protected virtual void OnDataAvailable(string data)
{
//If we didn't get any data, just return
if (string.IsNullOrEmpty(data))
{
return;
}
//Log each message from the arduino if we want to see its raw output
//mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, data);
var idType = new { ID = "none" };
idType = JsonConvert.DeserializeAnonymousType(data, idType);
switch (idType.ID)
{
case ArduinoMessageValues.kTelemetryID:
OnTelemetryReceive(data);
break;
case ArduinoMessageValues.kAcknowledgeID:
//Echo ACKS for now
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("{0}", JsonConvert.DeserializeObject <ArduinoToggleResponse>(data)));
}
break;
case ArduinoMessageValues.kDeviceStateChange:
ArduinoDeviceStateChange changed = JsonConvert.DeserializeObject <ArduinoDeviceStateChange>(data);
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("{0}", changed));
}
if (StateChanged != null)
{
StateChanged(this, changed.FR, changed.TO);
}
mDeviceState = changed.TO;
break;
case ArduinoMessageValues.kHeartbeatEnableValue:
if (mHeartbeatTimer != null)
{
mHeartbeatTimer.Stop();
mHeartbeatTimer.Start();
mNumMissedHeartbeatDeadlines = 0;
}
break;
default:
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Unrecognized JSON message from {0} on port {1}: \"{2}\"", ArduinoID, mPortName, data));
}
break;
}
}
public void StopArduinoComms(bool disableBeforeStop)
{
if (mDeviceState == ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disconnected)
{
return;
}
if (mWorkerThread != null)
{
mWorkerThread = null;
}
if (mHeartbeatTimer != null)
{
mHeartbeatTimer.Stop();
}
mTelemetryToggled = false;
mDeviceState = ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disconnected;
if (mPort != null)
{
SerialPort port = mPort;
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Closing Arduino comms on port {0} for AID {1}", mPortName, ArduinoID));
}
TelemetryToggle(0);
ToggleArduinoState(false);
ToggleHeartbeat(false, 0, 0);
//Set a time out so our thread wakes up and exits
mPort.ReadTimeout = 1;
mPort = null;
try
{
port.Dispose();
}
//Eat this exception since we may have had a strange OS disposal
catch (System.IO.IOException) {}
}
if (Disconnected != null)
{
Disconnected(this);
}
}
public bool StartArduinoComms()
{
if (mWorkerThread != null)
{
mWorkerThread.Abort();
mWorkerThread = null;
}
string[] ports = GetPortNames();
bool foundCorrectArduino = false;
var idPacket = new ArduinoMessageBase();
idPacket.ID = ArduinoMessageValues.kIdentifyValue;
string jsonOutput = Newtonsoft.Json.JsonConvert.SerializeObject(idPacket);
foreach (string port in ports)
{
SerialPort serialPort = new SerialPort(port, kArduinoCommsBaudRate);
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Now checking Arduino on port {0}", port));
}
//Only check unopened ports
if (!serialPort.IsOpen)
{
try
{
serialPort.Open();
}
//Port is already open in another context, or Arduino. In any case, skip this one
catch (UnauthorizedAccessException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Unable to open port {0} because of unauthorized access exception", port));
}
continue;
}
//Wait for the Arduino to boot once we've opened the port
System.Threading.Thread.Sleep(kArduinoBootloaderDelayMilliseconds);
//Disable telemtry just incase
var toggle = new { ID = ArduinoMessageValues.kTelemetryEnableValue, EN = false };
string disableTelem = Newtonsoft.Json.JsonConvert.SerializeObject(toggle);
serialPort.Write(disableTelem);
var toggleHB = new { ID = ArduinoMessageValues.kHeartbeatEnableValue, EN = false };
string disableHB = Newtonsoft.Json.JsonConvert.SerializeObject(toggleHB);
serialPort.Write(disableHB);
//Discard any built up data
serialPort.DiscardInBuffer();
serialPort.Write(jsonOutput);
serialPort.ReadTimeout = kIDTimeoutMilliseconds;
string response = string.Empty;
for (int i = 0; i < kNumRetries; ++i)
{
try
{
response = ReadLine(serialPort);
break;
}
//Catch case where the serial port is unavailable. MOve to next port
catch (TimeoutException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Port {0} timed out. Attempt {1} of {2}", port, i + 1, kNumRetries));
}
continue;
}
}
if (!string.IsNullOrEmpty(response))
{
try
{
ArduinoIDAckMessage msg = Newtonsoft.Json.JsonConvert.DeserializeObject <ArduinoIDAckMessage>(response);
if (msg.ID == ArduinoMessageValues.kAcknowledgeID && msg.AID == mArduinoID)
{
mTelemetryToggled = msg.TS;
mDeviceState = msg.DS;
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Got the arduino we're looking for on port {0} with AID {1}. Telemetry is {2} and the device's state is {3}", port, mArduinoID, msg.TS, msg.DS));
}
mPort = serialPort;
//Don't timeout anymore. Our worker thread will yield while it waits for data
mPort.ReadTimeout = -1;
mWorkerThread = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(ReadSerialDataFromPort));
mWorkerThread.Name = string.Format("Arduino IO worker for AID {0}", mArduinoID);
mPort.Disposed += new EventHandler(OnPortDisposed);
mPortName = port;
foundCorrectArduino = true;
//Start our worker
mWorkerThread.Start();
}
else if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Found a Prosthesis Arduino, but not the arduino we're looking for on port {0} with AID {1}", port, mArduinoID));
}
}
//Catch malformed JSON response, if there is one at all
catch (Newtonsoft.Json.JsonSerializationException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Malformed response. Ignoring port {0}", port));
}
}
catch (Newtonsoft.Json.JsonReaderException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Malformed response. Ignoring port {0}", port));
}
}
}
else if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Serial port {0} doesn't have an arduino", port));
}
if (!foundCorrectArduino)
{
serialPort.Close();
serialPort.Dispose();
}
else
{
//We've found our Arduino, no need to continue checking
break;
}
}
}
return(foundCorrectArduino);
}
private void OnArduinoStateChange(ArduinoCommunicationsLibrary.ArduinoCommsBase arduino, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState from, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState to)
{
if (to == ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Fault)
{
RaiseFault(string.Format("AID {0} reported a fault.", arduino.ArduinoID));
}
}
