public virtual Reply GetReply()
{
Reply r = new Reply();
r.t = ReplyType.ReplyNone;
return r;
}
private void Worker()
{
Action<Reply> SendReply = (Reply r) =>
{
lock (this)
{
this.replies.AddLast(r);
}
};
Action CloseSerial = () =>
{
try
{
if ((this.serialHandle != null) && this.serialHandle.IsOpen)
{
this.serialHandle.Close();
}
}
catch (Exception)
{
}
this.serialHandle = null;
};
Action<string> ConnectionError = (string s) =>
{
CloseSerial();
Reply r = new Reply();
r.t = ReplyType.ReplyError;
r.errorCode = s;
SendReply(r);
};
Action<byte[], int> SendSerialCommand = (byte[] data, int size) =>
{
if (this.serialHandle == null)
{
return;
}
try
{
this.serialHandle.Write(data, 0, size);
int ok = this.serialHandle.ReadByte();
if (ok != 'K')
{
ConnectionError("Protocol error when sending command " + data[0] + ", got " + ok);
}
}
catch (System.TimeoutException)
{
ConnectionError("Timeout error when sending command " + data[0]);
}
catch (Exception e)
{
ConnectionError("Communications error when sending command " + data[0] + ": " + e.Message);
}
};
Action<byte[], int> ReadSerialBytes = (byte[] data, int size) =>
{
if (this.serialHandle == null)
{
return;
}
try
{
int count = 0, offset = 0;
while (count < size)
{
int now = this.serialHandle.Read(data, offset, size - count);
if (now <= 0)
{
ConnectionError("Protocol error when reading " + size + " bytes: got " + count + " and " + now);
}
count += now;
offset += now;
}
}
catch (System.TimeoutException)
{
ConnectionError("Timeout error when reading " + size + " bytes");
}
catch (Exception e)
{
ConnectionError("Communications error when reading " + size + " bytes: " + e.Message);
}
};
Action<int> SendDisplay = (int d) =>
{
byte[] b = new byte[2];
b[0] = (byte)'D';
b[1] = (byte)d;
SendSerialCommand(b, 2);
};
Action PostConnection = () =>
{
byte[] bytesOut = new byte[16];
byte[] bytesIn = new byte[16];
// Activities carried out when a connection is established
// set display to 0xc
SendDisplay(0x10);
SendDisplay(0xc);
// request current colour
Reply r = new Reply();
bytesOut[0] = (byte)'c'; // request current colour
SendSerialCommand(bytesOut, 1);
if (this.serialHandle == null) return;
ReadSerialBytes(bytesIn, 3);
if (this.serialHandle == null) return;
// Send "connected" message as connection seems ok
r.red = (int)bytesIn[0];
r.green = (int)bytesIn[1];
r.blue = (int)bytesIn[2];
r.t = ReplyType.ReplyConnected;
SendReply(r);
// Download programs
for (int i = 0; i < num_programs; i++)
{
bytesOut[0] = (byte)'L'; // load program from EEPROM
bytesOut[1] = (byte)i;
SendSerialCommand(bytesOut, 2);
if (this.serialHandle == null) return;
bytesOut[0] = (byte)'m'; // download program via serial line
SendSerialCommand(bytesOut, 1);
if (this.serialHandle == null) return;
r.program_bytes = new byte[program_size];
r.program_number = i;
ReadSerialBytes(r.program_bytes, program_size);
if (this.serialHandle == null) return;
r.t = ReplyType.ReplyProgram;
SendReply(r);
}
};
Command colour = new Command();
LinkedList<Command> sequential = new LinkedList<Command>();
bool get_colour = false;
while (true)
{
colour.t = CommandType.CommandNone;
get_colour = false;
sequential.Clear();
// Await messages
lock (this)
{
if (commands.Count == 0)
{
try
{
Monitor.Wait(this);
}
catch (Exception) { }
}
while (commands.Count != 0)
{
Command cmd = commands.First();
commands.RemoveFirst();
switch (cmd.t)
{
case CommandType.CommandSetColour:
// Only keep the most recent colour command
colour = cmd;
break;
case CommandType.CommandGetColour:
// Done after SetColour
get_colour = true;
break;
case CommandType.CommandExit:
// exit takes priority over everything else: immediate exit
CloseSerial();
return;
default:
// All other commands are processed in sequence
sequential.AddLast (cmd);
break;
}
}
}
// Process commands apart from colour
while (sequential.Count != 0)
{
Command cmd = sequential.First();
sequential.RemoveFirst();
switch (cmd.t)
{
case CommandType.CommandConnect:
CloseSerial();
try
{
this.serialHandle = new SerialPort(cmd.portName, 19200);
this.serialHandle.ReadTimeout = timeout;
this.serialHandle.WriteTimeout = timeout;
this.serialHandle.Open();
}
catch (Exception e)
{
ConnectionError("Connection to " + cmd.portName + " failed with error: " + e.Message);
}
if (this.serialHandle != null)
{
// send some '\0' bytes before starting it
const int leadin_size = 6;
byte[] initBytesOut = new byte[leadin_size];
initBytesOut[leadin_size - 1] = (byte)'Q';
int attempts = 3;
while (attempts > 0)
{
try
{
this.serialHandle.Write(initBytesOut, 0, leadin_size);
}
catch (Exception)
{
ConnectionError("Write error during setup");
break;
}
try
{
this.serialHandle.ReadTo("K");
try
{
// This read is expected to timeout.
