public bool SendCommand(ScribblerCommand cmd)
{
if (buffer != null && cmd.Data != null)
{
int ix = 0;
//Add packet length start byte
buffer[ix++] = (byte)(cmd.Data.Length + 1);
if (cmd.Data != null && cmd.Data.Length > 0)
{
foreach (byte b in cmd.Data)
{
buffer[ix++] = b;
}
}
// null terminate as stop byte for scribbler
buffer[ix] = 0;
try
{
serialPort.Write(buffer, 0, ix + 1);
}
catch
{
throw new IOException();
}
return(true);
}
return(false);
}
/// <summary>
/// Handles incoming play tone requests
/// </summary>
private IEnumerator <ITask> PlayToneHandler(PlayTone message)
{
if (!_state.Connected)
{
LogError("trying to play tone, but not connected");
message.ResponsePort.Post(new Fault());
yield break;
}
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2,
message.Body.Duration,
message.Body.Frequency1,
message.Body.Frequency2);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
));
yield break;
}
/// <summary>
/// This will poll the scribbler at a minimum frequency
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void PollTimer_Elapsed(object sender, EventArgs e)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
}
/// <summary>
/// Handles incoming SetAllLEDs requests
/// </summary>
private IEnumerator <ITask> SetAllLEDsHandler(SetAllLEDs message)
{
//error check
if (!_state.Connected)
{
message.ResponsePort.Post(new Fault());
yield break;
}
//update state
_state.LEDLeft = message.Body.LeftLED;
_state.LEDCenter = message.Body.CenterLED;
_state.LEDRight = message.Body.RightLED;
//send command
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL,
_state.LEDLeft,
_state.LEDCenter,
_state.LEDRight);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
));
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
private IEnumerator <ITask> SetNameHandler(SetName command)
{
if (string.IsNullOrEmpty(command.Body.NewName))
{
LogError("New name is null");
command.ResponsePort.Post(new Fault());
yield break;
}
if (!_state.Connected)
{
command.ResponsePort.Post(new Fault());
yield break;
}
string shortenedname;
if (command.Body.NewName.Length > 8)
{
shortenedname = command.Body.NewName.Substring(0, 8);
}
else
{
shortenedname = command.Body.NewName;
}
_state.RobotName = shortenedname;
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_NAME, shortenedname);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
SaveState(_state);
}
));
//reply to sender
command.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// Handles incoming set motor messages
/// </summary>
private IEnumerator <ITask> SetMotorHandler(SetMotors message)
{
if (!_state.Connected)
{
message.ResponsePort.Post(new Fault());
yield break;
}
//debug
if (message.Body.LeftSpeed < 0 || message.Body.LeftSpeed > 200 || message.Body.RightSpeed < 0 || message.Body.RightSpeed > 200)
{
LogError("Scribbler SetMotorHandler: target power set incorrect");
}
//update state
_state.MotorLeft = message.Body.LeftSpeed;
_state.MotorRight = message.Body.RightSpeed;
//send command
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
//initialize notify list
List <string> notify = new List <string>();
notify.Add("MOTORS");
// notify general subscribers
subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
// notify selective subscribers
submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray());
subMgrPort.Post(sub);
//reply to say we are done
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
));
yield break;
}
/// <summary>
/// Handles incoming play tone requests
/// </summary>
private IEnumerator <ITask> PlayToneHandler(PlayTone message)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2,
message.Body.Duration,
message.Body.Frequency1,
message.Body.Frequency2);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
));
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// Handles incoming set motor messages
/// </summary>
private IEnumerator <ITask> SetMotorHandler(SetMotor message)
{
if (message.Body == null)
{
message.ResponsePort.Post(new Fault());
yield break;
}
if (message.Body.Motor == null)
{
message.ResponsePort.Post(new Fault());
yield break;
}
// Requests come too fast, so dump ones that come in too fast.
