private void NewDataAvailable(SerialPortWrapper.SimpleSerialPacket packet)
{
lock (thisLock)
{
if (currentCommand == null)
{
Console.WriteLine("Error: Received data, but no command was sent!");
foreach (byte b in packet.Data)
{
Console.Write(b.ToString("x") + ", ");
}
Console.WriteLine();
}
else
{
currentCommand.ProcessResponse(packet.Data);
if (currentCommand.IsDataValid())
{
// See if there's any state information in the command used to
// update location or other fields...
byte locations = MaxLocations;
if (currentCommand is StatusCommand)
{
StatusCommand c = currentCommand as StatusCommand;
currentPosition = Vector3.Divide (c.CurrentPosition.ToVector3(), ScaleFactors);
locations = c.Locations;
if (onPositionUpdate != null)
{
onPositionUpdate(this, EventArgs.Empty);
}
}
if (currentCommand is MoveCommand)
{
MoveCommand m = currentCommand as MoveCommand;
locations = m.Locations;
}
currentCommand = GetNextCommand(locations);
elapsedCounter = 0;
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
}
else
{
Console.WriteLine("Error: Did not process data correctly!");
}
}
}
}
private void NewDataAvailable(byte data)
{
lock (thisLock)
{
elapsedCounter = 0;
if (currentCommand == null)
{
Console.WriteLine("Error: Received data, but no command was sent!");
Console.Write(data.ToString("x") + ", ");
Console.WriteLine();
}
else
{
if (currentCommand.ProcessResponse(data))
{
bool canAcceptMoveCommand = false;
if (currentCommand is IRobotCommandWithStatus)
{
IRobotCommandWithStatus status = currentCommand as IRobotCommandWithStatus;
currentPosition = status.CurrentPosition;
canAcceptMoveCommand = status.CanAcceptMoveCommand;
if (this.lastPositionKnown == false)
{
lastPosition = currentPosition;
lastPositionKnown = true;
}
if (onRobotStatusChange != null)
{
onRobotStatusChange(status, EventArgs.Empty);
}
}
else if (currentCommand is RobotDetectionCommand)
{
RobotDetectionCommand r = currentCommand as RobotDetectionCommand;
commandGenerator = r.GetCommandGenerator();
}
currentCommand = GetNextCommand(canAcceptMoveCommand);
serial.Transmit(currentCommand.GenerateCommand());
}
}
}
}
void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (serial != null && serial.IsOpen)
{
elapsedCounter++;
if ((elapsedCounter * 50) > (1000)) // More than 1 second to reply
{
Console.WriteLine("Device Timeout!");
// Send a status command
currentCommand = new StatusCommand();
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
elapsedCounter = 0;
}
}
}
t.Start();
}
void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (elapsedCounter > timeout_ms)
{
if (currentCommand != null && currentCommand is RobotDetectionCommand)
{
Console.WriteLine("Unexpected Response from robot detection: " + (currentCommand as RobotDetectionCommand).DumpData());
}
// Expected reply not received within 1 second, assume command was lost.
Console.WriteLine("Device Timeout!");
}
if (serial == null || !serial.IsOpen || elapsedCounter > timeout_ms)
{
lastPositionKnown = false;
commandGenerator = null;
currentCommand = null;
elapsedCounter = 0;
}
else
{
if (currentCommand == null)
{
currentCommand = new RobotDetectionCommand();
serial.Transmit(currentCommand.GenerateCommand());
elapsedCounter = 0;
}
else
{
elapsedCounter += 50;
}
}
}
t.Start();
}
void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (elapsedCounter > timeout_ms)
{
if (currentCommand != null && currentCommand is RobotDetectionCommand)
{
Console.WriteLine("Unexpected Response from robot detection: " + (currentCommand as RobotDetectionCommand).DumpData());
}
// Expected reply not received within 1 second, assume command was lost.
Console.WriteLine("Device Timeout!");
}
if (serial == null || !serial.IsOpen || elapsedCounter > timeout_ms)
{
lastPositionKnown = false;
commandGenerator = null;
currentCommand = null;
elapsedCounter = 0;
}
else
{
if (currentCommand == null)
{
currentCommand = new RobotDetectionCommand();
serial.Transmit(currentCommand.GenerateCommand());
elapsedCounter = 0;
}
else
{
elapsedCounter += 50;
}
}
}
t.Start();
}
private void NewDataAvailable(byte data)
{
lock (thisLock)
{
elapsedCounter = 0;
if (currentCommand == null)
{
Console.WriteLine("Error: Received data, but no command was sent!");
Console.Write(data.ToString("x") + ", ");
Console.WriteLine();
}
else
{
if (currentCommand.ProcessResponse(data))
{
bool canAcceptMoveCommand = false;
if (currentCommand is IRobotCommandWithStatus)
{
IRobotCommandWithStatus status = currentCommand as IRobotCommandWithStatus;
currentPosition = status.CurrentPosition;
canAcceptMoveCommand = status.CanAcceptMoveCommand;
if (this.lastPositionKnown == false)
{
lastPosition = currentPosition;
lastPositionKnown = true;
}
if (onRobotStatusChange != null)
{
onRobotStatusChange(status, EventArgs.Empty);
}
}
else if (currentCommand is RobotDetectionCommand)
{
RobotDetectionCommand r = currentCommand as RobotDetectionCommand;
commandGenerator = r.GetCommandGenerator();
}
currentCommand = GetNextCommand(canAcceptMoveCommand);
serial.Transmit(currentCommand.GenerateCommand());
}
}
}
}
void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (serial != null && serial.IsOpen)
{
elapsedCounter++;
if ((elapsedCounter * 50) > (1000)) // More than 1 second to reply
{
Console.WriteLine("Device Timeout!");
// Send a status command
currentCommand = new StatusCommand();
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
elapsedCounter = 0;
}
}
}
t.Start();
}
private void NewDataAvailable(SerialPortWrapper.SimpleSerialPacket packet)
{
lock (thisLock)
{
if (currentCommand == null)
{
Console.WriteLine("Error: Received data, but no command was sent!");
foreach (byte b in packet.Data)
{
Console.Write(b.ToString("x") + ", ");
}
Console.WriteLine();
}
else
{
currentCommand.ProcessResponse(packet.Data);
if (currentCommand.IsDataValid())
{
// See if there's any state information in the command used to
// update location or other fields...
byte locations = MaxLocations;
if (currentCommand is StatusCommand)
{
StatusCommand c = currentCommand as StatusCommand;
currentPosition = Vector3.Divide (c.CurrentPosition.ToVector3(), ScaleFactors);
locations = c.Locations;
if (onPositionUpdate != null)
{
onPositionUpdate(this, EventArgs.Empty);
}
}
if (currentCommand is MoveCommand)
{
MoveCommand m = currentCommand as MoveCommand;
locations = m.Locations;
}
currentCommand = GetNextCommand(locations);
elapsedCounter = 0;
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
}
else
{
Console.WriteLine("Error: Did not process data correctly!");
}
}
}
}