// Just flushes extra stuff on the input
this.serialHandle.ReadTo("Z");
}
catch (Exception)
{
}
break;
}
catch (TimeoutException)
{
// try again unless final attempt
attempts--;
if (attempts <= 0)
{
ConnectionError("Timeout during connection: no valid response");
break;
}
}
catch (Exception)
{
ConnectionError("Read error during setup");
break;
}
}
PostConnection();
}
else
{
CloseSerial();
}
break;
case CommandType.CommandSetDisplay:
{
Reply r = new Reply();
r.t = ReplyType.ReplyMsg;
r.errorCode = "Setting display " + cmd.value;
SendReply(r);
SendDisplay(cmd.value);
}
break;
case CommandType.CommandRunEEPROMProgram:
{
byte[] bytesOut = new byte[2];
bytesOut[0] = (byte)'L'; // load from EEPROM
bytesOut[1] = (byte)cmd.value; // program number
SendSerialCommand(bytesOut, 2);
bytesOut[0] = (byte)'R'; // run
SendSerialCommand(bytesOut, 1);
Reply r = new Reply();
r.t = ReplyType.ReplyMsg;
r.errorCode = "Running program " + cmd.value;
SendReply(r);
}
break;
case CommandType.CommandRunTemporaryProgram:
{
byte[] bytesOut = new byte[Comms.program_size + 1];
bytesOut[0] = (byte)'M'; // upload program via serial line (PC to Arduino)
for (int i = 0; i < Comms.program_size; i++)
{
bytesOut[i + 1] = cmd.program_bytes[i];
}
SendSerialCommand(bytesOut, Comms.program_size + 1);
bytesOut[0] = (byte)'R'; // run
SendSerialCommand(bytesOut, 1);
Reply r = new Reply();
r.t = ReplyType.ReplyMsg;
r.errorCode = "Running program from editor";
SendReply(r);
}
break;
case CommandType.CommandSaveEEPROMProgram:
{
Reply r = new Reply();
r.t = ReplyType.ReplyMsg;
r.errorCode = "Writing program " + cmd.program_number + " to EEPROM";
SendReply(r);
byte[] bytesOut = new byte[Comms.program_size + 1];
bytesOut[0] = (byte)'M'; // upload program via serial line (PC to Arduino)
for (int i = 0; i < Comms.program_size; i++)
{
bytesOut[i + 1] = cmd.program_bytes[i];
}
SendSerialCommand(bytesOut, Comms.program_size + 1);
bytesOut[0] = (byte)'S'; // save to EEPROM
bytesOut[1] = (byte)cmd.program_number;
if (this.serialHandle != null)
{
this.serialHandle.ReadTimeout = eeprom_write_timeout;
SendSerialCommand(bytesOut, 2);
}
if (this.serialHandle != null)
{
this.serialHandle.ReadTimeout = timeout;
}
bytesOut[0] = (byte)'L'; // load program from EEPROM (readback)
bytesOut[1] = (byte)cmd.program_number;
SendSerialCommand(bytesOut, 2);
bytesOut[0] = (byte)'m'; // download program via serial line (readback)
SendSerialCommand(bytesOut, 1);
if (this.serialHandle != null)
{
r = new Reply();
r.program_bytes = new byte[Comms.program_size];
r.program_number = cmd.program_number;
ReadSerialBytes(r.program_bytes, Comms.program_size);
r.t = ReplyType.ReplyProgram;
SendReply(r);
}
if (this.serialHandle != null)
{
r = new Reply();
r.t = ReplyType.ReplyMsg;
r.errorCode = "Done";
SendReply(r);
}
}
break;
default:
break;
}
}
// Process colour command
if (colour.t != CommandType.CommandNone)
{
byte[] b = new byte[4];
b[0] = (byte) 'C';
b[1] = (byte) colour.red;
b[2] = (byte) colour.green;
b[3] = (byte) colour.blue;
SendSerialCommand (b, 4);
}
if (get_colour)
{
get_colour = false;
byte[] bytesOut = new byte[1];
bytesOut[0] = (byte)'c'; // request current colour
SendSerialCommand(bytesOut, 1);
byte[] bytesIn = new byte[3];
ReadSerialBytes(bytesIn, 3);
Reply r = new Reply();
r.t = ReplyType.ReplyProgram;
r.red = (int)bytesIn[0];
r.green = (int)bytesIn[1];
r.blue = (int)bytesIn[2];
r.t = ReplyType.ReplyGotColour;
SendReply(r);
}
}
}
public override Reply GetReply()
{
Reply r;
lock (this)
{
if (this.replies.Count != 0)
{
r = this.replies.First();
this.replies.RemoveFirst();
}
else
{
r = new Reply();
r.t = ReplyType.ReplyNone;
}
}
return r;
}
public void SimulatorSendReply(Reply r)
{
this.replies.AddLast(r);
}
public void RefreshSimulation(SimulatorComms comms)
{
if (this.simulated_program != null)
{
long ticks = DateTime.Now.Ticks - this.start_time;
long milliseconds = ticks / TimeSpan.TicksPerMillisecond;
int sim_time = (int)milliseconds;
int size = this.simulated_program.contents.Count();
if ((this.program_time + 120000) < sim_time)
{
// clock skew - reset the program
this.program_time = 0;
this.start_time = DateTime.Now.Ticks;
this.program_counter = 0;
}
while (this.program_time < sim_time)
{
// run forwards until the program time matches the simulator time
if (this.program_counter >= size)
{
this.program_counter = 0; // loop at end of program
}
Instruction inst = this.simulated_program.contents[this.program_counter];
int end_time = inst.getTime() + this.program_time;
bool commit = true;
switch (inst.t)
{
case InstructionType.InstructionSetDisplay:
this.setDisplay(inst.value);
break;
case InstructionType.InstructionTransition:
if (end_time < sim_time)
{
// Running behind. Apply this instruction immediately.
