private void UpdateConfiguration()
{
ThrowWhenNotConnected();
// ReSharper disable once UseObjectOrCollectionInitializer
var configPacket = new ConfigPacket();
var configResponsePacket = new ConfigResponsePacket();
for (int i = 0; i < _masterInterface.InputModes.Length; i++)
{
configPacket.UniversalInputs[i].Mode = _masterInterface.InputModes[i];
}
for (int i = 0; i < _masterInterface.InputIsDigital.Length; i++)
{
configPacket.UniversalInputs[i].Digital = _masterInterface.InputIsDigital[i];
}
for (int i = 0; i < _masterInterface.OutputModes.Length; i++)
{
configPacket.Motor[i] = _masterInterface.OutputModes[i];
}
try
{
TxCommunication.SendPacket(configPacket, configResponsePacket);
}
catch (Exception e)
{
HandleException(e);
}
_configurationChanged = false;
}
public void Connect(string mac)
{
LogMessage($"Connecting to {mac}");
Mac = mac;
if (Connection == ConnectionStatus.Connected || Connection == ConnectionStatus.Online)
{
throw new InvalidOperationException("Already connected to an interface");
}
TxCommunication?.Dispose();
TxCommunication = new TxCommunication(SerialAdapter);
try
{
TxCommunication.OpenConnection(mac);
Connection = TxCommunication.Connected ? ConnectionStatus.Connected : ConnectionStatus.NotConnected;
}
catch (Exception e)
{
LogMessage($"Exception while connecting: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
return;
}
_masterInterface.ResetValues();
LogMessage("Connected");
_connected?.Invoke(this, new EventArgs());
}
public void Disconnect()
{
LogMessage("Disconnecting");
ThrowWhenNotConnected();
try
{
TxCommunication.CloseConnection();
Connection = ConnectionStatus.NotConnected;
}
catch (Exception e)
{
LogMessage($"Exception while disconnecting: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
}
TxCommunication.Dispose();
TxCommunication = null;
_disconnected?.Invoke(this, new EventArgs());
LogMessage("Disconnected");
_masterInterface.ResetValues();
}
public bool IsValidInterface(string address)
{
if (TxCommunication == null)
{
TxCommunication = new TxCommunication(SerialAdapter);
}
return(TxCommunication.IsValidInterface(address));
}
public string RequestControllerName(string address)
{
if (TxCommunication == null)
{
TxCommunication = new TxCommunication(SerialAdapter);
}
return(TxCommunication.RequestControllerName(address));
}
public void UpdateValues()
{
ThrowWhenNotConnected();
if (_configurationChanged)
{
UpdateConfiguration();
_configurationChanged = false;
}
var outputPacket = new OutputPacket();
var inputPacket = new InputPacket();
for (int i = 0; i < _masterInterface.OutputValues.Length; i++)
{
outputPacket.PwmOutputValues[i] = (short)_masterInterface.OutputValues[i];
}
try
{
TxCommunication.SendPacket(outputPacket, inputPacket);
}
catch (Exception e)
{
HandleException(e);
return;
}
IList <int> valueChanged = new List <int>();
for (int i = 0; i < inputPacket.UniversalInputs.Length; i++)
{
var newInputValue = inputPacket.UniversalInputs[i];
if (_masterInterface.GetInputValue(i) != newInputValue)
{
_masterInterface.SetInputValue(i, (short)newInputValue);
valueChanged.Add(i);
}
}
if (valueChanged.Count > 0)
{
// Fire an event when an input value has changed
InputValueChangedEventArgs eventArgs = new InputValueChangedEventArgs(valueChanged);
_inputValueChanged?.Invoke(this, eventArgs);
}
}
public string GetInterfaceVersionCode()
{
ThrowWhenNotConnected();
try
{
var requestInfoResponsePacket = new RequestInfoResponsePacket();
TxCommunication.SendPacket(new RequestInfoPacket(), requestInfoResponsePacket);
return(requestInfoResponsePacket.FirmwareVersion);
}
catch (Exception e)
{
HandleException(e);
}
return(string.Empty);
}
public void Dispose()
{
Connection = ConnectionStatus.NotConnected;
if (TxCommunication != null)
{
TxCommunication.Dispose();
TxCommunication = null;
}
if (SerialAdapter != null)
{
SerialAdapter.Dispose();
}
_masterInterface.ResetValues();
}
public void StartOnlineMode()
{
LogMessage("Starting online mode");
if (Connection == ConnectionStatus.Online)
{
throw new InvalidOperationException("Already in online mode");
}
ThrowWhenNotConnected();
_updateValuesTimer = new Timer(UpdateInterval);
_updateValuesTimer.Elapsed += UpdateValuesTimerTick;
_updateValuesTimer.AutoReset = true;
try
{
// Send an echo packet to obtain the session id
var echoResponsePacket = new EchoResponsePacket();
TxCommunication.SendPacket(new EchoPacket(), echoResponsePacket);
Connection = ConnectionStatus.Online;
// Start update timer
_updateValuesTimer.Start();
// Fire event to notify that online mode has started
_onlineStarted?.Invoke(this, new EventArgs());
// Fire InputValueChanged event with default values
List <int> inputPorts = new List <int>();
for (int i = 0; i < UniversalInputs; i++)
{
inputPorts.Add(i);
}
InputValueChangedEventArgs eventArgs = new InputValueChangedEventArgs(inputPorts);
_inputValueChanged?.Invoke(this, eventArgs);
}
catch (Exception e)
{
LogMessage($"Exception while starting online mode: {e.Message}");
Connection = ConnectionStatus.Invalid;
HandleException(e);
}
LogMessage("Online mode started");
}
