protected virtual bool ValidateDeviceUniqueId(ReceivedCommand responseCommand)
{
bool valid = _uniqueDeviceId == responseCommand.ReadStringArg();
if (!valid)
{
Log(3, "Invalid device response. Device ID mismatch.");
}
return(valid);
}
/// <summary> Blocks until acknowlegdement reply has been received. </summary>
/// <param name="ackCmdId"> acknowledgement command ID </param>
/// <param name="timeout"> Timeout on acknowlegde command. </param>
/// <returns> . </returns>
private ReceivedCommand BlockedTillReply(int ackCmdId, int timeout)
{
// Disable listening, all callbacks are disabled until reply was received
var start = TimeUtils.Millis;
var time = start;
var acknowledgeCommand = new ReceivedCommand();
while ((time - start < timeout) && !acknowledgeCommand.Ok)
{
time = TimeUtils.Millis;
acknowledgeCommand = CheckForAcknowledge(ackCmdId);
}
return(acknowledgeCommand);
}
/// <summary> Directly executes the send command operation. </summary>
/// <param name="sendCommand"> The command to sent. </param>
/// <param name="sendQueueState"> Property to optionally clear the send and receive queues. </param>
/// <returns> A received command. The received command will only be valid if the ReqAc of the command is true. </returns>
public ReceivedCommand ExecuteSendCommand(SendCommand sendCommand, SendQueue sendQueueState)
{
// Disable listening, all callbacks are disabled until after command was sent
ReceivedCommand ackCommand;
lock (_sendCommandDataLock)
{
sendCommand.CommunicationManager = this;
sendCommand.InitArguments();
if (sendCommand.ReqAc)
{
// Stop processing receive queue before sending. Wait until receive queue is actualy done
_receiveCommandQueue.Suspend();
}
if (sendCommand.ReqAc)
{
_receiveCommandQueue.PrepareForCmd(sendCommand.AckCmdId, sendQueueState);
WriteCommand(sendCommand);
var rc = BlockedTillReply(sendCommand.Timeout);
ackCommand = rc ?? new ReceivedCommand();
}
else
{
WriteCommand(sendCommand);
ackCommand = new ReceivedCommand();
}
ackCommand.CommunicationManager = this;
}
if (sendCommand.ReqAc)
{
// Stop processing receive queue before sending
_receiveCommandQueue.Resume();
}
return(ackCommand);
}
/// <summary> Blocks until acknowlegdement reply has been received. </summary>
/// <param name="ackCmdId"> acknowledgement command ID </param>
/// <param name="timeout"> Timeout on acknowlegde command. </param>
/// <param name="clearQueueState"></param>
/// <returns> . </returns>
private ReceivedCommand BlockedTillReply(int ackCmdId, int timeout, ClearQueue clearQueueState)
{
// Disable invoking command callbacks
_receiveCommandQueue.ThreadRunState = CommandQueue.ThreadRunStates.Stop;
var start = TimeUtils.Millis;
var time = start;
var acknowledgeCommand = new ReceivedCommand();
while ((time - start < timeout) && !acknowledgeCommand.Ok)
{
time = TimeUtils.Millis;
acknowledgeCommand = CheckForAcknowledge(ackCmdId, clearQueueState);
}
// Re-enable invoking command callbacks
_receiveCommandQueue.ThreadRunState = CommandQueue.ThreadRunStates.Start;
return(acknowledgeCommand);
}
/// <summary> Sends a command. </summary>
/// <param name="cmdId"> Command ID. </param>
/// <param name="arguments"> The arguments. </param>
/// <param name="reqAc"> true to request acknowledge command. </param>
/// <param name="ackCmdId"> acknowledgement command ID </param>
/// <param name="timeout"> Timeout on acknowlegde command. </param>
/// <returns> . </returns>
public ReceivedCommand SendCommand(int cmdId, string[] arguments, bool reqAc, int ackCmdId, int timeout)
{
// Disable listening, all callbacks are disabled until after command was sent
// Var lock can result in deadlocks, instead we do a soft enforcement of synced sent/receive order
var synced = Monitor.TryEnter(_processSerialDataLock, 100);
try
{
_communications.NewLineReceived -= NewSerialDataReceived;
CurrentSentLine = cmdId.ToString(CultureInfo.InvariantCulture);
foreach (var argument in arguments)
{
CurrentSentLine += _fieldSeparator + argument;
}
if (PrintLfCr)
{
_communications.WriteLine(CurrentSentLine + _commandSeparator);
}
else
{
_communications.Write(CurrentSentLine + _commandSeparator);
}
InvokeEvent(NewLineSent);
ReceivedCommand ackCommand = reqAc ? BlockedTillReply(ackCmdId, timeout) : new ReceivedCommand();
_communications.NewLineReceived += NewSerialDataReceived;
return(ackCommand);
}
finally
{
if (synced)
{
Monitor.Exit(_processSerialDataLock);
}
}
}
// ------------------ C A L L B A C K S ---------------------
// Called when a received command has no attached function.
