WebSVN - Projects - Diff - Rev 90 and 97 - /Microsoft Robotics Studio/MSRS Service/RoboBoardService/RoboBoard.cs



    public class RoboBoardService : DsspServiceBase
    {
        RoboBoardForm _rbForm;
        RoboBoardEvents _eventsPort = new RoboBoardEvents();

 
        bool subs = false;
        bool isloaded = false;
 
        private Roboboard.SerialCom sc = new Robotics.Serial.SerialCom();
        /// <summary>
        /// _state
        /// </summary>

            yield break;
        }

 
        //---------------------------------------------------------------------
        [ServiceHandler(ServiceHandlerBehavior.Exclusive)]
        public IEnumerator<ITask> InitComplete(InitComplete initComplete)
        {
            LogInfo("Init");
            LogInfo("Command:" + initComplete.Body.Command);
            yield break;
        }
 
        //---------------------------------------------------------------------
        [ServiceHandler(ServiceHandlerBehavior.Exclusive)]
        public IEnumerator<ITask> SetComPortHandler(SetComPort setComPort)
        {
            LogInfo("Set Port Name ("+setComPort.Body.PortName+")");
            if ((setComPort.Body.PortName == sc.ComPort)&&(sc.isOpen==true))

                if (_rbForm != null)
                {
                    if (sc.InitPort() == 0)
                    {
                        LogInfo("Init Port succseeded");
                        WinFormsServicePort.FormInvoke(delegate()
                        { _rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")"); });
                    }
                    else
                    {
                        LogInfo("Init Port failed");
                        WinFormsServicePort.FormInvoke(delegate()
                        { _rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")"); });
                    }
                }
                else
                {
                    LogInfo("Board communication not ready! Setport Ignored");
                }
            }
            LogInfo("Exit Set Comport");
            yield break;
        }

 
        //---------------------------------------------------------------------

            if (_rbForm != null)
            {
                _rbForm.Control_gier = igier;
            }

 
            if (MK_latest_gier != igier)
            {
                MK_latest_gier = igier;
                MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);
            }
            base.SendNotification(_submgrPort, setgier);
            setgier.ResponsePort.Post(DefaultUpdateResponseType.Instance);
            yield break;

            if (_rbForm != null)
            {
               _rbForm.Control_gas = igas;
            }

 
            if (MK_latest_gas != igas)
            {
                MK_latest_gas = igas;
                MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);

            }
 
            base.SendNotification(_submgrPort, setgas);
            setgas.ResponsePort.Post(DefaultUpdateResponseType.Instance);

            {
                _rbForm.Control_nick = inick;
                _rbForm.Control_roll = iroll;
            }

 
            if ((MK_latest_roll != iroll) || (MK_latest_nick != inick))
            {
                MK_latest_nick = inick;
                MK_latest_roll = iroll;
                MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);

            }
 
            base.SendNotification(_submgrPort, control);
            control.ResponsePort.Post(DefaultUpdateResponseType.Instance);

                delegate(Exception e)
                {
                    LogError(null, "Subscribe failed", e);
                }
            );
            if (isloaded)
            {
                base.SendNotification(_submgrPort, new InitComplete("OK"));
            }
            subs = true;
            yield break;
        }

 
        //---------------------------------------------------------------------
        IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)
        {
            _rbForm = onLoad.RoboBoardForm;
            LogInfo("Loaded Form");
            sc.ComPort = "COM7";
            if (_rbForm != null)
            {
                if (sc.InitPort() == 0)
                {
                    LogInfo("Port Open");
                    WinFormsServicePort.FormInvoke(delegate()
                    {_rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")");});
                }
                else
                {
                    LogInfo("Port failed to Open");
                    WinFormsServicePort.FormInvoke(delegate()
                    {_rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")");});
                }
 
            }
            //request version
            MKRequestVersion();
            if (subs)
            {
                base.SendNotification(_submgrPort, new InitComplete("OK"));
            }
            isloaded = true;
            yield break;

        }
 

        }

       
        //---------------------------------------------------------------------
        void MKRequestVersion()
        {
            LogInfo("MK RequestVersion");
            string message = "";
            message=sc.CreateMessage((char)'v', (char)0, message);
            if (sc.isOpen)
            {
                LogInfo("Version Send");
                sc.SerialWrite(message);
            }

        }
 
        string MKDecodeVersion(string message)

