GloObject <GloDebugMessage>(Glo.IDs.DebugMessage);
debugMessage.data = GloLink.ByteArrayToStructure <GloDebugMessage>(e.Data);
logAndDisplayMessage(debugMessage.data.text, MessageSource.RobotDebug);
break;
case (byte)Glo.IDs.CaptureData:
if (capturingData)
{
GloObject <GloCaptureData> testData = new GloObject <GloCaptureData>(Glo.IDs.CaptureData);
testData.data = GloLink.ByteArrayToStructure <GloCaptureData>(e.Data);
captureData.Add(new float[] { (float)testData.data.time, (float)(testData.data.tiltAngle * 180.0 / Math.PI) });
}
break;
case (byte)Glo.IDs.StatusData:
GloObject <GloStatusData> statusData = new GloObject <GloStatusData>(Glo.IDs.StatusData);
statusData.data = GloLink.ByteArrayToStructure <GloStatusData>(e.Data);
view.TiltAngle = statusData.data.tiltAngle * 180.0 / Math.PI;
break;
default:
logAndDisplayMessage("Received unhandled packet with ID: " + e.ID, MessageSource.UI);
break;
}
}
public MainController(IMainView view)
{
this.view = view;
// Create log file and then initially setup all output paths.
string dateTimeText = String.Format("{0:yyyy-MM-dd_hh-mm-ss-tt}", startTime);
string logFileName = String.Format("log_{0}.txt", dateTimeText);
sessionDirectoryName = String.Format("session_{0}", dateTimeText);
logFile = new LogFile("./", logFileName);
UpdateOutputPaths(view.getOutputDirectory());
// Setup view.
requestNewPortList(); // to keep user from having to request them.
view.setNumberTransferPackets(0);
view.setNumberReceivedPackets(0);
view.setNumberTransferBytes(0);
view.setNumberReceivedBytes(0);
view.CaptureDuration = defaultCaptureDuration;
view.CaptureSampleRate = defaultCaptureRate;
view.TiltAngle = 0;
// Setup driving mode by enabling it and then flipping it back.
drivingModeEnabled = true;
changeDrivingMode();
// Try to see if last connected com port is avaiable to select.
string lastPortName = Properties.Settings.Default.LastPortName;
view.selectPortName(lastPortName);
// Setup link.
link = new GloLink();
link.PacketReceived += new PacketReceivedEventHandler(link_PacketReceived);
// Setup timers.
linkStatsTimer = new System.Threading.Timer(LinkStatsTimerCallback, null, 0, linkStatsTimerInterval);
captureWaitingWorker.DoWork += new DoWorkEventHandler(captureWaitingWorker_DoWork);
captureWaitingWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(captureWaitingWorker_RunWorkerCompleted);
}