void OnUnknownCommand(ReceivedCommand arguments)
{
Console.WriteLine("Command without attached callback received");
}
/// <summary> Handle message. </summary>
/// <param name="receivedCommand"> The received command. </param>
public void HandleMessage(ReceivedCommand receivedCommand)
{
MessengerCallbackFunction callback = null;
//var commandId = -1;
//ReceivedCommand receivedCommand;
if (receivedCommand.Ok)
{
//receivedCommand = new ReceivedCommand(commandString);
if (_callbackList.ContainsKey(receivedCommand.CommandId))
{
callback = _callbackList[receivedCommand.CommandId];
}
else
{
if (_defaultCallback != null) callback = _defaultCallback;
}
}
else
{
// Empty command
receivedCommand = new ReceivedCommand();
}
InvokeCallBack(callback, receivedCommand);
}
/// <summary> Handle message. </summary>
/// <param name="receivedCommand"> The received command. </param>
private void HandleMessage(ReceivedCommand receivedCommand)
{
MessengerCallbackFunction callback = null;
if (receivedCommand.Ok)
{
if (_callbackList.ContainsKey(receivedCommand.CmdId))
{
callback = _callbackList[receivedCommand.CmdId];
}
else
{
if (_defaultCallback != null) callback = _defaultCallback;
}
}
else
{
// Empty command
receivedCommand = new ReceivedCommand { CommunicationManager = _communicationManager };
}
InvokeCallBack(callback, receivedCommand);
}
// Callback function that plots a data point for ADC 1 and ADC 2
private void OnPlotDataPoint(ReceivedCommand arguments)
{
var time = arguments.ReadFloatArg();
var analog1 = arguments.ReadFloatArg();
var analog2 = arguments.ReadFloatArg();
_chartForm.UpdateGraph(time, analog1, analog2);
}
// Callback function that prints that the Arduino has acknowledged
void OnAcknowledge(ReceivedCommand arguments)
{
Console.WriteLine(@" Arduino is ready");
}
private void UnknownCommand(ReceivedCommand args)
{
throw new NotSupportedException(Properties.Resources.UnknownCommand);
}
private void OnUnknownCommand(ReceivedCommand receivedCommand)
{
Debug.WriteLine("Unknown command");
OnErrorEvent("Error > Unknown command");
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
if (messengerCallbackFunction == null)
{
return;
}
messengerCallbackFunction(command);
}
private void OnAcknowledge(ReceivedCommand receivedCommand)
{
Debug.WriteLine(receivedCommand.CommandString());
//var a = receivedCommand.ReadInt16Arg();
//var b = receivedCommand.ReadBoolArg();
//Debug.WriteLine(String.Format("channel number: {0}, status {1}", a,b));
}
private void OnError(ReceivedCommand receivedCommand)
{
Debug.WriteLine(String.Format("Error > {0}", receivedCommand.CommandString()));
OnErrorEvent(String.Format("Error > {0}", receivedCommand.CommandString()));
}
void OnButton1(ReceivedCommand arguments)
{
//Thread.Sleep(1000);
Debug.Log("Arduino Button1: ");
// test = arguments.ReadInt32Arg();
// Debug.Log(test);
// var cmd_return = new SendCommand((int)Command.SetLed);
// _cmdMessenger.SendCommand(cmd_return);
}
void OnUnknownCommand(ReceivedCommand arguments)
{
Debug.Log("Command without attached callback received");
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
if (messengerCallbackFunction == null || (ControlToInvokeOn != null && ControlToInvokeOn.IsDisposed))
{
return;
}
if (ControlToInvokeOn != null)
{
//Asynchronously call on UI thread
try { ControlToInvokeOn.BeginInvoke(new MessengerCallbackFunction(messengerCallbackFunction), (object)command); } catch { }
}
else
{
//Directly call
try { messengerCallbackFunction.BeginInvoke(command, null, null); } catch { }
}
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
if (messengerCallbackFunction != null)
{
if (_controlToInvokeOn != null && _controlToInvokeOn.InvokeRequired)
{
//Asynchronously call on UI thread
_controlToInvokeOn.Invoke(new MessengerCallbackFunction(messengerCallbackFunction), (object) command);
}
else
{
//Directly call
messengerCallbackFunction(command);
}
}
}
private void OnWatchdog(ReceivedCommand receivedCommand)
{
Debug.WriteLine(String.Format("Watchdog > {0}", receivedCommand.CommandString()));
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
if (messengerCallbackFunction == null) return;
//Directly call
messengerCallbackFunction(command);
}
