public void updateMachineStatus()
{
ns.Write(Encoding.ASCII.GetBytes(getStatusCommand), 0, getStatusCommand.Length);
ns.Flush();
byte[] data = new byte[256];
int recv = ns.Read(data, 0, data.Length);
string stringData = Encoding.ASCII.GetString(data, 0, recv);
string[] attributes = stringData.Split('_');
if (stringData.Equals(""))
{
status.setCurrentState(MachineStatus.States.HALT);
eStop();
}
// We override the machine's state without a validity check because the machine is holding the true state.
// If the machine advances in state twice between updates, validation on this side will fail, so we use
// the machine's reported value.
MachineStatus.States state = (MachineStatus.States)Enum.Parse(typeof(MachineStatus.States), attributes[0]);
status.setCurrentState(state);
// We invert the arduino's optic sensor logic here - if arduino returned 0, the sensor is occluded
// and an arrow is present.
status.setFOptic(attributes[1] == "0");
status.setROptic(attributes[2] == "0");
status.setMoving(attributes[3] != "0");
status.setXPosition(int.Parse(attributes[4]));
status.setYPosition(int.Parse(attributes[5]));
Console.WriteLine(stringData);
}
