/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
_scribblerComm = new ScribblerComm();
_scribblerComPort = new ScribblerDataPort();
_scribblerComPort = _scribblerComm.Open(6, 38400);
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SensorNotification>(true, _scribblerComPort, SensorNotificationHandler),
Arbiter.ReceiveWithIterator <SetMotor>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <Ping>(true, _mainPort, PingHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler)
),
new ConcurrentReceiverGroup()
));
//play startup tone
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER, 20, 100, 200));
}
/// <summary>
/// Close the connection to a serial port.
/// </summary>
private void Close()
{
if (serialPort != null)
{
if (serialPort.IsOpen)
{
serialPort.DataReceived -= new SerialDataReceivedEventHandler(serialPort_DataReceived);
serialPort.Close();
}
serialPort = null;
ScribblerComInboundPort = null;
}
}
/// <summary>
/// Open a serial port.
/// </summary>
/// <param name="comPort"></param>
/// <param name="baudRate"></param>
/// <returns>A Ccr Port for receiving serial port data</returns>
internal ScribblerDataPort Open(int comPort, int baudRate)
{
if (serialPort != null)
{
Close();
}
if (buffer == null)
{
buffer = new byte[128];
}
Console.WriteLine("Opening COM port: " + comPort + " with baud rate: " + baudRate);
serialPort = new SerialPort("COM" + comPort.ToString(System.Globalization.NumberFormatInfo.InvariantInfo), baudRate);
serialPort.Encoding = Encoding.Default;
serialPort.Parity = Parity.None;
serialPort.DataBits = 8;
serialPort.StopBits = StopBits.One;
//serialPort.WriteTimeout = 2000;
serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
serialPort.ErrorReceived += new SerialErrorReceivedEventHandler(serialPort_ErrorReceived);
ScribblerComInboundPort = new ScribblerDataPort();
try
{
serialPort.Open();
}
catch
{
Console.WriteLine("Invalid Serial Port.");
throw new IOException();
}
return(ScribblerComInboundPort);
}