this.r = inst.r;
this.g = inst.g;
this.b = inst.b;
this.setColour(this.r, this.g, this.b);
}
else
{
// Transition
int rS = this.r, gS = this.g, bS = this.b;
int rT = inst.r, gT = inst.g, bT = inst.b;
int tD = (int)(sim_time - this.program_time);
int tI = (int)(end_time - this.program_time);
byte r = linear(rS, rT, tD, tI);
byte g = linear(gS, gT, tD, tI);
byte b = linear(bS, bT, tD, tI);
this.setColour(r, g, b);
commit = false;
}
break;
default:
break;
}
if (commit)
{
// Go to next instruction
this.program_counter++;
this.program_time = end_time;
}
else
{
// Need to wait for this instruction to complete
this.programState.Text = "Inst " + (this.program_counter + 1) + " of " + size + ": "
+ inst.ToString();
break;
}
}
}
while (true)
{
Command c = comms.SimulatorGetCommand();
Reply r;
switch (c.t)
{
case CommandType.CommandNone:
return;
case CommandType.CommandConnect:
r = new Reply();
r.red = r.green = r.blue = 0x20;
r.t = ReplyType.ReplyConnected;
comms.SimulatorSendReply(r);
for (int i = 0; i < Comms.num_programs; i++)
{
r = new Reply();
r.program_number = i;
r.program_bytes = readProgram(i);
r.t = ReplyType.ReplyProgram;
comms.SimulatorSendReply(r);
}
r = new Reply();
r.errorCode = "Simulated mode";
r.t = ReplyType.ReplyMsg;
comms.SimulatorSendReply(r);
this.display.Text = "C";
this.Show();
break;
case CommandType.CommandSetColour:
this.simulated_program = null;
this.setColour(c.red, c.green, c.blue);
this.r = c.red;
this.g = c.green;
this.b = c.blue;
this.programState.Text = "";
break;
case CommandType.CommandGetColour:
this.simulated_program = null;
r = new Reply();
r.red = this.r; r.green = this.g; r.blue = this.b;
r.t = ReplyType.ReplyGotColour;
comms.SimulatorSendReply(r);
break;
case CommandType.CommandSetDisplay:
this.simulated_program = null;
setDisplay(c.value);
this.programState.Text = "";
break;
case CommandType.CommandExit:
this.simulated_program = null;
break;
case CommandType.CommandRunEEPROMProgram:
this.simulated_program = new InstructionList(readProgram(c.value));
startProgram(comms, "" + c.value);
break;
case CommandType.CommandRunTemporaryProgram:
this.simulated_program = new InstructionList(c.program_bytes);
startProgram(comms, "(temporary)");
break;
case CommandType.CommandSaveEEPROMProgram:
writeProgram(c.program_number, c.program_bytes);
r = new Reply();
r.t = ReplyType.ReplyProgram;
r.program_number = c.program_number;
r.program_bytes = readProgram(c.program_number);
comms.SimulatorSendReply(r);
r = new Reply();
r.errorCode = "Written to simulated EEPROM";
r.t = ReplyType.ReplyMsg;
comms.SimulatorSendReply(r);
break;
}
}
}
private void startProgram(SimulatorComms comms, string name)
{
Reply r;
this.start_time = DateTime.Now.Ticks;
this.program_time = 0;
this.program_counter = 0;
if (this.simulated_program.contents.Count() == 0)
{
r = new Reply();
r.errorCode = "Program " + name + " contains no instructions.";
r.t = ReplyType.ReplyMsg;
comms.SimulatorSendReply(r);
this.simulated_program = null;
}
else if (this.simulated_program.end_time <= 0)
{
r = new Reply();
r.errorCode = "Program " + name + " has no running time.";
r.t = ReplyType.ReplyMsg;
comms.SimulatorSendReply(r);
this.simulated_program = null;
}
else
{
r = new Reply();
r.errorCode = "Program " + name + " simulating...";
r.t = ReplyType.ReplyMsg;
comms.SimulatorSendReply(r);
}
this.programState.Text = r.errorCode;
}
