public void GetFirmware()
{
const int majorVersion = 3;
const int minorVersion = 7;
const string Name = "Arduino Firmata";
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
Firmware firmware = session.GetFirmware();
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
public ArduinoSession GetArduinoSession()
{
if (arduinoSession == null)
{
var connection = GetConnection();
var session = new ArduinoSession(connection);
var firmware = session.GetFirmware();
if (firmware.MajorVersion >= 2)
{
session.ResetBoard();
//步进电机
session.CreateStepperMoveCompleteMonitor().Monitor(f =>
{
GetStepperStep(f.DeviceNumber).Invoke(f.DeviceNumber);
});
session.CreateReceivedStringMonitor().Monitor(f =>
{
});
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 26,
DirectionOrPin2Number = 28,
EnablePinNumber = 24,
InvertEnablePinNumber = true
});
session.StepperEnable(0, true);
session.StepperSetSpeed(0, 32767);
session.StepperSetScceleration(0, 5000);
arduinoSession = session;
}
else
{
session.Dispose();
throw new Exception("读取设备失败");
}
}
return(arduinoSession);
}
} = null; //To be supplied externally
public ArduinoDeviceManager(ArduinoSession firmata, Action <ADMMessage, ArduinoDeviceManager> listener, String port, String nodeID = null)
{
State = ADMState.CONNECTING;
_devices = new Dictionary <String, ArduinoDevice>();
_device2boardID = new Dictionary <String, byte>();
_boardID2device = new Dictionary <byte, ArduinoDevice>();
_pin2device = new Dictionary <int, List <ArduinoDevice> >();
_portStates = new Dictionary <int, DigitalPortState>();
_session = firmata;
_listener = listener;
_session.MessageReceived += HandleFirmataMessageReceived;
_session.ProcessMessageException += HandleFirmataProcessMessageException;
Port = port;
NodeID = nodeID;
_session.ID = PortAndNodeID;
_firmware = _session.GetFirmware();
#if DEBUG
Debug.Print(String.Format("{0}: Firmware: {1} version {2}.{3}", PortAndNodeID, _firmware.Name, _firmware.MajorVersion, _firmware.MinorVersion));
#endif
_protocolVersion = _session.GetProtocolVersion();
#if DEBUG
Debug.Print(String.Format("{0}: Firmata protocol version {1}.{2}", PortAndNodeID, _protocolVersion.Major, _protocolVersion.Minor));
#endif
_boardCapability = _session.GetBoardCapability();
State = ADMState.CONNECTED;
//if here and no exceptions then the connection should be good
//so initialise the board
Initialise();
//and request board status
RequestStatus();
}
public void GetFirmware()
{
const int majorVersion = 3;
const int minorVersion = 7;
const string Name = "Arduino Firmata";
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
Firmware firmware = session.GetFirmware();
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
