private async void ProcessStateMachine(object sender, EventArgs e)
{
stateTimer.Stop();
switch (CurrentStep)
{
case Steps.WaitForBaudrate:
break;
case Steps.WaitForConnection:
break;
case Steps.CheckHardware:
{
var connectResult = await _mountViewModel.ConnectToOat(SelectedDevice + "@" + SelectedBaudRate);
ShowGPSStatus = false;
GPSStatus = string.Empty;
if (!connectResult.Item1)
{
ShowGPSStatus = true;
GPSStatus = connectResult.Item2;
CurrentStep = Steps.WaitForConnection;
return;
}
if (_mountViewModel.IsAddonSupported("GYRO"))
{
CurrentStep = Steps.WaitForLevel;
// Turn on the Digital Level
var doneEvent = new AutoResetEvent(false);
_sendCommand(":XL1#,#", (a) => { doneEvent.Set(); });
doneEvent.WaitOne();
doneEvent.Reset();
// Get the reference angles from the level.
_sendCommand(":XLGR#,#", (a) =>
{
if (a.Success)
{
string referenceAngles = a.Data;
var angles = referenceAngles.Split(",".ToCharArray());
float.TryParse(angles[0], NumberStyles.Float, _oatCulture, out float _pitchReference);
float.TryParse(angles[1], NumberStyles.Float, _oatCulture, out float _rollReference);
}
doneEvent.Set();
});
doneEvent.WaitOne();
ShowLevelDisplay = true;
}
else if (_mountViewModel.IsAddonSupported("GPS"))
{
CurrentStep = Steps.WaitForGPS;
ShowGPSStatus = true;
_startedGPSWaitAt = DateTime.UtcNow;
}
else
{
ShowManualLocation = true;
CurrentStep = Steps.ConfirmLocation;
// Let's get teh coordinate stored on the OAT
var locDoneEvent = new AutoResetEvent(false);
bool gotLoc = false;
float lat = 0, lng = 0;
_sendCommand(":Gt#,#", (a) => { gotLoc = a.Success && TryParseLatLong(a.Data, ref lat); });
_sendCommand(":Gg#,#", (a) => { gotLoc = gotLoc && a.Success && TryParseLatLong(a.Data, ref lng); locDoneEvent.Set(); });
locDoneEvent.WaitOne();
if (gotLoc)
{
Latitude = lat;
Longitude = 180.0f - lng;
}
break;
}
}
break;
case Steps.WaitForLevel:
{
var doneEvent = new AsyncAutoResetEvent();
// Get the current digital level angles.
_sendCommand(":XLGC#,#", (a) =>
{
string currentAngles = a.Data;
if (a.Success && !currentAngles.Contains("NAN"))
{
var angles = currentAngles.Split(",".ToCharArray());
float.TryParse(angles[0], NumberStyles.Float, _oatCulture, out float currentPitch);
float.TryParse(angles[1], NumberStyles.Float, _oatCulture, out float currentRoll);
// Keep a rolling average of the last 3 values.
if (_rollOffsetHistory.Count > 2)
{
_rollOffsetHistory.RemoveAt(0);
}
if (_pitchOffsetHistory.Count > 2)
{
_pitchOffsetHistory.RemoveAt(0);
}
_rollOffsetHistory.Add(currentRoll - _rollReference);
_pitchOffsetHistory.Add(currentPitch - _pitchReference);
}
doneEvent.Set();
});
await doneEvent.WaitAsync();
if (_rollOffsetHistory.Any())
{
RollOffset = _rollOffsetHistory.Average();
}
if (_pitchOffsetHistory.Any())
{
PitchOffset = _pitchOffsetHistory.Average();
}
}
break;
case Steps.WaitForGPS:
{
TimeSpan elapsed;
elapsed = DateTime.UtcNow - _startedGPSWaitAt;
if (elapsed.TotalSeconds >= MaxWaitForGPS)
{
GPSStatus = "GPS could not get a location lock. Please enter location manually:";
ShowManualLocation = true;
CurrentStep = Steps.ConfirmLocation;
break;
}
GPSStatus = $"Waiting {MaxWaitForGPS - elapsed.TotalSeconds:0}s for GPS to find satellites and sync...";
await Task.Delay(150);
bool gpsIsSyncd = false;
var doneEvent = new AutoResetEvent(false);
_sendCommand(":gT100#,n", async(result) =>
{
if (result.Data == "1")
{
gpsIsSyncd = true;
}
else
{
await Task.Delay(500);
}
doneEvent.Set();
});
doneEvent.WaitOne(2500);
if (gpsIsSyncd)
{
GPSStatus = "Sync'd! Retrieving current location...";
float latitude = 0;
float longitude = 0;
bool gotLoc = false;
var doneEventLatLong = new AutoResetEvent(false);
_sendCommand(":Gt#,#", (a) => { gotLoc = a.Success && TryParseLatLong(a.Data, ref latitude); });