if (RequestPending > 0 && message.Body.Speed != 100)
{
message.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
RequestPending++;
if (message.Body.Motor.ToUpper().Contains("LEFT"))
{
_state.MotorLeft = message.Body.Speed;
}
else if (message.Body.Motor.ToUpper().Contains("RIGHT"))
{
_state.MotorRight = message.Body.Speed;
}
else
{
LogError("Motor name not set properly");
}
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
//if (response.Data[0] != (byte)ScribblerHelper.Commands.SET_MOTORS)
// LogError("SetMotor picked up a wrong echo");
//initialize notify list
List <string> notify = new List <string>();
notify.Add("MOTORS");
// notify general subscribers
subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
// notify selective subscribers
submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray());
subMgrPort.Post(sub);
//reply to say we are done
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
RequestPending--;
}
));
yield break;
}
/// <summary>
/// Serial Port data event handler
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (e.EventType == SerialData.Chars)
{
try
{
while (serialPort.BytesToRead >= 2)
{
int messageLength = serialPort.ReadByte();
while ((messageLength > 5 || messageLength == 0) && serialPort.BytesToRead > 0)
{
messageLength = serialPort.ReadByte();
}
if (messageLength >= 2)
{
byte[] data = new byte[messageLength];
serialPort.Read(data, 0, messageLength);
//debug
foreach (byte b in data)
{
if (b != 0)
{
Console.Write(b + " ");
}
else
{
Console.Write("` ");
}
}
Console.Write("\n");
if (ScribblerHelper.IsSensorResponse(data[0]))
{
SensorNotification sensorMsg = new SensorNotification(data[0], data[1]);
ScribblerComInboundPort.Post(sensorMsg);
}
else
{
ScribblerCommand echo = new ScribblerCommand();
echo.Data = data;
ScribblerComInboundPort.Post(echo);
}
}
}
}
catch (ArgumentException ex)
{
if (ex.Message == "Offset and length were out of bounds for the array or count is greater than the number of elements from index to the end of the source collection.")
{
Exception invalidBaudRate = new IOException();
System.Diagnostics.Debug.WriteLine("Invalid Baud Rate");
ScribblerComInboundPort.Post(invalidBaudRate);
}
else
{
Console.WriteLine("Error reading from the serial port in ComBase(): {0}", ex.Message);
System.Diagnostics.Debug.WriteLine("Error reading from the serial port in ComBase(): {0}", ex.Message);
ScribblerComInboundPort.Post(ex);
}
}
catch (TimeoutException ex)
{
ScribblerComInboundPort.Post(ex);
// Ignore timeouts for now.
}
catch (IOException ex)
{
Console.WriteLine("Error reading from the serial port in CommBase(): {0}", ex.Message);
ScribblerComInboundPort.Post(ex);
}
catch (Exception ex)
{
Console.WriteLine("Error reading from the serial port in CommBase(): {0}", ex.Message);
ScribblerComInboundPort.Post(ex);
}
}
}
/// <summary>
/// Handles incoming set motor messages
/// </summary>
private IEnumerator<ITask> SetMotorHandler(SetMotor message)
{
if (message.Body == null)
{
message.ResponsePort.Post(new Fault());
yield break;
}
if (message.Body.Motor == null)
{
message.ResponsePort.Post(new Fault());
yield break;
}
// Requests come too fast, so dump ones that come in too fast.
