public async Task UpdatePairedBluetoothDevicesAsync(CancellationToken cancellationToken = default)
{
await setDotNetRefAsync(cancellationToken);
var module = await _moduleTask.Value;
var jsDevices = await module.InvokeAsync <Device[]>("WebBluetoothFunctions.GetPairedBluetoothDevices", cancellationToken);
// Remove disconnected devices
for (int i = connectedDevices.Count - 1; i >= 0; i--)
{
if (!jsDevices.Select(d => d.Id).Contains(connectedDevices[i].Id))
{
OnDeviceDisconnected?.Invoke(connectedDevices[i]);
connectedDevices.RemoveAt(i);
}
}
// Add connected Devices
foreach (var newDevice in jsDevices)
{
if (!connectedDevices.Select(d => d.Id).Contains(newDevice.Id))
{
connectedDevices.Add(newDevice);
OnDeviceConnected?.Invoke(newDevice);
}
}
}
private void TryNotifyDeviceConnected(DeviceData dev)
{
if (dev.State != DeviceState.Online)
{
return;
}
Task <int> task = new Task <int>(() =>
{
var ret = ExcuteAdbShellCmd("dumpsys window displays |head -n 3", dev.Serial);
log_.Debug($"OnDeviceChanged {ret}");
Regex regex = new Regex(@"init=(\d+)x(\d+)");
var m = regex.Match(ret);
if (m.Success)
{
Size sz = new Size();
sz.Width = Convert.ToInt32(m.Groups[1].Value);
sz.Height = Convert.ToInt32(m.Groups[2].Value);
double rate = sz.Height * 1.0 / Display_height;
var e2 = new UsbDeviceEventArgs(dev);
e2.screen_size = sz;
e2.display_zoom_rate = rate;
OnDeviceConnected?.Invoke(this, e2);
}
return(1);
});
task.Start();
}
protected void NotifyDeviceConnected()
{
Task.Run(() =>
{
try
{
OnDeviceConnected?.Invoke();
}
catch (Exception e)
{
Logger.GetInstance(typeof(UsbWatcher)).Error(e.ToString());
}
});
}
/// <summary>
/// This method opens the device (using the abstract method GetDeviceAsync).
/// </summary>
/// <param name="deviceInfo">Device information of the device to be opened</param>
/// <returns>True if the device was successfully opened, false if the device could not be opened for well known reasons.
/// An exception may be thrown if the device could not be opened for extraordinary reasons.</returns>
/// <remarks>This method should be called from UI thread. (may show authorization popup)</remarks>
public async Task OpenDeviceAsync(DeviceInformation deviceInfo)
{
_device = await GetDeviceAsync(deviceInfo);
// Device could have been blocked by user or the device has already been opened by another app.
if (IsDeviceConnected)
{
DeviceInformation = deviceInfo;
if (_appSuspendEventHandler == null || _appResumeEventHandler == null)
{
RegisterForAppEvents();
}
// User can block the device after it has been opened in the Settings charm. We can detect this by registering for the DeviceAccessInformation.AccessChanged event
if (_deviceAccessEventHandler == null)
{
RegisterForDeviceAccessStatusChange();
}
// Create and register device watcher events for the device to be opened unless we're reopening the device
if (_deviceWatcher == null)
{
try
{
_deviceWatcher = DeviceInformation.CreateWatcher(DeviceSelector);
}
catch (UnauthorizedAccessException)
{
// TODO: show error message / throw error event
return;
}
RegisterForDeviceWatcherEvents();
}
if (!_watcherStarted)
{
// Start the device watcher after we made sure that the device is opened.
StartDeviceWatcher();
}
// Notify registered callback handle that the device has been opened
OnDeviceConnected?.Invoke(this, DeviceInformation);
}
}
public async Task <Device> RequestDeviceAsync(RequestDeviceQuery query, CancellationToken cancellationToken = default)
{
await setDotNetRefAsync(cancellationToken);
var jsonQuery = JsonConvert.SerializeObject(query, Formatting.None, new JsonSerializerSettings()
{
NullValueHandling = NullValueHandling.Ignore
});
var module = await _moduleTask.Value;
var newDevice = await module.InvokeAsync <Device>("WebBluetoothFunctions.RequestDevice", cancellationToken, jsonQuery);
if (newDevice != null)
{
connectedDevices.Add(newDevice);
OnDeviceConnected?.Invoke(newDevice);
}
return(newDevice);
}
private void OnDeviceChange(InputDevice device, InputDeviceChange inputDeviceChange)
{
deviceEventArgs.device = device;
switch (inputDeviceChange)
{
case InputDeviceChange.Added:
Debug.Log($"{device} was added.");
OnDeviceConnected?.Invoke(this, deviceEventArgs);
break;
case InputDeviceChange.Removed:
Debug.Log($"{device} was removed.");
OnDeviceDisconnected?.Invoke(this, deviceEventArgs);
break;
default:
break;
}
}
public async void Connect(string deviceId, OnDeviceConnected callback = null)
{
connectedDevice = await BluetoothLEDevice.FromIdAsync(deviceId);
callback.Invoke(this);
}
/// <summary>
/// This method opens the device using the WinRT Serial API. After the device is opened, save the device
/// so that it can be used across scenarios.
