/// <summary>
/// Execute node command
/// </summary>
/// <param name="source">Source of command</param>
/// <param name="command">HBus command</param>
/// <param name="datain">Command data</param>
/// <returns>true if command is executed</returns>
public bool Execute(Address source, byte command, byte[] datain)
{
try
{
byte index;
int value;
byte delay;
byte width;
string name;
Pin pin;
Sensor sensor;
Device device;
var stack = new SimpleStack(datain);
var dataOut = new List<byte>();
var done = false;
switch (command)
{
#region Bus commands
case NodeCommands.CMD_PING:
dataOut.AddRange(FixedString.ToArray(Name, HBusSettings.NameLength));
_bus.Payload = dataOut.ToArray();
done = true;
break;
#endregion
#region Node commands
case NodeCommands.CMD_RESET:
index = stack.PopByte(); //1 = full reset
Reset(index == 1);
done = true;
break;
case NodeCommands.CMD_START:
Start();
done = true;
break;
case NodeCommands.CMD_STOP:
Stop();
done = true;
break;
case NodeCommands.CMD_FACTORY_DEFAULT:
LoadConfiguration(true);
done = true;
break;
case NodeCommands.CMD_READ_CONFIG:
LoadConfiguration(false);
done = true;
break;
case NodeCommands.CMD_WRITE_CONFIG:
SaveConfiguration();
done = true;
break;
case NodeCommands.CMD_ADD_NODE_LISTENER:
//index = stack.PopByte(); //mask
//Add pin to subscriptions
if (!_nodeSubscribers.ContainsKey(source))
{
_nodeSubscribers.Add(source, 0);
SubscribeAll();
done = true;
}
break;
case NodeCommands.CMD_DELETE_NODE_LISTENER:
if (_nodeSubscribers.ContainsKey(source))
{
_nodeSubscribers.Remove(source);
UnsubscribeAll();
done = true;
}
break;
#endregion
#region information commands
case NodeCommands.CMD_READ_ALL:
value = stack.PopByte(); //mask
UpdateNodeStatus((byte)value);
_bus.Payload = Status.ToArray();
done = true;
break;
case NodeCommands.CMD_GET_INFO:
UpdateNodeInfo();
var array = NodeSerializer.Serialize(this);
_bus.Payload = array;
done = true;
break;
case NodeCommands.CMD_GET_NAME_INFO: //Subnode info
name = stack.PopName();
var node = GetSubnode(name);
if (node != null)
{
_bus.Payload = node.ToArray();
done = true;
}
break;
#endregion
#region General pin commands
case NodeCommands.CMD_ACTIVATE:
name = stack.PopName();
pin = GetPin(name);
if (pin != null)
{
pin.Activate();
done = true;
}
break;
case NodeCommands.CMD_DEACTIVATE:
name = stack.PopName();
pin = GetPin(name);
if (pin != null)
{
pin.Deactivate();
done = true;
}
break;
case NodeCommands.CMD_SET_PIN:
pin = new Pin(_hal, _scheduler);
PinSerializer.DeSerialize(datain, ref pin);
//pin = new Pin(datain, _hal, _scheduler);
var oldPin = Pins.FirstOrDefault(p => p.Index == pin.Index);
if (oldPin != null) Pins.Remove(oldPin);
Pins.Add(pin);
done = true;
break;
case NodeCommands.CMD_CONNECT:
//var wire = new Wire(datain, this, _bus);
var wire = new Wire();
WireSerializer.DeSerialize(datain, ref wire);
wire.Input = Pins.FirstOrDefault(p => p.Name == wire.Input.Name);
var oldWire = Wires.FirstOrDefault(w => w.Index == wire.Index);
if (oldWire != null) Wires.Remove(oldWire);
Wires.Add(wire);
done = true;
break;
case NodeCommands.CMD_ADD_PIN_LISTENER:
//Device name
name = stack.PopName();
pin = GetPin(name);
if (pin != null)
{
//Add pin to subscriptions