if (RequestPending > 0 && message.Body.Speed != 100)
{
message.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
RequestPending++;
if (message.Body.Motor.ToUpper().Contains("LEFT"))
{
_state.MotorLeft = message.Body.Speed;
}
else if (message.Body.Motor.ToUpper().Contains("RIGHT"))
{
_state.MotorRight = message.Body.Speed;
}
else
{
LogError("Motor name not set properly");
}
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
//if (response.Data[0] != (byte)ScribblerHelper.Commands.SET_MOTORS)
// LogError("SetMotor picked up a wrong echo");
//initialize notify list
List<string> notify = new List<string>();
notify.Add("MOTORS");
// notify general subscribers
subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
// notify selective subscribers
submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray());
subMgrPort.Post(sub);
//reply to say we are done
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
RequestPending--;
}
);
yield break;
}
/// <summary>
/// Handles incoming SetLED requests
/// </summary>
private IEnumerator<ITask> SetLEDHandler(SetLED message)
{
ScribblerCommand cmd;
switch (message.Body.LED)
{
case 0: //left LED
if (message.Body.State)
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON);
else
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF);
break;
case 1: //center LED
if (message.Body.State)
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON);
else
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF);
break;
case 2: //right LED
if (message.Body.State)
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON);
else
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF);
break;
case 3: //all LEDs
if (message.Body.State)
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_ON);
else
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_OFF);
break;
default:
LogError("LED number set incorrect");
cmd = new ScribblerCommand();
break;
}
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
);
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// Handles incoming play tone requests
/// </summary>
private IEnumerator<ITask> PlayToneHandler(PlayTone message)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER_2,
message.Body.Duration,
message.Body.Frequency1,
message.Body.Frequency2);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
);
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
private IEnumerator<ITask> SetNameHandler(SetName command)
{
if (command.Body == null || string.IsNullOrEmpty(command.Body.NewName))
{
command.ResponsePort.Post(new Fault());
yield break;
}
string shortenedname;
if (command.Body.NewName.Length > 8)
shortenedname = command.Body.NewName.Substring(0, 8);
else
shortenedname = command.Body.NewName;
_state.RobotName = shortenedname;
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_NAME, shortenedname);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
SaveState(_state);
}
);
//reply to sender
command.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// This will poll the scribbler at a minimum frequency
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void PollTimer_Elapsed(object sender, EventArgs e)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
}
/// <summary>
/// Handles incoming SetLED requests
/// </summary>
private IEnumerator <ITask> SetLEDHandler(SetLED message)
{
if (!_state.Connected)
{
LogError("Trying to set LED, but not connected");
message.ResponsePort.Post(new Fault());
yield break;
}
ScribblerCommand cmd;
switch (message.Body.LED)
{
case 0: //left LED
_state.LEDLeft = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF);
}
break;
case 1: //center LED
_state.LEDCenter = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF);
}
break;
case 2: //right LED
_state.LEDRight = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF);
}
break;
case 3: //all LEDs
_state.LEDLeft = message.Body.State;
_state.LEDCenter = message.Body.State;
_state.LEDRight = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_OFF);
}
break;
default:
LogError("LED number set incorrect");
cmd = new ScribblerCommand();
break;
}
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
));
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// DO NOT USE THIS COMMAND DIRECTLY.
/// In Scribbler.cs, post a message to _scribblerComPort
/// </summary>
/// <param name="cmd"></param>
/// <returns></returns>
internal ScribblerResponse SendCommand(ScribblerCommand cmd)
{
ScribblerResponse echo = null;
ScribblerResponse response = null;
byte[] buffer = new byte[outMessageSize];
if (buffer != null)
{
int ix = 0;
//buffer = cmd.ToByteArray();
buffer[ix++] = cmd.CommandType;
if (cmd.Data != null && cmd.Data.Length > 0)
{
foreach (byte b in cmd.Data)
{
buffer[ix++] = b;
}
}
//fill to standard size
while (ix < outMessageSize)
{
buffer[ix++] = 0;
}
//DEBUG
//Console.Write("\nSent: ");
//foreach (byte b in buffer)
//{
// if (b != 0)
// Console.Write(b + " ");
// else
// Console.Write("` ");
//}
//Console.Write("\n");
//DEBUG
// When requesting a response, clear the inbound buffer
if (_serialPort.BytesToRead > 0)
{
_serialPort.DiscardInBuffer();
}
try
{
