public void Connect(SerialPortAddress port, string configurationPath)
{
ArmConfiguration config = ArmConfiguration.LoadArmConfig(configurationPath);
Arm = new Arm(port, config);
Arm.SetServoSpeed(20);
}
private async void SelectorBox_OnSelectionChanged(object sender, SelectionChangedEventArgs e)
{
SerialPortAddress address = e.AddedItems[0] as SerialPortAddress;
_roverConnector?.Close();
//_roverConnector = await Task.Run(() => new RoverConnector(address));
_roverConnector = await Task.Run(() => new NewRoverConnector(address, _configJson));
}
public RoverConnector(SerialPortAddress address)
{
_port = new SerialPort(address.Name);
_port.Encoding = Encoding.ASCII;
_port.Open();
readerThread = new Thread(() =>
{
while (_keepreading)
{
try
{
System.Diagnostics.Debug.WriteLine(_port.ReadLine());
}
catch
{
}
}
});
readerThread.Start();
}
public NewRoverConnector(SerialPortAddress address, string json)
{
_rover = Controller.Rover.FromJson(json);
_rover.NewMessage += _rover_NewMessage;
_port = new SerialPort(address.Name);
_port.Encoding = Encoding.ASCII;
_port.Open();
readerThread = new Thread(() =>
{
while (_keepreading)
{
try
{
System.Diagnostics.Debug.WriteLine(_port.ReadLine());
}
catch
{
}
}
});
readerThread.Start();
}
public Arm(SerialPortAddress portAddress, ArmConfiguration configuration) : this(portAddress.Name, configuration)
{
}
public Arm(SerialPortAddress portAddress, string configurationFilePath) : this(portAddress.Name, ArmConfiguration.LoadArmConfig(configurationFilePath))
{
}
