private void SendMessageToArduino(MessageProtocol mess, ArduinoBotComm bot)
{
if (bot == null)
{
Logger.GlobalLogger.error("Robot inconu !");
return;
}
if (bot.Connected)
{
if (bot.stateComm == StateArduinoComm.STATE_COMM_NONE)
{
if (mess is PCtoEMBMessageAskSensor)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_SENSOR;
}
else if (mess is PCtoEMBMessageCloseClaw || mess is PCtoEMBMessageOpenClaw)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_ACK;
}
else if (mess is PCtoEMBMessageTurn || mess is PCtoEMBMessageMove)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_ACK;
}
else if (mess is PCtoEMBMessagePing)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_PING;
}
else if (mess is PCtoEMBMessageRespConn)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_ACK;
}
else if (mess is PCtoEMBMessageAutoMode)
{
bot.stateComm = StateArduinoComm.STATE_COMM_WAIT_ACK;
}
else
{
Logger.GlobalLogger.error("Envoi d'un message non connu !");
}
bot.MessageAttenteAck(mess, bot.CountSend);
TrameProtocole trame = _SerialXbee.EncodeTrame(_IdPc, bot.id, bot.CountSend++, mess);
//trame.num = bot.CountSend++;
_SerialXbee.PushTrameAEnvoyer(trame);
}
}
else
{
Logger.GlobalLogger.error("Envoi d'un message à un robot non connecté :(");
}
}