/// <summary> Handle message. </summary>
/// <param name="receivedCommand"> The received command. </param>
public void HandleMessage(ReceivedCommand receivedCommand)
{
CurrentReceivedLine = receivedCommand.rawString;
// Send message that a new line has been received and is due to be processed
InvokeEvent(NewLineReceived);
MessengerCallbackFunction callback = null;
if (receivedCommand.Ok)
{
//receivedCommand = new ReceivedCommand(commandString);
if (_callbackList.ContainsKey(receivedCommand.CmdId))
{
callback = _callbackList[receivedCommand.CmdId];
}
else
{
if (_defaultCallback != null) callback = _defaultCallback;
}
}
else
{
// Empty command
receivedCommand = new ReceivedCommand();
}
InvokeCallBack(callback, receivedCommand);
}
// Callback function that prints the Arduino status to the console
void OnStatus(ReceivedCommand arguments)
{
Console.Write("Arduino status: ");
Console.WriteLine(arguments.ReadStringArg());
}
/// <summary> Blocks until acknowlegdement reply has been received. </summary>
/// <param name="ackCmdId"> acknowledgement command ID </param>
/// <param name="timeout"> Timeout on acknowlegde command. </param>
/// <param name="clearQueueState"></param>
/// <returns> . </returns>
private ReceivedCommand BlockedTillReply(int ackCmdId, int timeout, ClearQueue clearQueueState)
{
// Disable invoking command callbacks
_receiveCommandQueue.ThreadRunState = CommandQueue.ThreadRunStates.Stop;
var start = TimeUtils.Millis;
var time = start;
var acknowledgeCommand = new ReceivedCommand();
while ((time - start < timeout) && !acknowledgeCommand.Ok)
{
time = TimeUtils.Millis;
acknowledgeCommand = CheckForAcknowledge(ackCmdId, clearQueueState);
}
// Re-enable invoking command callbacks
_receiveCommandQueue.ThreadRunState = CommandQueue.ThreadRunStates.Start;
return acknowledgeCommand;
}
// Callback function that prints that the Arduino has experienced an error
void OnError(ReceivedCommand arguments)
{
Console.WriteLine(@"Arduino has experienced an error");
}
public void TestSendCommandWithAcknowledgementByArduinoFinished(ReceivedCommand command)
{
var result = command.ReadBoolArg();
if (!result)
{
Common.TestNotOk("Incorrect response");
}
_acknowledgementByEmbeddedFinished = true;
}
// Callback function that plots a data point for the current temperature, the goal temperature,
// the heater steer value and the Pulse Width Modulated (PWM) value.
private void OnPlotDataPoint(ReceivedCommand arguments)
{
var time = arguments.ReadBinFloatArg();
var currTemp = arguments.ReadBinFloatArg();
var goalTemp = arguments.ReadBinFloatArg();
var heaterValue = arguments.ReadBinFloatArg();
var heaterPwm = arguments.ReadBinBoolArg();
_chartForm.UpdateGraph(time, currTemp, goalTemp, heaterValue, heaterPwm);
}
// ------------------ Command Callbacks -------------------------
private void OnAreYouReadyCommand(ReceivedCommand arguments)
{
// In response to AreYouReady ping. We send an ACK acknowledgment to say that we are ready
_cmdMessenger.SendCommand(new SendCommand(_command["Ack"], "We are ready"));
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
if (messengerCallbackFunction == null || (ControlToInvokeOn != null && ControlToInvokeOn.IsDisposed)) return;
if (ControlToInvokeOn != null)
{
//Asynchronously call on UI thread
ControlToInvokeOn.BeginInvoke(new MessengerCallbackFunction(messengerCallbackFunction), (object)command);
}
else
{
//Directly call
messengerCallbackFunction(command);
}
}
private void OnYouAreReadyCommand(ReceivedCommand arguments)
{
// in response to YouAreReady message
TestSendCommandWithAcknowledgementByArduinoFinished(arguments);
}
// Callback function To receive the plain text float series from the Arduino
void OnReceivePlainTextFloatSeries(ReceivedCommand arguments)
{
if (_receivedPlainTextCount % 100 == 0)
Console.WriteLine("Received value: {0}",arguments.ReadFloatArg());
if (_receivedPlainTextCount == 0)
{
// Received first value, start stopwatch
_beginTime = Millis;
}
else if (_receivedPlainTextCount == SeriesLength - 1)
{
// Received all values, stop stopwatch
_endTime = Millis;
Console.WriteLine("{0} milliseconds per {1} items = is {2} ms/item", _endTime - _beginTime, SeriesLength, (_endTime - _beginTime) / (float)SeriesLength);
