public ArduinoDeviceManager GetADM(String searchOn)
{
if (ADMS.Count == 0)
{
return(null);
}
if (searchOn == null || searchOn.Equals("ADM", StringComparison.OrdinalIgnoreCase) && ADMS.Count == 1)
{
return(ADMS.First().Value);
}
foreach (ArduinoDeviceManager adm in ADMS.Values)
{
if (adm == null)
{
continue;
}
if (adm.BoardID != 0 && adm.BoardID.ToString().Equals(searchOn, StringComparison.OrdinalIgnoreCase))
{
return(adm);
}
if (adm.NodeID != null && adm.NodeID.Equals(searchOn, StringComparison.OrdinalIgnoreCase))
{
return(adm);
}
}
return(null);
}
virtual protected void DisconnectADM(String port, String nodeID = null)
{
if (PortSharing)
{
//when using a shared port we connect all the boards in one go
var ar = nodeID == null?RequiredBoards.Split(',') : new String[]
{
nodeID
};
foreach (String nid in ar)
{
String key = port + ":" + nid;
if (!ADMS.ContainsKey(key))
{
continue;
}
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Attempting to disconnect board @ {0}", key);
ArduinoDeviceManager adm = ADMS[key];
if (adm != null)
{
adm.Disconnect();
}
ADMS.Remove(key);
_devicesConnected.Remove(key);
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Disconnected board @ {0}", key);
}
}
else
{
if (!ADMS.ContainsKey(port))
{
return;
}
ArduinoDeviceManager adm = ADMS[port];
if (adm != null)
{
adm.Disconnect();
}
ADMS.Remove(port);
_devicesConnected.Remove(port);
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::DisconnectADM: Board {0} on port {1} disconnected", adm.BoardID, port);
Broadcast(ADMEvent.DISCONNECTED, String.Format("{0} disconnected from port {1}", adm.BoardID, port));
}
}
virtual protected void ConnectADM(String port, String nodeID = null)
{
//turn off the sampler ... it will start again when all boards have been connected
Sampler.Stop();
if (PortSharing)
{
if (RequiredBoards == null)
{
throw new Exception("If using a shared port, 'Nodes' on the port must be specified as the 'RequiredBoards' property");
}
//when using a shared port we connect all the boards in one go
var boards = nodeID == null?RequiredBoards.Split(',') : new String[]
{
nodeID
};
List <Exception> exs = new List <Exception>();
foreach (String nid in boards)
{
String key = port + ":" + nid;
if (ADMS.ContainsKey(key))
{
continue;
}
try
{
//now proceed to connect
ADMS[key] = null; //reserve a place (cos the connection process takes a while)
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Attempting to connect board @ {0}", key);
ArduinoDeviceManager adm = ArduinoDeviceManager.Connect(nid, port, BaudRate, TryHandleADMMessage);
adm.Sampler = Sampler;
adm.Tracing = Tracing;
ADMS[key] = adm;
_devicesConnected[key] = false;
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Connected to board @ {0}", key);
Broadcast(ADMEvent.CONNECTED, String.Format("ADM now Connected @ {0}", key));
//Wait here (i.e. before connecting to another board) until the adm is of status device connected
while (!adm.DevicesConnected)
{
System.Threading.Thread.Sleep(1000);
}
} catch (Exception e)
{
ADMS.Remove(key);
//TODO: remove the trace and create a single 'aggregate' exception and throw that after th eloop
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::ConnectADM: Error connection to board @ {0}: {1}", key, e.Message);
exs.Add(e);
}
} //end loop of all required boards
}
else
{
String key = port;
if (ADMS.ContainsKey(key))
{
throw new Exception("ADMService::ConnectADM: port " + port + " already has an assigned ADM");
}
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Attempting to connect board on {0} port {0}", port);
try
{
ADMS[key] = null; //reserve a place (cos the connection process takes a while)
//now connct
ArduinoDeviceManager adm = ArduinoDeviceManager.Connect(port, BaudRate, TryHandleADMMessage);
adm.Sampler = Sampler;
adm.Tracing = Tracing;
ADMS[key] = adm;
_devicesConnected[key] = false;
Tracing?.TraceEvent(TraceEventType.Information, 100, "ADMService::ConnectADM: Connected to board on port {0}", port);
Broadcast(ADMEvent.CONNECTED, String.Format("Connected ADM to port {0}", port));
} catch (Exception e) {
ADMS.Remove(key);
//TODO: remove the trace and create a single 'aggregate' exception and throw that after th eloop
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADMService::ConnectADM: Error connection to board @ {0}: {1}", key, e.Message);
}
}
}
override public bool HandleCommand(Connection cnn, Message message, String cmd, List <Object> args, Message response)
{
bool respond = true;
MessageSchema schema = new ADMService.MessageSchema(response);
DeviceManager devMgr;
ArduinoDeviceManager adm;
switch (cmd)
{
case "status":
schema.AddADMS(ADMS);