Rev 90	Rev 97
Line 40...	Line 40...
40	public class RoboBoardService : DsspServiceBase	40	public class RoboBoardService : DsspServiceBase
41	{	41	{
42	RoboBoardForm _rbForm;	42	RoboBoardForm _rbForm;
43	RoboBoardEvents _eventsPort = new RoboBoardEvents();	43	RoboBoardEvents _eventsPort = new RoboBoardEvents();
Line -...	Line 44...
-		44
-		45	bool subs = false;
-		46	bool isloaded = false;
44		47
45	private Roboboard.SerialCom sc = new Robotics.Serial.SerialCom();	48	private Roboboard.SerialCom sc = new Robotics.Serial.SerialCom();
46	/// <summary>	49	/// <summary>
47	/// _state	50	/// _state
48	/// </summary>	51	/// </summary>
Line 140...	Line 143...
140	yield break;	143	yield break;
141	}	144	}
Line 142...	Line 145...
142		145
143	//---------------------------------------------------------------------	146	//---------------------------------------------------------------------
-		147	[ServiceHandler(ServiceHandlerBehavior.Exclusive)]
-		148	public IEnumerator<ITask> InitComplete(InitComplete initComplete)
-		149	{
-		150	LogInfo("Init");
-		151	LogInfo("Command:" + initComplete.Body.Command);
-		152	yield break;
-		153	}
-		154
-		155	//---------------------------------------------------------------------
144	[ServiceHandler(ServiceHandlerBehavior.Exclusive)]	156	[ServiceHandler(ServiceHandlerBehavior.Exclusive)]
145	public IEnumerator<ITask> SetComPortHandler(SetComPort setComPort)	157	public IEnumerator<ITask> SetComPortHandler(SetComPort setComPort)
146	{	158	{
147	LogInfo("Set Port Name ("+setComPort.Body.PortName+")");	159	LogInfo("Set Port Name ("+setComPort.Body.PortName+")");
148	if ((setComPort.Body.PortName == sc.ComPort)&&(sc.isOpen==true))	160	if ((setComPort.Body.PortName == sc.ComPort)&&(sc.isOpen==true))
Line 161...	Line 173...
161	if (_rbForm != null)	173	if (_rbForm != null)
162	{	174	{
163	if (sc.InitPort() == 0)	175	if (sc.InitPort() == 0)
164	{	176	{
165	LogInfo("Init Port succseeded");	177	LogInfo("Init Port succseeded");
166	WinFormsServicePort.FormInvoke(delegate()	178	WinFormsServicePort.FormInvoke(delegate()
167	{_rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")");});	179	{ _rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")"); });
168	}	180	}
169	else	181	else
170	{	182	{
171	LogInfo("Init Port failed");	183	LogInfo("Init Port failed");
172	WinFormsServicePort.FormInvoke(delegate()	184	WinFormsServicePort.FormInvoke(delegate()
173	{_rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")");});	185	{ _rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")"); });
174	}	186	}
175	}	187	}
-		188	else
-		189	{
-		190	LogInfo("Board communication not ready! Setport Ignored");
-		191	}
176	}	192	}
-		193	LogInfo("Exit Set Comport");
177	yield break;	194	yield break;
178	}	195	}
Line 179...	Line 196...
179		196
180	//---------------------------------------------------------------------	197	//---------------------------------------------------------------------
Line 254...	Line 271...
254	if (_rbForm != null)	271	if (_rbForm != null)
255	{	272	{
256	_rbForm.Control_gier = igier;	273	_rbForm.Control_gier = igier;
257	}	274	}
Line -...	Line 275...
-		275
-		276	if (MK_latest_gier != igier)
258		277	{
259	MK_latest_gier = igier;	278	MK_latest_gier = igier;
260	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);	279	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);
261		280	}
262	base.SendNotification(_submgrPort, setgier);	281	base.SendNotification(_submgrPort, setgier);
263	setgier.ResponsePort.Post(DefaultUpdateResponseType.Instance);	282	setgier.ResponsePort.Post(DefaultUpdateResponseType.Instance);
264	yield break;	283	yield break;
Line 274...	Line 293...
274	if (_rbForm != null)	293	if (_rbForm != null)
275	{	294	{
276	_rbForm.Control_gas = igas;	295	_rbForm.Control_gas = igas;
277	}	296	}
Line -...	Line 297...
-		297
-		298	if (MK_latest_gas != igas)
278		299	{
279	MK_latest_gas = igas;	300	MK_latest_gas = igas;
