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72 lines (66 loc) · 2.51 KB
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usingSystem;
usingSystem.Collections.Generic;
usingSystem.Diagnostics;
usingSystem.IO;
usingSystem.Linq;
usingSystem.Reflection;
usingSystem.Threading;
usingArduinoDynamicDriver.SerialProtocol;
usingArduinoDynamicDriver;
namespaceArduinoDynamicDriver
{
publicclassArduinoDriver//: IDisposable
{
privateconstintCurrentProtocolMajorVersion=1;
privateconstintCurrentProtocolMinorVersion=2;
privateconstintDriverBaudRate=115200;
privateArduinoDriverSerialPortport;
/// <summary>
/// Creates a new ArduinoDriver instance. The relevant portname will be autodetected if possible.
/// </summary>
/// <param name="arduinoModel"></param>
/// <param name="autoBootstrap"></param>
publicArduinoDriver(ISerialStreamserialPortStream)
{
serialPortStream.SetBaudRate(DriverBaudRate);
serialPortStream.Open();
port=newArduinoDriverSerialPort(serialPortStream);
}
publicobjectExecute(ArduinoFunctionfunction)
{
varresult=port.Send(function);
objectnetObject=null;
switch(function.ReturnType)
{
caseSupportedType.BOOLEANT:
netObject=result[0]==0?false:true;
break;
caseSupportedType.CHART:
netObject=(sbyte)result[0];
break;
caseSupportedType.UCHART:
netObject=result[0];
break;
caseSupportedType.BYTET:
netObject=result[0];
break;
caseSupportedType.INTT:
netObject=BitConverter.ToInt16(result,0);
break;
caseSupportedType.UINTT:
netObject=BitConverter.ToUInt16(result,0);
break;
caseSupportedType.LONG:
netObject=BitConverter.ToInt32(result,0);
break;
caseSupportedType.ULONG:
netObject=BitConverter.ToUInt32(result,0);
break;
caseSupportedType.SHORT:
netObject=BitConverter.ToInt16(result,0);
break;
}
returnnetObject;
}
}
}