Exemplo n.º 1
 // Invoke the HasReadData event; called whenever the Read completes:
 protected virtual void OnDataReadComplete(AsyncInputReportArgs e)
     if (HasReadData != null)
         HasReadData(this, e);
        // This will be called whenever the data is read from the board:
        private void DataReadCompleteHandler(object sender, AsyncInputReportArgs aira)
            Tracer.Trace("Async data arrived. " + DateTime.Now);

            StringBuilder byteValue = new StringBuilder();
            byteValue.Append("DataReadCompleteHandler(): Input Report Data: ");

            for (int count = 0; count <= aira.InputBuffer.Length - 1; count++)
                //  Display bytes as 2-character Hex strings.
                byteValue.AppendFormat("{0:X02} ", aira.InputBuffer[count]);

            int servo1target = intFromBuffer(aira.InputBuffer, 1);
            int servo2target = intFromBuffer(aira.InputBuffer, 3);

            int ping1value = intFromBuffer(aira.InputBuffer, 5);
            int ping2value = intFromBuffer(aira.InputBuffer, 7);

            AsyncInputFrameArgs args = new AsyncInputFrameArgs(servo1target, servo2target, ping1value, ping2value);


            if (inDataContinuousMode)
                // initiate next read:
                ReadFromDevice(new EventHandler<AsyncInputReportArgs>(DataReadCompleteHandler));
Exemplo n.º 3
            ///  <summary>
            ///  reads an Input report from the device using interrupt transfers.
            ///  </summary>
            ///  <param name="hidHandle"> the handle for learning about the device and exchanging Feature reports. </param>
            ///  <param name="readHandle"> the handle for reading Input reports from the device. </param>
            ///  <param name="writeHandle"> the handle for writing Output reports to the device. </param>
            ///  <param name="myDeviceDetected"> tells whether the device is currently attached. </param>
            ///  <param name="inputReportBuffer"> contains the requested report. </param>
            ///  <param name="success"> read success </param>
            public override void Read(SafeFileHandle hidHandle, SafeFileHandle readHandle, SafeFileHandle writeHandle, ref Boolean myDeviceDetected, ref Byte[] inputReportBuffer, ref Boolean success)
                IntPtr eventObject = IntPtr.Zero;
                NativeOverlapped HidOverlapped = new NativeOverlapped();
                IntPtr nonManagedBuffer = IntPtr.Zero;
                IntPtr nonManagedOverlapped = IntPtr.Zero;
                Int32 numberOfBytesRead = 0;
                Int32 result = 0;

                    //  Set up the overlapped structure for ReadFile.

                    PrepareForOverlappedTransfer( ref HidOverlapped, ref eventObject );

                    // Allocate memory for the input buffer and overlapped structure.

                    nonManagedBuffer = Marshal.AllocHGlobal(inputReportBuffer.Length);
                    nonManagedOverlapped = Marshal.AllocHGlobal(Marshal.SizeOf(HidOverlapped));
                    Marshal.StructureToPtr(HidOverlapped, nonManagedOverlapped, false);

                    //  ***
                    //  API function: ReadFile
                    //  Purpose: Attempts to read an Input report from the device.

                    //  Accepts:
                    //  A device handle returned by CreateFile
                    //  (for overlapped I/O, CreateFile must have been called with FILE_FLAG_OVERLAPPED),
                    //  A pointer to a buffer for storing the report.
                    //  The Input report length in bytes returned by HidP_GetCaps,
                    //  A pointer to a variable that will hold the number of bytes read.
                    //  An overlapped structure whose hEvent member is set to an event object.

                    //  Returns: the report in ReadBuffer.

                    //  The overlapped call returns immediately, even if the data hasn't been received yet.

                    //  To read multiple reports with one ReadFile, increase the size of ReadBuffer
                    //  and use NumberOfBytesRead to determine how many reports were returned.
                    //  Use a larger buffer if the application can't keep up with reading each report
                    //  individually.
                    //  ***

                    success = FileIO.ReadFile(readHandle, nonManagedBuffer, inputReportBuffer.Length, ref numberOfBytesRead, nonManagedOverlapped);

                    if (!success)
                        Tracer.Trace("waiting for ReadFile");

                        //  API function: WaitForSingleObject

                        //  Purpose: waits for at least one report or a timeout.
                        //  Used with overlapped ReadFile.

                        //  Accepts:
                        //  An event object created with CreateEvent
                        //  A timeout value in milliseconds.

                        //  Returns: A result code.

                        result = FileIO.WaitForSingleObject(eventObject, 3000);

                        //  Find out if ReadFile completed or timeout.

                        switch (result)
                            case (System.Int32)FileIO.WAIT_OBJECT_0:

                                //  ReadFile has completed

                                success = true;
                                Tracer.Trace("ReadFile completed successfully.");

                                // Get the number of bytes read.

                                //  API function: GetOverlappedResult

                                //  Purpose: gets the result of an overlapped operation.

                                //  Accepts:
                                //  A device handle returned by CreateFile.
                                //  A pointer to an overlapped structure.
                                //  A pointer to a variable to hold the number of bytes read.
                                //  False to return immediately.

                                //  Returns: non-zero on success and the number of bytes read.

                                FileIO.GetOverlappedResult(readHandle, nonManagedOverlapped, ref numberOfBytesRead, false);


                            case FileIO.WAIT_TIMEOUT:

                                //  Cancel the operation on timeout

                                CancelTransfer(hidHandle, readHandle, writeHandle, eventObject);
                                Tracer.Error("Readfile timeout");
                                success = false;
                                myDeviceDetected = false;

                                //  Cancel the operation on other error.

                                CancelTransfer(hidHandle, readHandle, writeHandle, eventObject);
                                Tracer.Error("Readfile undefined error");
                                success = false;
                                myDeviceDetected = false;

                    if (success)
                        // A report was received.
                        // Copy the received data to inputReportBuffer for the application to use.

                        Marshal.Copy(nonManagedBuffer, inputReportBuffer, 0, numberOfBytesRead);

                        AsyncInputReportArgs args = new AsyncInputReportArgs();

                        args.InputBuffer = inputReportBuffer;

                catch ( Exception ex )
                    DisplayException( MODULE_NAME, ex );
                    throw ;