virtual protected bool HandleADMDeviceCommand(ArduinoDeviceManager adm, String deviceID, String command, List <Object> args, Message response)
{
if (adm == null)
{
throw new Exception("No ADM provided");
}
if (!adm.HasDevice(deviceID))
{
throw new Exception(String.Format("Device {0} has not been added to ADM", deviceID));
}
bool respond = true;
ArduinoDevice device = null;
MessageSchema schema = new ADMService.MessageSchema(response);
switch (command)
{
case "list-commands":
device = adm.GetDevice(deviceID);
schema.AddDeviceCommands(device);
break;
case "status":
device = adm.GetDevice(deviceID);
if (device.BoardID == 0)
{
throw new Exception(String.Format("Device {0} does not have a board ID", deviceID));
}
AddADMRequest(adm, adm.RequestStatus(device.BoardID), response.Target);
respond = false;
break;
default:
var commands = command.Split(',');
foreach (var cmd in commands)
{
var tcmd = cmd.Trim();
if (tcmd.ToLower().IndexOf("wait") == 0)
{
int delay = tcmd.Length > 4 ? System.Convert.ToInt16(tcmd.Substring(4, tcmd.Length - 4)) : 200;
System.Threading.Thread.Sleep(delay);
}
else
{
byte tag = adm.IssueCommand(deviceID, tcmd, args);
if (tag > 0)
{
AddADMRequest(adm, tag, response.Target);
respond = false;
}
}
}
break;
}
return(respond);
}
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);
}
virtual protected void HandleADMMessage(ADMMessage message, ArduinoDeviceManager adm)
{
switch (message.Type)
{
case MessageType.ERROR:
ErrorCode errCode = message.HasValue("ErrorCode") ? message.GetEnum <ErrorCode>("ErrorCode") : ErrorCode.ERROR_UNKNOWN;
Tracing?.TraceEvent(TraceEventType.Error, 100, "ADM {0} produced error: {1}", adm.BoardID, errCode);
switch (errCode)
{
case ErrorCode.ERROR_ADM_NOT_INITIALISED:
ReconnectADM(adm);
break;
default:
//currently do nothing
break;
}
break;
case MessageType.WARNING:
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADM {0} produced warning: {1}", adm.BoardID, message.Value);
break;
case MessageType.STATUS_RESPONSE:
if (!PortSharing && !IsRequiredBoard(adm.BoardID))
{
Tracing?.TraceEvent(TraceEventType.Warning, 100, "ADM {0} is not one of the required boards ({1}). Disconnecting from port {2}...", adm.BoardID, RequiredBoards, adm.Port);
DisconnectADM(adm.Port);
break;
}
if (adm.State == ADMState.DEVICE_READY)
{
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: Ready to add devices to {0} on port {1} ...", adm.BoardID, adm.PortAndNodeID);
AddADMDevices(adm, message);
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: {0} devices added to {1} on port {2}. Now configure board", adm.DeviceCount, adm.BoardID, adm.PortAndNodeID);
adm.Configure();
}
else if (adm.State == ADMState.DEVICE_CONNECTED)
{
if (message.HasValue("Initialised") && !message.GetBool("Initialised"))
{
//Console.WriteLine("Whoa ... {0} has reset without us knowing", adm.PortAndNodeID);
}
}
break;
case MessageType.CONFIGURE_RESPONSE:
String key = adm.PortAndNodeID;
if (adm.State == ADMState.DEVICE_CONNECTED && !_devicesConnected[key])
{
Tracing?.TraceEvent(TraceEventType.Verbose, 100, "ADM: All {0} devices now configured and connected to board {1} on port {2}", adm.DeviceCount, adm.BoardID, adm.PortAndNodeID);
OnADMDevicesConnected(adm, message);
}
break;
case MessageType.PING_RESPONSE:
break;
}
if (message.Tag > 0)
{
ADMRequest req = GetADMRequest(adm, message.Tag);
if (req != null)
{
if (req.HasExpired())
{
Tracing?.TraceEvent(TraceEventType.Warning, 0, "ADM request for tag {0} and target {1} has expired so not returning message of type {2}", message.Tag, req.Target, message.Type);
return;
}
else
{
message.Target = req.Target;
}
}
}
var schema = new ADMService.MessageSchema(message);
schema.PrepareForBroadcast(adm);
//notify other clients listening to this client
Broadcast(ADMEvent.MESSAGE, message);
}