if (!_pinSubscribers.ContainsKey(source + "." + name))
_pinSubscribers.Add(source + "." + name, pin);
done = true;
}
break;
case NodeCommands.CMD_DELETE_PIN_LISTENER:
//Device name
name = stack.PopName();
pin = GetPin(name);
if (pin != null)
{
//Add pin to subscriptions
if (_pinSubscribers.ContainsKey(source + "." + name))
_pinSubscribers.Remove(source + "." + name);
done = true;
}
break;
case NodeCommands.CMD_PUSH_PIN_EVENT:
if (OnPinEvent != null)
{
OnPinEvent(source, new PinEvent(datain));
}
done = true;
break;
#endregion
#region Pins digital write commands
case NodeCommands.CMD_CHANGE_ALL_DIGITAL:
value = stack.PopByte();
foreach (var p in Pins)
{
p.Change(value);
}
done = true;
break;
case NodeCommands.CMD_CHANGE_DIGITAL:
index = stack.PopByte();
value = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.Change(value);
done = true;
}
break;
case NodeCommands.CMD_TOGGLE_DIGITAL:
index = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.Toggle();
done = true;
}
break;
case NodeCommands.CMD_TIMED_DIGITAL:
index = stack.PopByte();
width = stack.PopByte();
value = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.TimedOutput(width, value);
done = true;
}
break;
case NodeCommands.CMD_DELAY_DIGITAL:
index = stack.PopByte();
delay = stack.PopByte();
value = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.DelayOutput(delay, value);
done = true;
}
break;
case NodeCommands.CMD_DELAY_TOGGLE_DIGITAL:
index = stack.PopByte();
delay = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.DelayToggle(delay);
done = true;
}
break;
case NodeCommands.CMD_PULSE_DIGITAL:
index = stack.PopByte();
delay = stack.PopByte();
width = stack.PopByte();
value = stack.PopByte();
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.PulsedOutput(delay, width, value);
done = true;
}
break;
case NodeCommands.CMD_CYCLE_DIGITAL:
index = stack.PopByte();
delay = stack.PopByte();
width = stack.PopByte();
value = stack.PopByte(); //cycles
pin = GetPin(index, PinTypes.Output);
if (pin != null)
{
pin.CycledOutput(delay, width, value);
done = true;
}
break;
#endregion
#region Pins analog/pwm write commands
case NodeCommands.CMD_CHANGE_PWM:
index = stack.PopByte();
delay = stack.PopByte(); //high pulse
width = stack.PopByte(); //total pulse
pin = GetPin(index, PinTypes.Pwm);
if (pin != null)
{
pin.ChangePwm(delay, width);
done = true;
}
break;
case NodeCommands.CMD_DELTA_PWM:
index = stack.PopByte();
value = stack.PopInt16();
pin = GetPin(index, PinTypes.Pwm);
if (pin != null)
{
pin.ChangeDelta(value);
done = true;
}
break;
case NodeCommands.CMD_FADE_PWM:
index = stack.PopByte();
//type = (PinTypes)stack.PopByte();
var startValue = stack.PopUInt16();
var endValue = stack.PopUInt16();
value = stack.PopByte(); //steps
delay = stack.PopByte();
pin = GetPin(index, PinTypes.Pwm);
if (pin != null)
{
pin.Fade(startValue, endValue, (byte)value, delay);
done = true;
}
break;
case NodeCommands.CMD_CHANGE_PIN:
name = stack.PopName();
value = stack.PopInt32();
pin = GetPin(name);
if (pin != null)
{
pin.Change(value);
done = true;
}
break;
#endregion
#region Pins read commands
case NodeCommands.CMD_GET_PIN_INFO:
index = stack.PopByte();
