public void DataReceivedHandler(Order ord, RobustSerial arduinoPort)
{
switch (ord)
{
case Order.LOG:
string line = arduinoPort.ReadLine();
logger.Debug($"Received log: {line}");
break;
case Order.VERSION:
string arduinoSketchVersionRaw = arduinoPort.ReadInt32().ToString();
int len = arduinoSketchVersionRaw.Length;
if (len < 7)
{
arduinoSketchVersionRaw = arduinoSketchVersionRaw.PadRight(7, '0');
len = 7;
}
;
int major = int.Parse(arduinoSketchVersionRaw.Substring(0, len - 6));
int minor = int.Parse(arduinoSketchVersionRaw.Substring(len - 6, 3));
int revision = int.Parse(arduinoSketchVersionRaw.Substring(len - 3, 3));
arduinoSketchVersion = new Version(major, minor, revision);
break;
case Order.FORCES:
force[0] = arduinoPort.ReadInt32();
force[1] = arduinoPort.ReadInt32();
break;
default:
break;
}
}
private void CheckArduinoSketchVersion(RobustSerial arduinoPort, int maxSeconds = 1)
{
arduinoSketchVersion = null;
try
{
arduinoPort.WriteOrder(Order.VERSION);
}
catch (Exception ex)
{
}
Stopwatch stopwatch = Stopwatch.StartNew();
while (arduinoSketchVersion == null && stopwatch.ElapsedMilliseconds < maxSeconds * 1000)
{
System.Threading.Thread.Sleep(100);
}
if (arduinoSketchVersion == null)
{
logger.Error("Not possible to detect the Arduino Sketch version. Check the correct port or Upload the Arduino Firmware");
throw new Exception("Arduino Joystick not detected");
}
logger.Info($"Arduino sketch version is v{arduinoSketchVersion}");
switch (arduinoSketchVersion.CompareTo(expectedArduinoSketchVersion))
{
case -1:
logger.Warn($"Arduino sketch version is too old. Please click on Upload Firmware to update it");
break;
case 1:
logger.Warn($"This program doesn't seem to be the last version. Please download the most recent one");
break;
}
}
public void loop()
{
stopExecuting = false;
using (RobustSerial arduinoPort = connectArduino())
using (Cls2SimSocket brunnerSocket = connectBrunner(required: false))
{
var timer = new HighPrecisionTimer.MultimediaTimer();
timer.Interval = timerMs;
timer.Resolution = 2;
//do what you need with the serial port here
try
{
arduinoPort.WaitForConnection();
logger.Info("Checking Arduino Firmware version");
CheckArduinoSketchVersion(arduinoPort, maxSeconds: 3);
_isArduinoConnected = true;
if (brunnerSocket != null)
{
_isBrunnerConnected = true;
}
timer.Elapsed += (o, e) => Communicate(arduinoPort, brunnerSocket);
timer.Start();
while (arduinoPort.IsOpen && !stopExecuting)
{
var currentPosition = new int[2];
_position.CopyTo(currentPosition, 0);
positionHistory.Enqueue(currentPosition);
var prueba = positionHistory.ToArray();
if (positionHistory.Count > 60)
{
positionHistory.Dequeue();
}
System.Threading.Thread.Sleep(100);
}
timer.Stop();
System.Threading.Thread.Sleep(500); // Give it time to the timer events to finish
}
catch (Exception ex)
{
logger.Error(ex, ex.StackTrace);
logger.Error(ex, ex.Message);
}
finally
{
_isArduinoConnected = false;
_isBrunnerConnected = false;
if (timer.IsRunning)
{
timer.Stop();
}
}
}
}
private void Communicate(RobustSerial arduinoPort, Cls2SimSocket brunnerSocket)
{
bool lockTaken = false;
Interlocked.Decrement(ref ticksToNextPositionChange);
Monitor.TryEnter(lockObject, TimeSpan.FromMilliseconds(1), ref lockTaken);
try
{
if (lockTaken)
{
// wait for receiving new position
if (brunnerSocket != null)
{
// Notice we change the order of Aileron,Elevator
ForceMessage forceMessage = new ForceMessage(
ArduinoForce2Brunner(force[1]), ArduinoForce2Brunner(force[0]));
if (delaySeconds > 0)
{
forceMessage.aileron = 0;
forceMessage.elevator = 0;
}
PositionMessage positionMessage = brunnerSocket.SendForcesReadPosition(forceMessage);
UpdatePosition(positionMessage);
}
// send the current position to the Arduino
if (arduinoPort.semaphore >= 1 && ticksToNextPositionChange <= 0)
{
arduinoPort.WriteOrder(Order.POSITION);
arduinoPort.WriteInt16(this.position[0]);
arduinoPort.WriteInt16(this.position[1]);
Interlocked.Exchange(ref ticksToNextPositionChange, (forcedArduinoCalculation / timerMs) + 1);
axisHasMoved[0] = false;
axisHasMoved[1] = false;
}
if (arduinoPort.semaphore >= 1)
{
arduinoPort.WriteOrder(Order.FORCES);
}
}
}
catch (Exception ex)
{
logger.Error(ex, ex.StackTrace);
logger.Error(ex, ex.Message);
stopExecuting = true;
}
}