Exemplo n.º 1
0
        public void send <T>(GloObject <T> obj) where T : struct
        {
            if (!connectionOpen())
            {
                return;
            }

            byte[] dataBytes = GloLink.StructureToByteArray(ref obj.data);

            transferBuffer[0] = Convert.ToByte(messageFrame[0]);
            transferBuffer[1] = Convert.ToByte(messageFrame[1]);
            transferBuffer[2] = Convert.ToByte(messageFrame[2]);
            transferBuffer[3] = obj.ID;
            transferBuffer[4] = Convert.ToByte((obj.instance << 8) >> 8);
            transferBuffer[5] = Convert.ToByte(obj.instance >> 8);
            transferBuffer[6] = Convert.ToByte(dataBytes.Length);
            transferBuffer[dataBytes.Length + 7] = 0x0D;
            transferBuffer[dataBytes.Length + 8] = 0x0A; //CR LF

            dataBytes.CopyTo(transferBuffer, 7);

            // how much space is actually used up for current packet
            int packetLength = dataBytes.Length + 9;

            connection.Write(transferBuffer, packetLength);

            NumberPacketsSent++;
            NumberBytesSent += packetLength;
        }
Exemplo n.º 2
0
        void link_PacketReceived(object sender, PacketReceivedEventArgs e)
        {
            switch (e.ID)
            {
            case (byte)Glo.IDs.AssertMessage:
                GloObject <GloAssertMessage> assertMessage = new GloObject <GloAssertMessage>(Glo.IDs.AssertMessage);
                assertMessage.data = GloLink.ByteArrayToStructure <GloAssertMessage>(e.Data);
                logAndDisplayMessage(assertMessage.data.text, MessageSource.RobotAssert);
                break;

            case (byte)Glo.IDs.DebugMessage:
                GloObject <GloDebugMessage> debugMessage = new GloObject <GloDebugMessage>(Glo.IDs.DebugMessage);
                debugMessage.data = GloLink.ByteArrayToStructure <GloDebugMessage>(e.Data);
                logAndDisplayMessage(debugMessage.data.text, MessageSource.RobotDebug);
                break;

            case (byte)Glo.IDs.CaptureData:

                if (capturingData)
                {
                    GloObject <GloCaptureData> testData = new GloObject <GloCaptureData>(Glo.IDs.CaptureData);
                    testData.data = GloLink.ByteArrayToStructure <GloCaptureData>(e.Data);

                    captureData.Add(new float[] { (float)testData.data.time, (float)(testData.data.tiltAngle * 180.0 / Math.PI) });
                }

                break;

            case (byte)Glo.IDs.StatusData:
                GloObject <GloStatusData> statusData = new GloObject <GloStatusData>(Glo.IDs.StatusData);
                statusData.data = GloLink.ByteArrayToStructure <GloStatusData>(e.Data);

                view.TiltAngle = statusData.data.tiltAngle * 180.0 / Math.PI;

                break;

            default:
                logAndDisplayMessage("Received unhandled packet with ID: " + e.ID, MessageSource.UI);
                break;
            }
        }
Exemplo n.º 3
0
        public MainController(IMainView view)
        {
            this.view = view;

            // Create log file and then initially setup all output paths.
            string dateTimeText = String.Format("{0:yyyy-MM-dd_hh-mm-ss-tt}", startTime);
            string logFileName  = String.Format("log_{0}.txt", dateTimeText);

            sessionDirectoryName = String.Format("session_{0}", dateTimeText);
            logFile = new LogFile("./", logFileName);
            UpdateOutputPaths(view.getOutputDirectory());

            // Setup view.
            requestNewPortList(); // to keep user from having to request them.
            view.setNumberTransferPackets(0);
            view.setNumberReceivedPackets(0);
            view.setNumberTransferBytes(0);
            view.setNumberReceivedBytes(0);
            view.CaptureDuration   = defaultCaptureDuration;
            view.CaptureSampleRate = defaultCaptureRate;
            view.TiltAngle         = 0;

            // Setup driving mode by enabling it and then flipping it back.
            drivingModeEnabled = true;
            changeDrivingMode();

            // Try to see if last connected com port is avaiable to select.
            string lastPortName = Properties.Settings.Default.LastPortName;

            view.selectPortName(lastPortName);

            // Setup link.
            link = new GloLink();
            link.PacketReceived += new PacketReceivedEventHandler(link_PacketReceived);

            // Setup timers.
            linkStatsTimer = new System.Threading.Timer(LinkStatsTimerCallback, null, 0, linkStatsTimerInterval);
            captureWaitingWorker.DoWork             += new DoWorkEventHandler(captureWaitingWorker_DoWork);
            captureWaitingWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(captureWaitingWorker_RunWorkerCompleted);
        }