List <String> ports = ArduinoDeviceManager.GetBoardPorts(SupportedBoards, AllowedPorts, DeniedPorts);
schema.AddPorts(ports);
schema.AddRequiredBoards(RequiredBoards);
devMgr = DeviceManager.GetInstance();
List <String> portDevices = new List <String>();
foreach (String port in ports)
{
List <DeviceManager.DeviceInfo> devs = devMgr.GetDevices("(" + port + ")");
foreach (DeviceManager.DeviceInfo devInfo in devs)
{
String s = String.Format("{0} ({1}): {2}", devInfo.Description, devInfo.InstanceID, devInfo.Status);
portDevices.Add(s);
}
}
response.AddValue("PortDevices", portDevices);
break;
case "disable-port":
case "enable-port":
case "reset-port":
if (args.Count != 1 || args[0] == null || args[0].ToString() == String.Empty)
{
throw new Exception("No port specified");
}
String devicePort = args[0].ToString().ToUpper();
devMgr = DeviceManager.GetInstance();
List <DeviceManager.DeviceInfo> ar = devMgr.GetDevices("(" + devicePort + ")");
if (ar.Count != 1)
{
throw new Exception("Cannot find device on port " + devicePort);
}
DeviceManager.DeviceInfo di = ar[0];
//first we check if there is an ADM on this port
String output = "";
lock (_lockMonitorADM)
{
if (ADMS.ContainsKey(devicePort))
{
output += String.Format("Found ADM on port {0} so disconnecting first", devicePort) + Environment.NewLine;
DisconnectADM(devicePort);
System.Threading.Thread.Sleep(500);
if (SerialPorts.IsOpen(devicePort))
{
throw new Exception("Serial port is open on " + devicePort);
}
}
Process proc = null;
if (cmd == "disable-port")
{
proc = devMgr.DisableDevice(di.InstanceID);
}
else if (cmd == "enable-port")
{
proc = devMgr.EnableDevice(di.InstanceID);
}
else
{
proc = devMgr.ResetDevice(di.InstanceID);
}
output += proc.StandardOutput.ReadToEnd();
}
response.Value = output;
break;
default:
var tgtcmd = cmd.Split(':');
if (tgtcmd.Length < 2)
{
throw new Exception(String.Format("ADM: Unrecognised command {0}", cmd));
}
//Check that there are any boards connected
if (ADMS.Count == 0)
{
throw new Exception("ADM: No boards connected");
}
//so this is an ADM command, find the board first
adm = GetADM(tgtcmd[0]);
if (adm == null)
{
throw new Exception(String.Format("ADM: Cannot find ADM {0}", tgtcmd[0]));
}
if (!adm.IsConnected)
{
throw new Exception(String.Format("ADM: {0} is not conntected", adm.BoardID));
}
//handle commands related to the board (i.e. not to a specific added device)
if (tgtcmd.Length == 2)
{
int repeat; //frequently used var name
int delay; //frequently used var name
switch (tgtcmd[1].ToLower())
{
case "status":
AddADMRequest(adm, adm.RequestStatus(), response.Target);
respond = false;
break;
case "ping":
AddADMRequest(adm, adm.Ping(), response.Target);
respond = false;
break;
case "pingloadtest":
repeat = args != null && args.Count > 0 ? System.Convert.ToInt16(args[0]) : 10;
delay = args != null && args.Count > 1 ? System.Convert.ToInt16(args[1]) : 500;
Task.Run(() =>
{
for (int i = 0; i < repeat; i++)
{
adm.Ping();
System.Threading.Thread.Sleep(delay);
}
});
respond = false;
break;
case "capability":
var lbc = adm.ListBoardCapability();
response.AddValue("PinCount: ", lbc.Count);
response.AddValue("Pins", lbc);
break;
case "disconnect":
DisconnectADM(adm.Port);
break;
case "setdigitalpin":
if (args.Count < 2)
{
throw new Exception("Insufficient arguments ... must supply a pin number and value");
}
int pin = System.Convert.ToInt16(args[0]);
bool val = Chetch.Utilities.Convert.ToBoolean(args[1]);
if (!adm.IsPinCapable(pin, Solid.Arduino.Firmata.PinMode.DigitalOutput))
{
throw new Exception(String.Format("Pin {0} is not capabale of digital output", pin));
}
if (adm.GetDevicesByPin(pin) != null)
{
throw new Exception(String.Format("Pin {0} is being used by a device", pin));
}
adm.SetDigitalPinMode(pin, Solid.Arduino.Firmata.PinMode.DigitalOutput);
adm.SetDigitalPin(pin, val);
break;
case "setdigitalport":
if (args.Count < 2)
{
throw new Exception("Insufficient arguments ... must supply a port number and value");
}
int port = System.Convert.ToInt16(args[0]);
bool enable = Chetch.Utilities.Convert.ToBoolean(args[1]);
adm.SetDigitalReportMode(port, enable);
//adm.G
break;
case "list-devices":
schema.AddDevices(adm.GetDevices());
break;
case "list-pins":
break;
default:
throw new Exception(String.Format("No ADM direct command {0}", tgtcmd[1]));
}
}
else
{
//handle command specific to device
try
{
respond = HandleADMDeviceCommand(adm, tgtcmd[1], tgtcmd[2], args, response);
} catch (Exception e)
{
Tracing?.TraceEvent(TraceEventType.Error, 0, "Exception: {0}", e.Message);
throw e;
}
}
if (response.Value == null || response.Value == String.Empty)
{
response.Value = "Handled " + cmd;
}
break;
}
return(respond);
}
