/// <summary>
/// Constructor. Initialises statuses and registered command array.
/// </summary>
/// <param name="port">The port which the RX engine is going to use to receive data from.</param>
public Rx(Clide.Port port)
{
// Create new data table
dataTable1 = new DataTable();
statusArray.ok.id = StatusId_t.Ok;
statusArray.ok.message = "O.K.";
statusArray.dataIdDidNotMatch.id = StatusId_t.DataIdDidNotMatch;
statusArray.dataIdDidNotMatch.message = "Data ID did not match.";
statusArray.packetDecodingPassed.id = StatusId_t.PacketDecodingPassed;
statusArray.packetDecodingPassed.message = "Packet successfully decoded.";
statusArray.rxBufferOverflow.id = StatusId_t.RxBufferOverflow;
statusArray.rxBufferOverflow.message = "RX buffer overflow.";
statusArray.unrecognisedCmd.id = StatusId_t.PacketDecodingFailed;
statusArray.unrecognisedCmd.message = "Received unrecognised command.";
statusArray.packetUnexpectedlyTruncated.id = StatusId_t.PacketUnexpectedlyTruncated;
statusArray.packetUnexpectedlyTruncated.message = "Packet unexpectedly truncated.";
statusArray.incorrectNumParameters.id = StatusId_t.IncorrectNumParam;
statusArray.incorrectNumParameters.message = "Incorrect number of parameters.";
// Instantiate registered commands
_registeredCmds = new System.Collections.ObjectModel.Collection <Command>();
_port = port;
}
/// <summary>
/// Base constructor.
/// </summary>
/// <param name="port"></param>
/// <param name="debugPrint">The function to call to pass debug information to.</param>
public Tx(Clide.Port port, Action <string> debugPrint)
{
Port = port;
DebugPrint = debugPrint;
}
/// <summary>
/// Simplified constructor. DebugPrint left as null.
/// </summary>
/// <param name="port"></param>
public Tx(Clide.Port port)
{
_port = port;
}
/// <summary>
/// Simplified constructor. Does not setup debug printing.
/// </summary>
public Controller()
{
Port = new Clide.Port();
Tx = new Clide.Tx(Port);
Rx = new Clide.Rx(Port);
}
/// <summary>
/// Base constructor.
/// </summary>
/// <param name="debugPrint"></param>
public Controller(Action <string> debugPrint)
{
Port = new Clide.Port();
Tx = new Clide.Tx(Port, debugPrint);
Rx = new Clide.Rx(Port);
}