-		301	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);
Line 280...	Line 302...
280	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);	302	}
281		303
282	base.SendNotification(_submgrPort, setgas);	304	base.SendNotification(_submgrPort, setgas);
283	setgas.ResponsePort.Post(DefaultUpdateResponseType.Instance);	305	setgas.ResponsePort.Post(DefaultUpdateResponseType.Instance);
Line 299...	Line 321...
299	{	321	{
300	_rbForm.Control_nick = inick;	322	_rbForm.Control_nick = inick;
301	_rbForm.Control_roll = iroll;	323	_rbForm.Control_roll = iroll;
302	}	324	}
Line -...	Line 325...
-		325
-		326	if ((MK_latest_roll != iroll) \|\| (MK_latest_nick != inick))
303		327	{
304	MK_latest_nick = inick;	328	MK_latest_nick = inick;
305	MK_latest_roll = iroll;	329	MK_latest_roll = iroll;
-		330	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);
Line 306...	Line 331...
306	MKRequestControl(MK_latest_nick, MK_latest_roll, MK_latest_gier, MK_latest_gas);	331	}
307		332
308	base.SendNotification(_submgrPort, control);	333	base.SendNotification(_submgrPort, control);
309	control.ResponsePort.Post(DefaultUpdateResponseType.Instance);	334	control.ResponsePort.Post(DefaultUpdateResponseType.Instance);
Line 326...	Line 351...
326	delegate(Exception e)	351	delegate(Exception e)
327	{	352	{
328	LogError(null, "Subscribe failed", e);	353	LogError(null, "Subscribe failed", e);
329	}	354	}
330	);	355	);
-		356	if (isloaded)
-		357	{
-		358	base.SendNotification(_submgrPort, new InitComplete("OK"));
331		359	}
-		360	subs = true;
332	yield break;	361	yield break;
333	}	362	}
Line 334...	Line 363...
334		363
335	//---------------------------------------------------------------------	364	//---------------------------------------------------------------------
336	IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)	365	IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)
337	{	366	{
338	_rbForm = onLoad.RoboBoardForm;	367	_rbForm = onLoad.RoboBoardForm;
339	LogInfo("Loaded Form");	368	LogInfo("Loaded Form");
340	sc.ComPort = "COM6";	369	sc.ComPort = "COM7";
341	if (_rbForm != null)	370	if (_rbForm != null)
342	{	371	{
343	if (sc.InitPort() == 0)	372	if (sc.InitPort() == 0)
-		373	{
344	{	374	LogInfo("Port Open");
345	WinFormsServicePort.FormInvoke(delegate()	375	WinFormsServicePort.FormInvoke(delegate()
346	{_rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")");});	376	{_rbForm.UpdateStatus("Port Open (" + sc.ComPort + ")");});
347	}	377	}
348	else	378	else
-		379	{
349	{	380	LogInfo("Port failed to Open");
350	WinFormsServicePort.FormInvoke(delegate()	381	WinFormsServicePort.FormInvoke(delegate()
351	{_rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")");});	382	{_rbForm.UpdateStatus("Can't open communication port (" + sc.ComPort + ")");});
352	}	383	}
353	}	-
354		384	}
355	//request version	385	//request version
-		386	MKRequestVersion();
-		387	if (subs)
-		388	{
-		389	base.SendNotification(_submgrPort, new InitComplete("OK"));
-		390	}
356	MKRequestVersion();	391	isloaded = true;
357	yield break;	392	yield break;
Line 358...	Line 393...
358	}	393	}
359		394
Line 415...	Line 450...
415	}	450	}
Line 416...	Line 451...
416		451
417	//---------------------------------------------------------------------	452	//---------------------------------------------------------------------
418	void MKRequestVersion()	453	void MKRequestVersion()
-		454	{
419	{	455	LogInfo("MK RequestVersion");
420	string message = "";	456	string message = "";
-		457	message=sc.CreateMessage((char)'v', (char)0, message);
-		458	if (sc.isOpen)
-		459	{
421	message=sc.CreateMessage((char)'v', (char)0, message);	460	LogInfo("Version Send");
-		461	sc.SerialWrite(message);
422	sc.SerialWrite(message);	462	}
Line 423...	Line 463...
423	}	463	}
424		464
425	string MKDecodeVersion(string message)	465	string MKDecodeVersion(string message)

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