public static void ACTUALIZE_motorRegister(e_rot rot, e_regByteType type, List <byte> pars)
{
if (pars.Count > 0)
{
byte addressByte = pars[0];
byte[] parValues = pars.Skip(1).ToArray();
C_Packet.LOG_statusPacket(string.Format(
"Status OK - actualizing mot[{0}] register type[{1}]: From address[{2}]=[{3}], these values[{4}]",
rot, type, addressByte, MainWindow.Ms[rot].Reg.GET_name(addressByte),
C_CONV.byteArray2strHex_space(parValues)));
foreach (byte byteValue in parValues)
{
C_SPI.LOG_unimportant(string.Format(
"going to acualize mot[{0}] register on address [{1}]",
rot, addressByte
));
MainWindow.Ms[rot].ACTUALIZE_register(addressByte, byteValue, type);
addressByte++;
}
}
}
public static bool FIND_bestPairInQueue(C_Packet received, ref C_Packet pairedPacket, ref List <C_Packet> listLastSent)
{
// go through whole queue
// find the best suitable pair for this packet in this queue: (id, read bytes wanted, timeSpan freshness)
// remove it from his queue and return it
// if you found echo -> remove it from queue, log it, and continue with search
List <int> suitableIndexes = new List <int>();
List <TimeSpan> age = new List <TimeSpan>();
for (int q = 0; q < listLastSent.Count(); q++)
{
if (received == listLastSent[q]) // echo - possibly from uart2usb converter
{
C_Packet.LOG_statusPacket(string.Format(
"Processed echo of : [{0}] which was sent at [{1}]",
C_Packet.GET_packetInfo(listLastSent[q]),
listLastSent[q].sentTime.ToString("HH:mm:ss.fff")
));
if (C_Packet.IS_statusPacketFollowing(listLastSent[q]) == false)
{
// if there is not supposed to be more packets comming (not mentioning this echo)
// for this lastSent packet - remove it from the listLastSent
// (why it was there in the first place then?) - to be removed here
listLastSent.RemoveAt(q);
}
return(false); // found that this is echo of last sent - best pair,
// but pairing is just deleting from listLastSent! - for now
}
if (listLastSent[q].IS_fresh(received.statusReceivedTime) == true) // suitability
{
if (received.IS_answerOf(listLastSent[q]) == true)
{
// this is probably the one as the not fresh ones are already dead
suitableIndexes.Add(q);
age.Add(listLastSent[q].GET_freshness(received.statusReceivedTime));
}
else
{
// just not suitable for this status, but maybe will be for another
}
}
else
{
listLastSent.RemoveAt(q); // it is too old - remove it
q--; // and analyse new lastSent on this index
continue;
// possibly kills correct ones (if they are too old)
}
}
// find the freshest from the suitable
if (age.Count > 0)
{
// from the suitable ones get the most fresh one -
// - return it as through ref as Paired and leave the other one in the listSent (which is also ref)
int minimumValueIndex = age.IndexOf(age.Min());
pairedPacket = listLastSent[minimumValueIndex];
listLastSent.RemoveAt(minimumValueIndex);
if (age.Count > 1)
{
LOG_debug(string.Format(
"[{0}] packets suitable pairs in the motor.listLastSent for this status, but only one was selceted. (age={1}ms)",
suitableIndexes.Count - 1, age[minimumValueIndex]
));
}
return(true);
}
else
{
return(false);
}
}