///
/// It is important that the FromIdAsync call is made on the UI thread because the consent prompt can only be displayed
/// on the UI thread.
///
/// This method is used to reopen the device after the device reconnects to the computer and when the app resumes.
/// </summary>
/// <returns>
/// True if the device was successfully opened, false if the device could not be opened for well known reasons.
/// An exception may be thrown if the device could not be opened for extraordinary reasons.
/// </returns>
public async Task <Boolean> OpenDeviceAsync(DeviceInformation deviceInfo, string deviceSelector)
{
Boolean successfullyOpenedDevice = false;
NotifyType notificationStatus;
string notificationMessage = null;
Device = await SerialDevice.FromIdAsync(deviceInfo.Id);
// Device could have been blocked by user or the device has already been opened by another app.
if (Device != null)
{
successfullyOpenedDevice = true;
DeviceInformation = deviceInfo;
DeviceSelector = deviceSelector;
notificationStatus = NotifyType.StatusMessage;
notificationMessage = "Device " + DeviceInformation.Id + " opened";
// Notify registered callback handle that the device has been opened
OnDeviceConnected?.Invoke(this, DeviceInformation);
if (appSuspendEventHandler == null || appResumeEventHandler == null)
{
RegisterForAppEvents();
}
// Register for DeviceAccessInformation.AccessChanged event and react to any changes to the
// user access after the device handle was opened.
if (deviceAccessEventHandler == null)
{
RegisterForDeviceAccessStatusChange();
}
// Create and register device watcher events for the device to be opened unless we're reopening the device
if (deviceWatcher == null)
{
deviceWatcher = DeviceInformation.CreateWatcher(deviceSelector);
RegisterForDeviceWatcherEvents();
}
if (!watcherStarted)
{
// Start the device watcher after we made sure that the device is opened.
StartDeviceWatcher();
}
}
else
{
successfullyOpenedDevice = false;
notificationStatus = NotifyType.ErrorMessage;
var deviceAccessStatus = DeviceAccessInformation.CreateFromId(deviceInfo.Id).CurrentStatus;
if (deviceAccessStatus == DeviceAccessStatus.DeniedByUser)
{
notificationMessage = "Access to the device was blocked by the user : "******"Access to the device was blocked by the system : " + deviceInfo.Id;
}
else
{
// Most likely the device is opened by another app, but cannot be sure
notificationMessage = "Unknown error, possibly opened by another app : " + deviceInfo.Id;
}
}
MainPage.Current.NotifyUser(notificationMessage, notificationStatus);
return(successfullyOpenedDevice);
}
private void _devManager_DeviceDisconnected(IDevice device)
{
OnDeviceConnected?.Invoke(device, false);
}
private void _devManager_DeviceConnected(IDevice device)
{
OnDeviceConnected?.Invoke(device, true);
}
public static extern StatusCode SetOnDeviceConnected(OnDeviceConnected func);
private void ReceiveEnd(IAsyncResult ar)
{
// Retrieve state
var state = (ConnectionState)ar.AsyncState;
// Complete read
Int32 chunkLength;
try {
chunkLength = state.Connection.EndReceive(ar);
} catch (ObjectDisposedException) // Occurs during in-flight disposal - we need to catch it for a graceful shutdown
{
return; // Abort read
} catch (SocketException ex) // Occurs when there is a connection error
{
// Report error
RaiseDeviceError(state, ex.Message, false);
return; // Abort receive
}
// If the expected number of bytes hasn't arrived yet, wait for more bytes
if (state.ReceiveBufferExpected != state.ReceiveBufferUsed)
{
// Receive more bytes
ReceiveStart(state);
return;
}
// If header hasn't been processed yet, process it
if (null == state.ReceiveReceiveMessageType)
{
// Yes, this could have been in the switch below, but it made for some funky reading
// Check sync bytes
if (state.ReceiveBuffer[0] != 0x02 || state.ReceiveBuffer[1] != 0x55)
{
RaiseDeviceError(state, $"Incorrect sync bytes encountered ({state.ReceiveBuffer[0]},{state.ReceiveBuffer[1]}).", true);
return;
}
// Decode message type
state.ReceiveReceiveMessageType = (ReceiveMessageTypes)state.ReceiveBuffer[2];
// Decode message length and increase the number of bytes expected
var messageLength = BitConverter.ToUInt16(state.ReceiveBuffer, 3);
state.ReceiveBufferExpected += messageLength;
// Receive more bytes
ReceiveStart(state);
return;
}
switch (state.ReceiveReceiveMessageType.Value)
{
case ReceiveMessageTypes.Hello: // Device is providing basic information about it
state.Device = Device.Parse(state.ReceiveBuffer, 5);
state.Connection.Send(new Byte[] { 0x02, 0x55 }); // Sync bytes
state.Connection.Send((Byte)TransmitMessageTypes.HelloResponse); // Message type
state.Connection.Send((UInt16)8); // Message length
state.Connection.Send(TelematicsTime.Encode(DateTime.UtcNow)); // Time
state.Connection.Send((UInt32)0); // Flags TODO: how to tell device to redirect to OEM?
