/// <summary>
/// Уведомляет серверный обработчик о завершении работы и закрывает подключение.
/// </summary>
protected async Task DisconnectFromHandler(Connection connection, StopMode stopMode)
{
bool useExclusiveAccess = false;
Connection usingConnection = connection;
if (stopMode == StopMode.Hard)
{
usingConnection = mainConnection;
useExclusiveAccess = true;
}
if (connection.IsConnected)
{
CommunicationObject comObj = new CommunicationObject(usingConnection, useExclusiveAccess);
try
{
comObj.SetData(NetSharpProtocol.Commands.STOP_HANDLER, new HandlerStopData(connection.HandlerID, stopMode));
await comObj.SendAsync().ConfigureAwait(false);
}
finally
{
comObj.Dispose();
connection.Close();
}
}
}
public void CanMoveServo(byte id, CommunicationObject sender)
{
var movment1 = new MovmentComandAX12(id, 0x0ff, 0x150);
var movment2 = new MovmentComandAX12(id, 0x1ff, 0x150);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1);
instructionPacket.Send();
Thread.Sleep(2000);
instructionPacket = new InstructionPacketSyncMovment(sender, movment2);
instructionPacket.Send();
sender.Dispose();
}
protected virtual void Cleanup()
{
if (cleanup)
{
return;
}
cleanup.Value = true;
connection.Close();
comObj.Dispose();
ctSource.Dispose();
}
public void CanFindCorectComPort()
{
var communicationObject = new CommunicationObject("COM4");
communicationObject.Open();
Assert.IsTrue(communicationObject.IsOpen);
communicationObject.Dispose();
}
