protected virtual void OnSerialDataChanged(SerialDataEventArgs e)
{
if (SerialDataEvent != null)
{
SerialDataEvent(this, e);
}
}
private static void com_SerialDataEvent(object sender, SerialDataEventArgs e)
{
StatusByteCode nextByte = new byte();
StatusByteCode _receivedByte = (StatusByteCode)e.DataByte;
if (_receivedByte == 0x00)
return;
switch (_receivedByte)
{
case StatusByteCode.Left:
nextByte = StatusByteCode.Acknowledged;
break;
case StatusByteCode.Right:
nextByte = StatusByteCode.Acknowledged;
break;
case StatusByteCode.Forward:
nextByte = StatusByteCode.Acknowledged;
break;
case StatusByteCode.Turn:
nextByte = StatusByteCode.Acknowledged;
break;
case StatusByteCode.Acknowledged:
break;
case StatusByteCode.Done:
return;
default:
break;
}
if (nextByte != 0x00)
com.SendByte((byte)nextByte);
System.Threading.Thread.Sleep(500);
if (!minehere)
{
com.SendByte((byte)StatusByteCode.Halfway);
System.Threading.Thread.Sleep(500);
}
else
minehere = false;
com.SendByte((byte)StatusByteCode.Enquiry);
}
private void com_SerialDataEvent(object sender, SerialDataEventArgs e)
{
System.Diagnostics.Debug.WriteLine("Serial data byte received; {0}", e.DataByte);
}
protected virtual void OnSerialDataChanged(SerialDataEventArgs e)
{
if (SerialDataEvent != null)
{
SerialDataEvent(this, e);
}
}
void Serial_SerialDataEvent(object sender, SerialDataEventArgs e)
{
handleSerial(e.DataByte);
}
static void com_SerialDataEvent(object sender, SerialDataEventArgs e)
{
Console.WriteLine(e.DataByte);
}
private void com_SerialDataEvent(object sender, SerialDataEventArgs e)
{
if (!_robotControlIsEnabled)
return;
_receivedByte = e.DataByte.ToStatusByteCode();
if (_receivedByte == StatusByteCode.Acknowledged)
{
if (_sentDirectiveIsUnacknowledged)
{
if (_done == true)
DisableRobotControl();
if (_nextDirective == StatusByteCode.Back)
{
Data.nav.currentPos = new NodeConnection(Data.nav.currentPos.From, true);
_halfway = true;
}
else
{
_halfway = false;
_robotDirection = _nextAbsoluteDirection;
Data.nav.currentPos = _nextNodeConnection;
}
_i++; //Advance to next item in path
_sentDirectiveIsUnacknowledged = false;
}
else
{
return;
}
}
else if (_receivedByte == StatusByteCode.NotAcknowledged)
{
//Resend directives
Data.com.SendByte((byte)_nextDirective);
}
else if (_sentDirectiveIsUnacknowledged == false)
{
if (_receivedByte == StatusByteCode.Enquiry)
{
if (_i > 0 && Data.challenge == Challenge.FindPath && (!_halfway && _nextDirective != StatusByteCode.Turn) && !Data.nav.fullPath[_i].FromPoint)
return;
if (Data.nav.fullPath.Count != 0)
{
getNextDirective();
Data.com.SendByte((byte)_nextDirective);
}
else
{
Data.com.SendByte((byte)StatusByteCode.Unknown);
}
if (Data.challenge == Challenge.FindPath)
{
if (_done == true)
Data.com.SendByte((byte)StatusByteCode.Done);
if (_continue == true)
Data.com.SendByte((byte)StatusByteCode.Continue);
_continue = false;
}
if (Data.challenge == Challenge.FindTreasure)
{
if (_done == true)
DisableRobotControl();
}
_sentDirectiveIsUnacknowledged = true;
}
else if (_receivedByte == StatusByteCode.MineDetected)
{
if (_i == 0)
return;
//Detected mine, add to list
if (Data.challenge == Challenge.FindTreasure)
{
if (!treasureSearchList.Remove(Data.nav.currentPos))
treasureSearchList.Remove(Data.nav.currentPos.Flipped);
Data.nav.visited.Add(Data.nav.currentPos);
}
Data.nav.mines.Add(Data.nav.fullPath[_i - 1]);
_i = 0;
Data.nav.recalculatePath();
Data.com.SendByte((byte)StatusByteCode.Acknowledged);
_halfway = true;
}
else if (_receivedByte == StatusByteCode.Halfway)
{
if (Data.challenge == Challenge.FindTreasure)
{
if (!treasureSearchList.Remove(Data.nav.currentPos))
treasureSearchList.Remove(Data.nav.currentPos.Flipped);
Data.nav.visited.Add(Data.nav.currentPos);
}
_halfway = true;
Data.com.SendByte((byte)StatusByteCode.Acknowledged);
}
}
else
{
//Invalid bytecode or out of sync
return;
}
Data.vis.DrawField();
Data.db.UpdateProperty("MineCount");
Data.db.UpdateProperty("CurrentPosText");
}