value = stack.PopByte();
pin = GetPin(index, (PinTypes)value);
if (pin != null)
{
_bus.Payload = PinSerializer.Serialize(pin);
done = true;
}
break;
case NodeCommands.CMD_GET_CONNECT_INFO:
index = stack.PopByte();
wire = Wires.FirstOrDefault(w => w.Index == index);
if (wire != null)
{
array = WireSerializer.Serialize(wire);
_bus.Payload = array;
done = true;
}
break;
case NodeCommands.CMD_READ_PIN:
name = stack.PopName();
pin = GetPin(name);
if (pin != null)
{
//Get pin value
var evt = new PinEvent(name, pin.Read(), pin.IsActive());
_bus.Payload = evt.ToArray();
done = true;
}
break;
case NodeCommands.CMD_READ_LAST_INPUT:
dataOut.AddRange(FixedString.ToPaddedArray(Status.LastActivatedInput, HBusSettings.NameLength, ' '));
_bus.Payload = dataOut.ToArray();
done = true;
break;
case NodeCommands.CMD_READ_LAST_ACTIVE:
dataOut.AddRange(FixedString.ToPaddedArray(Status.LastActivatedOutput, HBusSettings.NameLength, ' '));
_bus.Payload = dataOut.ToArray();
done = true;
break;
#endregion
#region Device commands
case NodeCommands.CMD_GET_DEVICE_INFO:
index = stack.PopByte();
device = GetDevice(index);
if (device != null)
{
array = DeviceSerializer.Serialize(device);
_bus.Payload = array;
done = true;
}
break;
case NodeCommands.CMD_GET_DEVICE_STATUS:
name = stack.PopName();
device = GetDevice(name);
if (device != null)
{
var status = new DeviceStatus(device.Index, device.Name, device.Status);
_bus.Payload = status.ToArray();
done = true;
}
break;
case NodeCommands.CMD_EXECUTE_DEVICE_ACTION:
//Device name
var action = new DeviceAction(datain);
device = GetDevice(action.Device);
//Execute action
if (device != null)
{
device.ExecuteAction(action);
done = true;
}
break;
case NodeCommands.CMD_ADD_DEVICE_LISTENER:
//Device name
name = stack.PopName();
device = GetDevice(name);
//Execute action
if (device != null)
{
if (!_deviceSubscribers.ContainsKey(source + "." + name))
_deviceSubscribers.Add(source + "." + name, device);
done = true;
}
break;
case NodeCommands.CMD_DELETE_DEVICE_LISTENER:
//Device name
name = stack.PopName();
device = GetDevice(name);
//Execute action
if (device != null)
{
if (_deviceSubscribers.ContainsKey(source + "." + name))
_deviceSubscribers.Remove(source + "." + name);
done = true;
}
break;
case NodeCommands.CMD_PUSH_DEVICE_EVENT:
if (OnDeviceEvent != null)
{
var evt = new DeviceEvent(datain);
OnDeviceEvent(source, evt);
done = true;
}
break;
#endregion
#region Sensor commands
case NodeCommands.CMD_GET_SENSOR_INFO:
index = stack.PopByte();
sensor = GetSensor(index);
if (sensor != null)
{
array = SensorSerializer.Serialize(sensor);
_bus.Payload = array;
done = true;
}
break;
case NodeCommands.CMD_READ_SENSOR:
//Sensor name
name = stack.PopName();
sensor = GetSensor(name);
if (sensor != null)
{
_bus.Payload = sensor.Read().ToArray();
done = true;
}
break;
case NodeCommands.CMD_RESET_SENSOR:
//Sensor name
name = stack.PopName();
sensor = GetSensor(name);
if (sensor != null)
{
sensor.Reset();
done = true;
}
break;
case NodeCommands.CMD_ADD_SENSOR_LISTENER:
//Sensor name
name = stack.PopName();
var interval = stack.PopByte(); //interval
var expire = stack.PopUInt16(); //Expires
sensor = GetSensor(name);
if (sensor != null)
