//private static void workerSEND_DoWork(object sender, DoWorkEventArgs e)
private static void workerSEND_DoWork()
{
C_Packet thisInstructionPacket;
lock (spiSent_locker)
{
if (spi.IsOpen == true)
{
//spi.DiscardInBuffer();
// spi.DiscardOutBuffer();
}
lock (queueToSent_locker)
{
if (queueToSent.Count > 0)
{
thisInstructionPacket = queueToSent.Dequeue();
if (C_SPI.WRITE_instructionPacket(thisInstructionPacket) == false)
{
LOG_err(string.Format(
"Cannot open the serial port {0}. Tried [{1}]-times", spi.PortName, openConnection.ValDef
));
return;
}
}
else
{
return;
}
spi.DiscardOutBuffer();
}
}
}
public static void ACTUALIZE_motorRegistersFromStatusPacket(C_Packet received, C_Packet pairedLastSent)
{
try
{
if (received.byteId == pairedLastSent.byteId)
{
// we have no error in statusPacket
if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_WRITE)
{
// actualize the parameters which were written into motors - and we know they were written good
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue, // as we received statusMessage after we written the value
pairedLastSent.Par);
}
else if (pairedLastSent.byteInstructionOrError == C_DynAdd.INS_READ)
{
// actualize the parameters which were read from motors
C_MotorControl.ACTUALIZE_motorRegister(
pairedLastSent.rotMotor,
e_regByteType.seenValue,
C_CONV.listOfObjects2listOfBytes(new List <object>()
{
pairedLastSent.Par[0], received.Par
})
);
}
else
{
C_SPI.LOG_debug(string.Format(
"lastSent packet: {0}\nPaired with: {1}\n{2}",
pairedLastSent.PacketBytes_toString,
received.PacketBytes_toString,
"wasn't read neither write and yet still it was supposed to be processed as a statusPacket. Not processing!"
));
}
}
else
{
LOG_statusPacket(string.Format(
"The received status packet :\t{0}\nDoes not belong to the lastSent: \t{1}",
received.PacketBytes_toString, pairedLastSent.PacketBytes_toString
));
}
}
catch (Exception e)
{
C_SPI.LOG_debug("tak tady to padá! " + e.Message);
}
}
public static void ACTUALIZE_queueCounts(List <Queue <C_Packet> > queueSent)
{
foreach (C_Motor mot in M)
{
//queueSent_Count[rotMot] = listSent.Count;
mot.packetsInLastSent = C_SPI.queueSent_Count[(int)mot.rotMotor];
}
C_SPI.LOG_debug(string.Format(
"queueSent[ yaw=[{0}]; pitch=[{1}]; roll=[{2}] ]",
GET_M(e_rot.yaw).packetsInLastSent,
GET_M(e_rot.pitch).packetsInLastSent,
GET_M(e_rot.roll).packetsInLastSent
));
MainWindow.REFRESH_motorData();
}
public static bool PROCESS_statusPacket(C_Packet status, C_Packet pairedLastSent)
{
// no echo should get here (FIND_bestPairInQueue) sort it out
if (status.IS_error() == true) // status is consistent and correct, but may have error
{
C_SPI.LOG_debug("The processed package has an error! : "
+ status.PacketBytes_toString);
}
else
{
C_SPI.LOG_debug("The processed package does not contain any error, going to process statusPacket");
ACTUALIZE_motorRegistersFromStatusPacket(status, pairedLastSent);
C_SPI.LOG_debug("Status packet processing ended");
}
return(true);
}
public static void ACTUALIZE_motorRegister(e_rot rot, e_regByteType type, List <byte> pars)
{
if (pars.Count > 0)
{
byte addressByte = pars[0];
byte[] parValues = pars.Skip(1).ToArray();
C_Packet.LOG_statusPacket(string.Format(
"Status OK - actualizing mot[{0}] register type[{1}]: From address[{2}]=[{3}], these values[{4}]",
rot, type, addressByte, MainWindow.Ms[rot].Reg.GET_name(addressByte),
C_CONV.byteArray2strHex_space(parValues)));
foreach (byte byteValue in parValues)
{
C_SPI.LOG_unimportant(string.Format(
"going to acualize mot[{0}] register on address [{1}]",
rot, addressByte
));
MainWindow.Ms[rot].ACTUALIZE_register(addressByte, byteValue, type);
addressByte++;
}
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion RESET
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region static functions
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public static void SEND_packet(C_Packet packet)
{
C_SPI.SEND_data(packet);
}
private void btnSPIClose_Click(object sender, RoutedEventArgs e)
{
C_SPI.CLOSE_connection();
}
private void btnSPIConnect_Click(object sender, RoutedEventArgs e)
{
C_SPI.OPEN_connection();
//System.Windows.MessageBox.Show(C_State.Spi.ToString());
}
