virtual protected void ExecuteCommand(ArduinoCommand command, ExecutionArguments xargs)
{
switch (command.CommandAlias.ToLower())
{
case "enable":
bool enable = xargs != null && xargs.Arguments.Count > 0 ? Utilities.Convert.ToBoolean(xargs.Arguments[0]) : true;
Enable(enable);
break;
case "disable":
Enable(false);
break;
default:
if (command.Commands.Count > 0)
{
for (int i = 0; i < command.Repeat; i++)
{
foreach (var ccommand in command.Commands)
{
ExecuteCommand(ccommand, xargs != null && xargs.Deep ? xargs : null);
if (command.Delay > 0)
{
System.Threading.Thread.Sleep(command.Delay);
}
}
} //end command repeat
}
else
{
SendCommand(command, xargs);
}
break;
}
}
virtual public byte ThreadExecuteCommand(String command, int repeat, int delay, List <Object> args)
{
//check has command
ArduinoCommand acmd = GetCommand(command);
if (acmd == null)
{
throw new Exception(String.Format("Device {0} does not have command {1}", ID, command));
}
//pass an empty array rather than null ... safety measure here just for the ThreadExecution Manager
if (args == null)
{
args = new List <Object>();
}
byte tag = acmd.ExpectsResponse ? Mgr.MessageTags.CreateTag() : (byte)0;
ExecutionArguments xargs = new ExecutionArguments(args, tag);
//Use ThreadExecutionManager to allow for multi-threading by device
int prevSize = ThreadExecutionManager.MaxQueueSize;
ThreadExecutionManager.MaxQueueSize = acmd.IsCompound ? 1 : 256;
ThreadExecutionState xs = ThreadExecutionManager.Execute <ExecutionArguments>(ID, repeat, delay, ExecuteCommand, command, xargs);
ThreadExecutionManager.MaxQueueSize = prevSize;
if (xs == null)
{
Mgr.MessageTags.Release(tag);
tag = 0;
}
return(tag);
}
virtual public void ExecuteCommand(String commandAlias, ExecutionArguments xargs)
{
var command = GetCommand(commandAlias);
if (command == null)
{
throw new Exception("Command with alias " + commandAlias + " does not exist");
}
ExecuteCommand(command, xargs);
}
//messaging
virtual protected void SendCommand(ArduinoCommand command, ExecutionArguments xargs = null)
{
if (Mgr == null)
{
throw new Exception(String.Format("Device {0} has not yet been added to a device manager", ToString()));
}
if (!IsConnected)
{
throw new Exception(String.Format("Device {0} is not 'connected' to board", ToString()));
}
if (xargs == null)
{
Mgr.SendCommand(BoardID, command);
}
else
{
Mgr.SendCommand(BoardID, command, xargs.Arguments, xargs.Tag);
}
LastCommandSent = command;
LastCommandSentOn = DateTime.Now.Ticks;
}
public void ExecuteCommand(String command, params Object[] args)
{
ExecutionArguments xargs = new ExecutionArguments(new List <Object>(args));
ExecuteCommand(command, xargs);
}