OnDeviceConnected?.Invoke(this, new OnDeviceConnectedArgs()
{
RemoteAddressString = state.RemoteAddressString,
Device = state.Device
});
break;
case ReceiveMessageTypes.Records: // Device is providing records
// It seems that MESSAGE contains multiple RECORDS
// which contain multiple FIELDS
// which contains multiple things which I'm going to call ATTRIBUTES
// Attributes are the actual data.
//
// In summary: MESSAGE => RECORDS => FIELDS => ATTRIBUTES
var position = 5;
var records = new List <Record>();
while (position < state.ReceiveBufferExpected)
{
records.Add(Record.Parse(state.ReceiveBuffer, ref position));
}
OnRecordsReceived?.Invoke(this, new OnRecordsReceivedArgs()
{
RemoteAddressString = state.RemoteAddressString,
Device = state.Device,
Records = records
});
break;
case ReceiveMessageTypes.CommitRequest: // Device asking us to confirm that we've successfully received and stored records
// Send confirmation // TODO: When would we not confirm a commit?
state.Connection.Send(new Byte[] { 0x02, 0x55 }); // Sync bytes
state.Connection.Send((Byte)TransmitMessageTypes.CommitResponse); // Message type
state.Connection.Send((UInt16)1); // Message length
state.Connection.Send((Byte)1); // Success
break;
case ReceiveMessageTypes.VersionData: // Device providing version information (no idea what this is for!!)
RaiseDeviceError(state, $"Version information received and discarded.", false); // TODO: do something with the information
break;
case ReceiveMessageTypes.TimeRequest: // Device asking for the current time
state.Connection.Send(new Byte[] { 0x02, 0x55 }); // Sync bytes
state.Connection.Send((Byte)TransmitMessageTypes.TimeResponse); // Message type
state.Connection.Send((UInt16)4); // Message length
state.Connection.Send(TelematicsTime.Encode(DateTime.UtcNow)); // Current time
break;
case ReceiveMessageTypes.AsyncMessageResponse: // Device is giving responses to async messages, which is not currently implemented, so should not be recieved
RaiseDeviceError(state, $"Message async responses received and discarded.", false); // TODO: do something with the information
break;
default:
RaiseDeviceError(state, $"Unsupported message type received ({state.ReceiveReceiveMessageType.Value}). Message discarded.", false);
break;
}
// Receive more
ResetState(state);
ReceiveStart(state);
}
/// <summary>
/// This method opens the device using the WinRT Serial API. After the device is opened, save the device
/// so that it can be used across scenarios.
///
/// It is important that the FromIdAsync call is made on the UI thread because the consent prompt can only be displayed
/// on the UI thread.
///
/// This method is used to reopen the device after the device reconnects to the computer and when the app resumes.
/// </summary>
/// <returns>
/// True if the device was successfully opened, false if the device could not be opened for well known reasons.
/// An exception may be thrown if the device could not be opened for extraordinary reasons.
/// </returns>
public async Task <bool> OpenDeviceAsync(DeviceInformation deviceInfo, string deviceSelector)
{
bool successfullyOpenedDevice = false;
NotifyType notificationStatus;
string notificationMessage = null;
Device = await SerialDevice.FromIdAsync(deviceInfo.Id);
// Device could have been blocked by user or the device has already been opened by another app.
