private static void Session_MessageReceived(object sender, FirmataMessageEventArgs eventArgs)
{
if (eventArgs.Value.Type == MessageType.StringData)
{
_waitHandle.Set(((StringData)eventArgs.Value.Value).Text);
}
}
void Session_OnMessageReceived(object sender, FirmataMessageEventArgs eventArgs)
{
string o;
switch (eventArgs.Value.Type)
{
case MessageType.StringData:
o = ((StringData)eventArgs.Value.Value).Text;
break;
default:
o = "?";
break;
}
Console.WriteLine("Message {0} received: {1}", eventArgs.Value.Type, o);
}
/// <summary>
/// Handle messages that harve arrived from the board and successfully processed by Firmata
/// </summary>
/// <param name="sender"></param>
/// <param name="eventArgs"></param>
private void HandleFirmataMessageReceived(Object sender, FirmataMessageEventArgs eventArgs)
{
var fmessage = eventArgs.Value;
ADMMessage message = null;
try
{
switch (fmessage.Type)
{
case Solid.Arduino.Firmata.MessageType.FirmwareResponse:
break;
case Solid.Arduino.Firmata.MessageType.StringData:
StringData sd = (StringData)fmessage.Value;
try
{
String serialized = sd.Text;
message = ADMMessage.Deserialize <ADMMessage>(serialized, MessageEncoding.BYTES_ARRAY);
}
catch (Exception e)
{
String sbytes = BitConverter.ToString(Chetch.Utilities.Convert.ToBytes(sd.Text));
Tracing?.TraceEvent(TraceEventType.Error, 4000, "Deserializing {0} produced exception {1}: {2}", sbytes, e.GetType(), e.Message);
throw e;
}
break;
case Solid.Arduino.Firmata.MessageType.PinStateResponse:
break;
case Solid.Arduino.Firmata.MessageType.DigitalPortState:
DigitalPortState portState = (DigitalPortState)fmessage.Value;
String s = BitConverter.ToString(BitConverter.GetBytes(portState.Pins));
int pinsChanged;
if (_portStates.ContainsKey(portState.Port))
{
pinsChanged = portState.Pins ^ _portStates[portState.Port].Pins;
}
else
{
pinsChanged = 255;
}
_portStates[portState.Port] = portState;
for (int i = 0; i < 8; i++)
{
int bit2check = (int)System.Math.Pow(2, i);
if ((bit2check & pinsChanged) == 0)
{
continue;
}
bool state = portState.IsSet(i);
int pinNumber = GetPinForPort(portState.Port, i); //TODO: this might need to be board dependent
var devs = GetDevicesByPin(pinNumber);
if (devs != null)
{
foreach (var dev in devs)
{
dev.HandleDigitalPinStateChange(pinNumber, state);
}
}
}
//String s1 = System.Convert.ToString(portState.Pins, 2);
//String s2 = System.Convert.ToString(pinsChanged, 2);
//Debug.Print("Pins/2change: " + s1 + "/" + s2);
break;
case Solid.Arduino.Firmata.MessageType.CapabilityResponse:
break;
default:
break;
}
} catch (Exception e)
{
byte tag = message != null ? message.Tag : (byte)0;
message = new ADMMessage();
message.Type = Messaging.MessageType.ERROR;
message.Value = e.Message;
message.Tag = tag;
}
if (message != null)
{
Task.Run(() => { HandleReceivedADMMessage(message); });
}
}
private void session_OnMessageReceived(object par_Sender, FirmataMessageEventArgs par_EventArgs)
{
_messagesReceived.Enqueue(par_EventArgs.Value);
}
private void ListenFeedback(object sender, FirmataMessageEventArgs eventArgs)
{
MonoBehaviour.print(eventArgs.Value);
}