public FirmwareVM()
{
//set fields
Log = new ObservableStringWriter();
_uploader = new Uploader();
_uploader.Out = Log;
_uploader.Status += Uploader_Status;
var connection = App.Instance.Connection;
FlashCommand = new RelayCommandAsync(Flash);
SelectFileImageCommand = new RelayCommandAsync(SelectFileImage);
Ports = connection.Ports;
var storage = App.Instance.Storage;
FirmwareModels = (from f in storage.Firmware
group f by f.Model into g
orderby g.Key descending
select new FirmwareModelVM()
{
Model = g.Key,
Images = g.Select(i => new FirmwareImageVM(i)
{
Description = $"{i.Model} v{i.Version} released {i.ReleaseDate.ToShortDateString()}"
}).OrderByDescending(i => i.Firmware.Version).ToArray()
}
).ToArray();
//select the most recent
SelectedFirmwareModel = FirmwareModels.First();
SelectedFirmwareImage = SelectedFirmwareModel.Images.First();
//connect to events
_connectionEvents = new PropertyObserver <ConnectionVM>(connection)
.RegisterHandler(i => i.CurrentArm, CurrentRobotChanged)
.RegisterHandler(i => i.Ports, CurrentRobotChanged);
CurrentRobotChanged(connection);
}
void CurrentRobotChanged(ConnectionVM sender)
{
FlashRequired = false;
if (sender.CurrentArm != null)
{
CurrentFirmware = $"v{sender.CurrentArm.Settings.Version}";
//select current robots port
var selectedPort = Ports.FirstOrDefault(i => i.Port == sender.CurrentArm.Communication.ConnectedPort);
if (selectedPort != null)
{
SelectedPort = selectedPort;
}
if (sender.CurrentArm.Settings.Version < RequiredFirmware)
{
FlashInstructions = $"An upgrade to you robots firmware is required in order to use this software. Your robot must be updated to a firmware version of v{RequiredFirmware} or beyond";
FlashCommand.Enabled = true;
FlashActionText = "Upgrade Firmware";
FlashRequired = true;
}
else
{
//select current robots model
var model = sender.CurrentArm.Settings.ModelNumber;
var robotModel = FirmwareModels.FirstOrDefault(i => i.Model == model);
if (robotModel != null)
{
SelectedFirmwareModel = robotModel;
}
var newerFirmwareAvailible = sender.CurrentArm.Settings.Version < SelectedFirmwareImage.Firmware.Version;
if (newerFirmwareAvailible)
{
FlashInstructions = "A new firmware version for your robot is availible";
FlashCommand.Enabled = true;
FlashActionText = "Upgrade Firmware";
}
else
{
FlashInstructions = "Your robot is up to date";
FlashCommand.Enabled = false;
FlashActionText = "Upgrade Firmware";
}
}
}
else
{
CurrentFirmware = null;
//select best guess port
var selectedPort = Ports.FirstOrDefault(i => i.PossibleArm);
if (selectedPort != null)
{
SelectedPort = selectedPort;
}
if (Ports.Count == 0)
{
FlashInstructions = "Please connect your robot to your PC by a USB cable";
FlashCommand.Enabled = false;
FlashActionText = "Install Firmware";
}
else
{
FlashInstructions = "No robot recognized. Install firmware onto your robot.";
FlashCommand.Enabled = true;
FlashActionText = "Install Firmware";
}
}
}