{
if (_sensorSubscribers.All(s => s.Sensor != sensor))
_sensorSubscribers.Add(new SensorSubscriber(source, sensor, interval, expire));
done = true;
}
break;
case NodeCommands.CMD_DELETE_SENSOR_LISTENER:
//Sensor name
name = stack.PopName();
sensor = GetSensor(name);
if (sensor != null)
{
var sub = _sensorSubscribers.FirstOrDefault(s => s.Address == source);
if (sub.Sensor != null)
_sensorSubscribers.Remove(sub);
done = true;
}
break;
case NodeCommands.CMD_PUSH_SENSOR_READ:
if (OnSensorRead != null)
{
OnSensorRead(source, new SensorRead(datain));
}
done = true;
break;
#endregion
#region Obolete / unsupported commands
//case NodeCommands.CMD_MULTI_ACTIVATE:
// //delay = stack.PopByte();
// //var names = stack.PopNames();
// //MultiActivateOutput(names, delay);
// SetError(NodeErrorCodes.CommandNotSupported);
// break;
//case NodeCommands.CMD_READ_KEY:
// //value = GetKeyPressed();
// //_bus.Payload = new[] { (byte)value };
// SetError(NodeErrorCodes.CommandNotSupported);
// break;
#endregion
default:
SetError(NodeErrorCodes.CommandNotSupported);
break;
}
return done;
}
catch (Exception ex)
{
SetError(NodeErrorCodes.GenericError);
Log.Error(string.Format("error occurred while processing command {0} for main node {1}", command, Name), ex);
}
return false;
}
public NodeStatusInfo(byte[] data)
{
var stack = new SimpleStack(data);
//Bit Mask:
//----------
//00: Inputs
//01: Outputs
//02: Analogs
//04: Counters
//08: Pwms
//16: Devices
//32: Sensors
Mask = stack.PopByte();
//Node global status
Time = stack.PopUInt32();
NodeStatus = (NodeStatusValues)stack.PopByte();
BusStatus = (BusStatus)stack.PopByte();
LastError = (NodeErrorCodes)stack.PopByte();
TotalErrors = stack.PopUInt32();
var size = stack.PopByte(); Inputs = size > 0 ? new byte[size] : null;
size = stack.PopByte(); Outputs = size > 0 ? new byte[size] : null;
size = stack.PopByte(); Analogs = size > 0 ? new ushort[size] : null;
size = stack.PopByte(); Counters = size > 0 ? new uint[size] : null;
size = stack.PopByte(); Pwms = size > 0 ? new ushort[size] : null;
size = stack.PopByte(); Devices = size > 0 ? new string[size] : null;
size = stack.PopByte(); Sensors = size > 0 ? new float[size] : null;
LastActivatedInput = stack.PopName();
LastActivatedOutput = stack.PopName();
//Inputs
if ((Mask & 0x01) != 0 && Inputs!=null)
for (var i = 0; i < Inputs.Length; i++)
Inputs[i] = stack.PopByte();
//Outputs
if ((Mask & 0x02) != 0 && Outputs != null)
for (var i = 0; i < Outputs.Length; i++)
Outputs[i] = stack.PopByte();
//Analogs
if ((Mask & 0x04) != 0 && Analogs != null)
for (var i = 0; i < Analogs.Length; i++)
Analogs[i] = stack.PopUInt16();
//Counters
if ((Mask & 0x08) != 0 && Counters != null)
for (var i = 0; i < Counters.Length; i++)
Counters[i] = stack.PopUInt32();
//Pwms
if ((Mask & 0x10) != 0 && Pwms != null)
for (var i = 0; i < Pwms.Length; i++)
Pwms[i] = stack.PopUInt16();
//Devices
if ((Mask & 0x20) != 0 && Devices!= null)
for (var i = 0; i < Devices.Length; i++)
//Get status string
Devices[i] = stack.PopString();
//Sensors
if ((Mask & 0x40) != 0 && Sensors != null)
for (var i = 0; i < Sensors.Length; i++)
//Get last sensor read
Sensors[i] = stack.PopSingle();
}