_sendCommand(":Gg#,#", (a) => { gotLoc = gotLoc && a.Success && TryParseLatLong(a.Data, ref longitude); doneEventLatLong.Set(); });
doneEventLatLong.WaitOne();
if (gotLoc)
{
longitude = 180 - longitude;
GPSStatus = "Sync'd! Setting OAT location...";
await _mountViewModel.SetSiteLatitude(latitude);
await _mountViewModel.SetSiteLongitude(longitude);
await Task.Delay(400);
}
Settings.Default.SiteLatitude = latitude;
Settings.Default.SiteLongitude = longitude;
Settings.Default.Save();
CurrentStep = Steps.Completed;
}
}
break;
case Steps.ConfirmLocation:
break;
case Steps.Completed:
this.Result = true;
this.Close();
return;
default: break;
}
stateTimer.Start();
}
private async void ProcessStateMachine(object sender, EventArgs e)
{
stateTimer.Stop();
switch (CurrentStep)
{
case Steps.WaitForConnect:
break;
case Steps.CheckHardware:
var connectResult = await _mountViewModel.ConnectToOat(SelectedDevice);
ShowGPSStatus = false;
GPSStatus = string.Empty;
if (!connectResult)
{
this.Result = null;
this.Close();
CurrentStep = Steps.WaitForConnect;
return;
}
if (_mountViewModel.IsAddonSupported("GYRO"))
{
CurrentStep = Steps.WaitForLevel;
// Turn on the Digital Level
await _sendCommand(":XL1#,#");
// Get the reference angles from the level.
string referenceAngles = await _sendCommand(":XLGR#,#");
var angles = referenceAngles.Split(",".ToCharArray());
_pitchReference = float.Parse(angles[0]);
_rollReference = float.Parse(angles[1]);
ShowLevelDisplay = true;
}
else if (_mountViewModel.IsAddonSupported("GPS"))
{
CurrentStep = Steps.WaitForGPS;
ShowGPSStatus = true;
_startedGPSWaitAt = DateTime.UtcNow;
}
else
{
ShowManualLocation = true;
CurrentStep = Steps.ConfirmLocation;
}
break;
case Steps.WaitForLevel:
// Get the current digital level angles.
string currentAngles = await _sendCommand(":XLGC#,#");
if (!currentAngles.Contains("NAN"))
{
var angles = currentAngles.Split(",".ToCharArray());
float currentPitch = float.Parse(angles[0]);
float currentRoll = float.Parse(angles[1]);
// Keep a rolling average of the last 6 values.
if (_rollOffsetHistory.Count > 5)
{
_rollOffsetHistory.RemoveAt(0);
}
if (_pitchOffsetHistory.Count > 5)
{
_pitchOffsetHistory.RemoveAt(0);
}
_rollOffsetHistory.Add(currentRoll - _rollReference);
RollOffset = _rollOffsetHistory.Average();
_pitchOffsetHistory.Add(currentPitch - _pitchReference);
PitchOffset = _pitchOffsetHistory.Average();
}
break;
case Steps.WaitForGPS:
TimeSpan elapsed;
elapsed = DateTime.UtcNow - _startedGPSWaitAt;
if (elapsed.TotalSeconds >= MaxWaitForGPS)
{
GPSStatus = string.Format("GPS could not get a location lock. Please enter location manually:");
ShowManualLocation = true;
CurrentStep = Steps.ConfirmLocation;
break;
}
GPSStatus = string.Format("Waiting {0:0}s for GPS to find satellites and sync...", MaxWaitForGPS - elapsed.TotalSeconds);
await Task.Delay(150);
var result = await _sendCommand(":gT100#,n");
if (result == "1")
{
GPSStatus = "Sync'd! Retrieving current location...";
result = await _sendCommand(":Gt#,#");
float latitude = float.Parse(result.Substring(0, 3)) + (float.Parse(result.Substring(4)) / 60.0f);
await Task.Delay(250);
result = await _sendCommand(":Gg#,#");
float longitude = float.Parse(result.Substring(0, 3)) + (float.Parse(result.Substring(4)) / 60.0f);
if (longitude > 180)
{
longitude -= 360;
}
await Task.Delay(250);
GPSStatus = "Sync'd! Setting OAT location...";
await _mountViewModel.SetSiteLatitude(latitude);
await _mountViewModel.SetSiteLongitude(longitude);
await Task.Delay(250);
Settings.Default.SiteLatitude = latitude;
Settings.Default.SiteLongitude = longitude;
Settings.Default.Save();
CurrentStep = Steps.Completed;
}
break;
case Steps.ConfirmLocation:
break;
case Steps.Completed:
this.Result = true;
this.Close();
return;
default: break;
}
stateTimer.Start();
}
