/// <summary>
/// Default BrickConnection constructor
/// </summary>
/// <param name="config"></param>
/// <param name="rbtqDataPort"></param>
public BrickConnection(PowerControllerConfig config, RbtqDataPort rbtqDataPort, TrackRoamerBrickPowerService service)
{
this.PowerControllerConfig = config; // keep the pointer
this._rbtqDataPort = rbtqDataPort; // where to send incoming data
this._service = service; // used for tracing
_service.LogInfoViaService("BrickConnection()");
_controller = new ControllerRQAX2850_CCR(PowerControllerConfig.PortName);
// wireup handlers for drive-related data - encoders and whiskers:
_controller.onValueReceived_EncoderLeftAbsolute += new OnValueReceived(m_controller_onValueReceived_EncoderLeftAbsolute);
_controller.onValueReceived_EncoderRightAbsolute += new OnValueReceived(m_controller_onValueReceived_EncoderRightAbsolute);
_controller.onValueReceived_EncoderSpeed += new OnValueReceived(m_controller_onValueReceived_EncoderSpeed);
_controller.onValueReceived_DigitalInputF += new OnValueReceived(m_controller_onValueReceived_DigitalInputF); // WhiskerLeft
_controller.onValueReceived_DigitalInputEmerg += new OnValueReceived(m_controller_onValueReceived_DigitalInputEmerg); // WhiskerRight
_controller.onValueReceived_DigitalInputE += new OnValueReceived(_controller_onValueReceived_DigitalInputE);
// some measured values coming from the controller as result of queries:
_controller.onValueReceived_Voltage += new OnValueReceived(_controller_onValueReceived_Voltage);
_controller.onValueReceived_MotorPower += new OnValueReceived(_controller_onValueReceived_MotorPower);
_controller.onValueReceived_MotorAmps += new OnValueReceived(_controller_onValueReceived_MotorAmps);
_controller.onValueReceived_AnalogInputs += new OnValueReceived(_controller_onValueReceived_AnalogInputs);
_controller.onValueReceived_HeatsinkTemperature += new OnValueReceived(_controller_onValueReceived_HeatsinkTemperature);
HcConnected = false;
}
/// <summary>
/// Open a RoboteQ AX2850 serial port.
/// </summary>
/// <param name="comPort"></param>
/// <param name="baudRate"></param>
/// <returns>true for success</returns>
public bool Open(int comPort, int baudRate)
{
_comPort = comPort;
_baudRate = baudRate;
_service.LogInfoViaService("BrickConnection: Open() port=" + comPort + " baud=" + baudRate);
if (_serialPort != null)
{
Close(); // will set _serialPort=null and remove event handler (serialPort_DataReceived)
}
if (!ValidBaudRate(baudRate))
{
throw new System.ArgumentException(Resources.InvalidBaudRate, "baudRate");
}
_serialPort = new SerialPort("COM" + comPort.ToString(CultureInfo.InvariantCulture), baudRate, Parity.Even, 7, StopBits.One);
_serialPort.Handshake = Handshake.None;
_serialPort.Encoding = Encoding.ASCII;
_serialPort.NewLine = "\r";
_serialPort.DtrEnable = true;
_serialPort.RtsEnable = true;
_serialPort.ReadTimeout = 1100;
if (_rbtqDataPort == null)
{
_rbtqDataPort = new RbtqDataPort();
}
bool serialPortOpened = false;
try
{
if (comPort > 0)
{
if (TrySerialPort(_serialPort.PortName, baudRate))
{
// Open the port for communications
_serialPort.Open();
_serialPort.DiscardInBuffer();
_serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
serialPortOpened = true;
_controller.serialPort = _serialPort;
_controller.init(); // serialPort must be set to avoid reopening in ensurePort()
}
}
}
catch (Exception exc)
{
_service.LogInfoViaService("Error in BrickConnection: Open() port=" + comPort + " baud=" + baudRate + " " + exc);
if (serialPortOpened)
{
serialPortOpened = false;
_serialPort.DataReceived -= new SerialDataReceivedEventHandler(serialPort_DataReceived);
}
}
return(serialPortOpened);
}