public byte RequestStatus(byte boardID = 0)
{
var message = new ADMMessage(MessageTags.CreateTag());
message.Type = Messaging.MessageType.STATUS_REQUEST;
message.TargetID = boardID;
SendMessage(message);
return(message.Tag);
}
public byte Ping()
{
var message = new ADMMessage(MessageTags.CreateTag());
message.Type = Messaging.MessageType.PING;
message.TargetID = 0;
SendMessage(message);
return(message.Tag);
}
public byte Initialise()
{
ADMMessage message = new ADMMessage(MessageTags.CreateTag());
message.TargetID = 0;
message.Type = Messaging.MessageType.INITIALISE;
SendMessage(message);
return(message.Tag);
}
public byte SendCommand(byte targetID, ArduinoCommand command, List <Object> extraArgs = null, byte tag = 0)
{
var message = new ADMMessage();
message.LittleEndian = LittleEndian;
message.Type = Messaging.MessageType.COMMAND;
message.TargetID = targetID;
message.Tag = tag == 0 ? MessageTags.CreateTag() : tag;
message.CommandID = command.ID;
List <Object> allArgs = command.Arguments;
if (extraArgs != null && extraArgs.Count > 0)
{
allArgs.AddRange(extraArgs);
}
foreach (Object arg in allArgs)
{
byte[] b;
if (arg is String)
{
b = Chetch.Utilities.Convert.ToBytes((String)arg);
}
else if (arg.GetType().IsValueType)
{
b = Chetch.Utilities.Convert.ToBytes((ValueType)arg, LittleEndian);
}
else
{
throw new Exception("Unable to process type " + arg.GetType());
}
message.AddArgument(b);
}
return(SendMessage(message));
}
public byte SendMessage(ADMMessage message)
{
if (message == null)
{
return(0);
}
if (Monitor.TryEnter(SendMessageLock, SEND_MESSAGE_LOCK_TIMEOUT))
{
try
{
bool ready2send;
long msSinceLastSent = -1;
//loop waiting for a message response
do
{
msSinceLastSent = (DateTime.Now.Ticks - LastMessageSentOn.Ticks) / TimeSpan.TicksPerMillisecond;
if (LastMessageSent == null || MessageReceivedSuccess)
{
ready2send = true;
}
else
{
ready2send = msSinceLastSent > MESSAGE_RECEIVED_TIMEOUT;
if (!ready2send)
{
_sleep(10); //crappy idea to reduce load on cpu
}
else
{
//so here we have waited long enough for the previous sent message which has failed to arrive
//so we proceed with sending anyway
Tracing?.TraceEvent(TraceEventType.Warning, 0, "SendMessage {0}: Sending {1} timed out waiting to receive message {2} tag {3}", PortAndNodeID, message.Type, LastMessageSent.Type, LastMessageSent.Tag);
}
}
} while (!ready2send);
//store old values before sending (rollback if exception thrown)
//This unusual approach is because it appeared like messages were being received before the SendString could exit
ADMMessage lastMessageSent = LastMessageSent;
DateTime lastMessageSentOn = LastMessageSentOn;
try
{
lock (MessageStatsLock)
{
MessagesSent++;
LastMessageSent = message;
LastMessageSentOn = DateTime.Now;
MessageReceivedSuccess = false;
}
if (message.Tag == 0)
{
message.Tag = MessageTags.CreateTag();
}
message.SenderID = BoardID;
//Console.WriteLine("-------------> {0}: Sending message {1} tag {2} target {3}." , PortAndNodeID, message.Type, message.Tag, message.TargetID);
SendString(message.Serialize());
}
catch (Exception e)
{
lock (MessageStatsLock) //rollback
{
MessagesSent--;
LastMessageSent = lastMessageSent;
LastMessageSentOn = lastMessageSentOn;
}
String errMsg = String.Format("{0} SendMessage: sending {1} (Tag={2}) produced exception {3} {4}", PortAndNodeID, message.Type, message.Tag, e.GetType(), e.Message);
Tracing?.TraceEvent(TraceEventType.Error, 0, errMsg);
throw e;
}
}
finally
{
Monitor.Exit(SendMessageLock);
}
} //end attempt to try get lock
else
{
//we waited too long to get the lock...
throw new SendFailedException("ArduinoDeviceManager::SendMessage ... waited to long to obtain lock");
}
return(message.Tag);
}