private void LogMessage(ArduinoMessage msg)
{
if (MessageLogged != null)
{
MessageLogged(msg);
}
}
public Task <ArduinoMessage> SendMessageAsync(ArduinoMessage msg)
{
LogMessage(msg);
if (!_port.IsOpen)
{
return(new Task <ArduinoMessage>(() => new ArduinoMessage()));
}
var bytes = msg.ToBytes();
_port.Write(bytes, 0, bytes.Length);
var excpectedResponseCmd = Matcher.RequestResponse[msg.Command];
var tcs = new TaskCompletionSource <ArduinoMessage>();
var res = new AwaitingMessage
{
ExceptedResponseCommand = excpectedResponseCmd,
Action = (m) =>
{
tcs.TrySetResult(m);
}
};
_messageQueue.Enqueue(res);
return(tcs.Task);
}
public LogEntry(ArduinoMessage msg)
{
Date = DateTime.Now;
Text = $"{msg.Receiver} {msg.Command} {msg.Format} ";
switch (msg.Format)
{
case DataFormat.EMPTY:
break;
case DataFormat.VAL:
Text += DataPackage.GetValue(msg);
break;
case DataFormat.PARAM:
Text += (Parameter)msg.Data[0];
break;
case DataFormat.PARAM_VAL:
var kv = DataPackage.GetKeyValuePackage(msg);
Text += kv.Parameter + " " + kv.Value;
break;
default:
break;
}
}
public static double GetValue(ArduinoMessage msg)
{
var data = msg.Data;
if (data == null || data.Length != 1)
{
throw new ArgumentException("Input array must have exactly one value!");
}
return(ShortToFloat(data[0]));
}
private void ProcessReceivedMessage(ArduinoMessage message)
{
LogMessage(message);
if (_messageQueue.Count > 0 && message.Command == _messageQueue.Peek().ExceptedResponseCommand || message.Command == Command.NACK)
{
var msg = _messageQueue.Dequeue();
msg.Action(message);
}
else if (MessageReceived != null)
{
MessageReceived(message);
}
}
private async void ReceiveData()
{
while (!_performClose)
{
try
{
var incomingValue = _port.ReadByte();
Console.WriteLine("Channel > Incoming: " + incomingValue);
if (incomingValue == Constants.MESSAGE_START_BYTE)
{
//start byte received. construct message
var length = _port.ReadByte();
await Task.Delay(10);
var messageBytes = new byte[length];
messageBytes[0] = (byte)incomingValue;
messageBytes[1] = (byte)length;
await Task.Delay(10);
_port.Read(messageBytes, 2, messageBytes.Length - 2);
var message = new ArduinoMessage();
message.FromBytes(messageBytes);
//continue if the message is invalid
if (!message.IsValid)
{
Console.WriteLine("Channel > Received INVALID Message!");
continue;
}
//process the message, either send received handler or continue awaited message
ProcessReceivedMessage(message);
}
}
catch (InvalidOperationException)
{
Debug.WriteLine("Channel > Connection closed. Arduino USB cable removed?");
break;
}
catch (Exception ex)
{
Debug.WriteLine("Channel > Exception while receiving data!");
}
await Task.Delay(10);
}
//reset close flag
_performClose = false;
}
public static KeyValuePackage GetKeyValuePackage(ArduinoMessage msg)
{
var data = msg.Data;
if (data == null || data.Length != 2)
{
throw new ArgumentException("Input array must have exactly two values!");
}
var para = (Parameter)data[0];
var value = ShortToFloat(data[1]);
return(new KeyValuePackage {
Parameter = para, Value = value
});
}