_serialPort.Write(buffer, 0, ix);
}
catch
{
Console.WriteLine("Serial Port Timeout. Turn on Scribbler.");
//throw new IOException();
}
echo = GetEcho(buffer);
response = GetCommandResponse(helper.ReturnSize((ScribblerHelper.Commands)cmd.CommandType));
}
return(response);
}
public SendScribblerCommand(ScribblerCommand cmd)
{
this.Body = cmd;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost.Body.Context);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerConfig")
{
if (parameters["buttonOk"] == "Change" && _state.Connected)
{
SetNameBody newname = new SetNameBody(parameters["Name"]);
SetName newnamemessage = new SetName(newname);
_mainPort.Post(newnamemessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, newnamemessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, newnamemessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "Connect" && _state.Connected)
{
//close down this connection to make a new connection below
PollTimer.Close();
System.Threading.Thread.Sleep(100);
_scribblerCom.Close();
_state.Connected = false;
}
if (parameters["buttonOk"] == "Connect" && !_state.Connected)
{
int port = 0;
int.TryParse(parameters["ComPort"], out port);
string name = parameters["Name"];
if (!string.IsNullOrEmpty(name) && name.Length > 8)
{
name = name.Substring(0, 8);
}
_state.ComPort = port;
_state.RobotName = name;
//open Scribbler Communications port
if (ConnectToScribbler())
{
// Listen for a single Serial port request with an acknowledgement
Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
PollTimer = new System.Timers.Timer();
PollTimer.Interval = TimerDelay;
PollTimer.AutoReset = true;
PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed);
PollTimer.Start();
//play startup tone
PlayToneBody startTone = new PlayToneBody(200, 1000, 2000);
PlayTone playToneMessage = new PlayTone(startTone);
_mainPort.Post(playToneMessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else
{
HttpPostFailure(httpPost, "Connection to Scribbler failed");
}
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerSensors")
{
if (parameters["buttonOk"] == "Poll" && _state.Connected)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sendcmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerMotors")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
int left = _state.MotorLeft;
int right = _state.MotorRight;
int.TryParse(parameters["LeftMotor"], out left);
int.TryParse(parameters["RightMotor"], out right);
SetMotorsBody setMotorsBody = new SetMotorsBody(left, right);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.Post(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "All Stop" && _state.Connected)
{
SetMotorsBody setMotorsBody = new SetMotorsBody(100, 100);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.Post(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerLEDs")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
bool left = ((parameters["LeftLED"] ?? "off") == "on");
bool center = ((parameters["CenterLED"] ?? "off") == "on");
bool right = ((parameters["RightLED"] ?? "off") == "on");
SetAllLedsBody leds = new SetAllLedsBody(left, center, right);
SetAllLEDs setAllLeds = new SetAllLEDs(leds);
_mainPort.Post(setAllLeds);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setAllLeds.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setAllLeds.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerSpeaker")
{
if (parameters["buttonOk"] == "Play" && _state.Connected)
{
int tone1 = 0;
int tone2 = 0;
int duration = 0;
int.TryParse(parameters["Tone1"], out tone1);
int.TryParse(parameters["Tone2"], out tone2);
int.TryParse(parameters["Duration"], out duration);
PlayToneBody playTone = new PlayToneBody(duration, tone1, tone2);
PlayTone playToneMessage = new PlayTone(playTone);
_mainPort.Post(playToneMessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, "Unknown Http Post");
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}
/// <summary>
/// DO NOT USE THIS COMMAND DIRECTLY.
/// In Scribbler.cs, post a message to _scribblerComPort
/// </summary>
/// <param name="cmd"></param>
/// <returns></returns>
internal ScribblerResponse SendCommand(ScribblerCommand cmd)
{
ScribblerResponse echo = null;
ScribblerResponse response = null;
byte[] buffer = new byte[outMessageSize];
if (buffer != null)
{
int ix = 0;
//buffer = cmd.ToByteArray();
buffer[ix++] = cmd.CommandType;
if (cmd.Data != null && cmd.Data.Length > 0)
foreach (byte b in cmd.Data)
buffer[ix++] = b;
//fill to standard size
while (ix < outMessageSize)
buffer[ix++] = 0;
//DEBUG
//Console.Write("\nSent: ");
//foreach (byte b in buffer)
//{
// if (b != 0)
// Console.Write(b + " ");
// else
// Console.Write("` ");
//}
//Console.Write("\n");
//DEBUG
// When requesting a response, clear the inbound buffer
if (_serialPort.BytesToRead > 0)
_serialPort.DiscardInBuffer();
try
{
_serialPort.Write(buffer, 0, ix);
}
catch
{
Console.WriteLine("Serial Port Timeout. Turn on Scribbler.");
//throw new IOException();
}
echo = GetEcho(buffer);
response = GetCommandResponse(helper.ReturnSize((ScribblerHelper.Commands)cmd.CommandType));
}
return response;
}