if (Device != null)
{
successfullyOpenedDevice = true;
DeviceInformation = deviceInfo;
DeviceSelector = deviceSelector;
// necessary for the MALT read/write to work
try
{
Device.BaudRate = 9600;
Device.DataBits = 8;
Device.Handshake = SerialHandshake.None;
}
catch { }
// should be set by default
try
{
Device.StopBits = SerialStopBitCount.One;
Device.Parity = SerialParity.None;
}
catch { }
notificationStatus = NotifyType.StatusMessage;
notificationMessage = "Device " + DeviceInformation.Id + " opened";
// Notify registered callback handle that the device has been opened
OnDeviceConnected?.Invoke(this, DeviceInformation);
if (appSuspendEventHandler == null || appResumeEventHandler == null)
{
RegisterForAppEvents();
}
// Create and register device watcher events for the device to be opened unless we're reopening the device
if (deviceWatcher == null)
{
deviceWatcher = DeviceInformation.CreateWatcher(deviceSelector);
RegisterForDeviceWatcherEvents();
}
if (!watcherStarted)
{
// Start the device watcher after we made sure that the device is opened.
StartDeviceWatcher();
}
}
else
{
successfullyOpenedDevice = false;
notificationStatus = NotifyType.ErrorMessage;
var deviceAccessStatus = DeviceAccessInformation.CreateFromId(deviceInfo.Id).CurrentStatus;
if (deviceAccessStatus == DeviceAccessStatus.DeniedByUser)
{
notificationMessage = "Access to the device was blocked by the user : "******"Access to the device was blocked by the system : " + deviceInfo.Id;
}
else
{
// Most likely the device is opened by another app, but cannot be sure
notificationMessage = "Unknown error, possibly opened by another app : " + deviceInfo.Id;
}
}
rootPage.NotifyUser(notificationMessage, notificationStatus);
return(successfullyOpenedDevice);
}
public void ConnectDevice(IDevice device)
{
devices.Add(device);
OnDeviceConnected.Raise(device);
}
/// <summary>
/// Starts this instance.
/// </summary>
/// <param name="scanMode">The scan mode.</param>
/// <returns><c>true</c> if successfully, <c>false</c> otherwise.</returns>
public bool LidarStart(EScanMode scanMode = EScanMode.Boost)
{
try
{
if (IsRunning ||
IsDisposed)
{
return(false);
}
_ScanNumber = 0;
// Load driver
if (!NativeModuleManager.InitializeNativeModule(NativeModuleNames.NativeRpLidar))
{
Console.WriteLine("Can not load lidar native driver library.");
return(false);
}
// Initialize driver
if (RpLidarInterface.LidarInitializeDriver() != 0)
{
Console.WriteLine("Can not initialize lidar driver.");
}
// Connect device
if (RpLidarInterface.LidarConnect(_SerialPort, _SerialPortSpeed) != 0)
{
Console.WriteLine($"Can not connect to serial port \"{_SerialPort}:{_SerialPortSpeed}\".");
}
// Get device info
_DeviceInfo = new rplidar_response_device_info_t
{
serialNum = new byte[16]
};
if (RpLidarInterface.LidarGetDeviceInfo(ref _DeviceInfo) != 0)
{
Console.WriteLine("Can not get device info from device.");
}
// Get device health info
_DeviceHealthInfo = new rplidar_response_device_health_t();
if (RpLidarInterface.LidarGetHealth(ref _DeviceHealthInfo) != 0)
{
Console.WriteLine($"Can not get device health info from device.");
}
// Reset device on error state
if (_DeviceHealthInfo.Status == (byte)EDeviceStatus.RPLIDAR_STATUS_ERROR)
{
Console.WriteLine($@"Reset device due to error device health status: {_DeviceHealthInfo.Status}");
RpLidarInterface.LidarReset();
}
// Start spinning motor
if (RpLidarInterface.LidarStartMotor() != 0)
{
Console.WriteLine($"Can not start device motor.");
}
// Start scanning
_RpLidarScanMode = new RplidarScanMode
{
scan_mode = new char[64]
};
if (RpLidarInterface.LidarStartScan(false, (ushort)scanMode, ref _RpLidarScanMode) != 0)
{
Console.WriteLine($"Can not start scan mode.");
}
// Initialize task
_TokenSource = new CancellationTokenSource();
_Token = _TokenSource.Token;
_Task = Task.Factory.StartNew(() => LidarTaskDoWork(_Token), _Token);
if (RpLidarInterface.LidarIsConnected() == 1)
{
return(true);
}
else
{
return(false);
}
}
finally
{
if (RpLidarInterface.LidarIsConnected() == 1)
{
OnDeviceConnected?.Invoke(this, EventArgs.Empty);
}
}
}
extern public static int BS2_SetDeviceEventListener(IntPtr context, OnDeviceFound cbOnDeviceFound, OnDeviceAccepted cbOnDeviceAccepted, OnDeviceConnected cbOnDeviceConnected, OnDeviceDisconnected cbOnDeviceDisconnected);