_receivePlainTextFloatSeriesFinished = true;
}
_receivedPlainTextCount++;
}
// Callback function To receive the plain text float series from the Arduino
void OnReceiveSeries(ReceivedCommand arguments)
{
if (_receivedItemsCount % (SeriesLength / 10) == 0)
Common.WriteLine(_receivedItemsCount+ " Received value: " + arguments.ReadFloatArg());
if (_receivedItemsCount == 0)
{
// Received first value, start stopwatch
_beginTime = Millis;
}
_receivedItemsCount++;
_receivedBytesCount += CountBytesInCommand(arguments, false);
}
public static void OnUnknownCommand(ReceivedCommand arguments)
{
// In response to unknown commands and corrupt messages
WriteLine(IdentWn + "Warn > Command without attached callback received");
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
messengerCallbackFunction?.Invoke(command);
}
/// <summary> Blocks until acknowlegdement reply has been received. </summary>
/// <param name="ackCmdId"> acknowledgement command ID </param>
/// <param name="timeout"> Timeout on acknowlegde command. </param>
/// <returns> . </returns>
private ReceivedCommand BlockedTillReply(int ackCmdId, int timeout)
{
// Disable listening, all callbacks are disabled until reply was received
var start = TimeUtils.Millis;
var time = start;
var acknowledgeCommand = new ReceivedCommand();
while ((time - start < timeout) && !acknowledgeCommand.Ok)
{
time = TimeUtils.Millis;
acknowledgeCommand = CheckForAcknowledge(ackCmdId);
}
return acknowledgeCommand;
}
/// <summary> Helper function to Invoke or directly call callback function. </summary>
/// <param name="messengerCallbackFunction"> The messenger callback function. </param>
/// <param name="command"> The command. </param>
private void InvokeCallBack(MessengerCallbackFunction messengerCallbackFunction, ReceivedCommand command)
{
try
{
if (messengerCallbackFunction == null)
{
return;
}
if (_controlToInvokeOn != null && _controlToInvokeOn.InvokeRequired)
{
//Asynchronously call on UI thread
_controlToInvokeOn.Invoke(new MessengerCallbackFunction(messengerCallbackFunction), (object)command);
}
else
{
//Directly call
messengerCallbackFunction(command);
}
}
catch (Exception)
{
}
}
private void OnDoneReceiveSeries(ReceivedCommand receivedcommand)
{
float bps = CalcTransferSpeed();
if (bps > _minimalBps)
{
Common.TestOk("Embedded system is receiving data as fast as expected. Measured: " + bps + " bps, expected " + _minimalBps);
}
else
{
Common.TestNotOk("Embedded system is receiving data not as fast as expected. Measured: " + bps + " bps, expected " + _minimalBps);
}
_receiveSeriesFinished = true;
Common.EndTest();
}
private void OnResponseCommandId(ReceivedCommand arguments)
{
// Do nothing.
}
// Called when a RequestResetAcknowledge comes in
private void OnRequestResetAcknowledge(ReceivedCommand receivedcommand)
{
// This function should not be called because OnRequestResetAcknowledge should
// be handled by the requestResetAcknowledge synchronous command in WaitAndClear()
// if it happens, we will do another WaitAndClear() and hope that works
WaitAndClear();
}
// Callback function To receive the plain text float series from the Arduino
void OnReceivePlainTextFloatSeries(ReceivedCommand arguments)
{
_receivedBytesCount += CountBytesInCommand(arguments, true);
if (_receivedItemsCount % (SeriesLength/10) == 0)
Console.WriteLine("Received value: {0}",arguments.ReadFloatArg());
if (_receivedItemsCount == 0)
{
// Received first value, start stopwatch
_beginTime = Millis;
}
else if (_receivedItemsCount == SeriesLength - 1)
{
// Received all values, stop stopwatch
_endTime = Millis;
var deltaTime = (_endTime - _beginTime);
Console.WriteLine("{0} milliseconds per {1} items = is {2} ms/item, {3} Hz",
deltaTime,
SeriesLength,
(float)deltaTime / (float)SeriesLength,
(float)1000 * SeriesLength / (float)deltaTime
);
Console.WriteLine("{0} milliseconds per {1} bytes = is {2} ms/byte, {3} bytes/sec, {4} bps",
deltaTime,
_receivedBytesCount,
(float)deltaTime / (float)_receivedBytesCount,
(float)1000 * _receivedBytesCount / (float)deltaTime,
(float)8 * 1000 * _receivedBytesCount / (float)deltaTime
);
_receivePlainTextFloatSeriesFinished = true;
}
_receivedItemsCount++;
}
