Powermeasurement
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using System;
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using System.Collections.Generic;
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using System.Text;
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using System.IO.Ports;
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using System.Text.RegularExpressions;
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namespace ebbits.Arduino {
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abstract class AbstractArduino {
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protected SerialPort arduino;
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protected LinkedList<ArduinoInput> readStack = new LinkedList<ArduinoInput>();
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protected void init(string port) {
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arduino = new SerialPort(port, 57600);
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arduino.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
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arduino.Open();
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arduino.WriteLine("");
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}
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private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e) {
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SerialPort sp = (SerialPort)sender;
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string s = sp.ReadLine();
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Logger.Serial("in", s);
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if(ArduinoInput.check(s)) {
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readStack.AddLast(new ArduinoInput(s));
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}
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}
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protected void serialSend(char key, byte pos, int val) {
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char c = ArduinoInput.checksum(key + pos.ToString() + "=" + val.ToString());
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string s = "*" + key + pos.ToString() + "=" + val + "$" + c + "#";
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arduino.WriteLine(s);
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Logger.Serial("out", s);
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}
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protected ArduinoInput getInput(char key, byte id = 255) {
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LinkedList<ArduinoInput>.Enumerator e = readStack.GetEnumerator();
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try {
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while(e.MoveNext()) {
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if((e.Current.key == key && e.Current.id == id) || (id == 255 && e.Current.key == key)) {
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ArduinoInput a = e.Current;
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readStack.Remove(a);
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return a;
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}
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}
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} catch(InvalidOperationException) {
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return null;
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}
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return null;
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}
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protected ArduinoInput getInputWait(char key, byte id = 255) {
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while(true) {
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ArduinoInput a = getInput(key, id);
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if(a != null) {
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return a;
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}
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System.Threading.Thread.Sleep(1);
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}
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}
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internal void clearStack() {
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readStack.Clear();
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}
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internal void clearStack(char key) {
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LinkedList<ArduinoInput>.Enumerator e = readStack.GetEnumerator();
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while(e.MoveNext()) {
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if(e.Current.key == key) {
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readStack.Remove(e.Current);
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}
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}
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}
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}
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class ArduinoInput {
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public ArduinoInput(string indata) {
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string reg = "\\*([a-z])(\\d)=([a-fA-F0-9]*)\\$(.)#";
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Match m = Regex.Match(indata, reg);
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this.key = m.Groups[1].ToString().ToCharArray()[0];
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this.id = byte.Parse(m.Groups[2].ToString());
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string val = m.Groups[3].ToString().ToUpper();
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if(val == "") {
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this.value = 0;
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} else if(val.IndexOfAny(new char[] { 'A', 'B', 'C', 'D', 'E', 'F' }) != -1) {
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this.value = Int64.Parse(val, System.Globalization.NumberStyles.HexNumber);
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} else {
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this.value = Int64.Parse(val);
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}
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}
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public static char checksum(String data) {
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char c = '$';
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foreach(char t in data) {
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c = (char)(c ^ t);
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}
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return c;
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}
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public static bool check(string indata) {
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string reg = "\\*([a-z]\\d)=([a-fA-F0-9]*)\\$(.)#";
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Match m = Regex.Match(indata, reg);
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if(!m.Success) {
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return false;
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}
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String rec = m.Groups[1].ToString() + "=" + m.Groups[2].ToString();
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return (ArduinoInput.checksum(rec) == m.Groups[3].ToString().ToCharArray()[0]);
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}
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public char key { get; private set; }
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public byte id { get; private set; }
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public Int64 value { get; private set; }
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}
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}
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@@ -0,0 +1,137 @@
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using System;
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using System.Collections.Generic;
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using System.Text;
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namespace ebbits.Arduino {
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class MainArduino : AbstractArduino {
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public const int ON = 1;
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public const int OFF = 0;
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public const int RED = 2;
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public const int WHITE = 7;
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public MainArduino(string port) {
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init(port);
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trainOn(1);
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}
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public void setLaser(byte p) {
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serialSend('l', 1, p);
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}
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public void setColor(byte p) {
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serialSend('c', 1, p);
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}
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public void trainOn(byte dir) {
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serialSend('p', 2, 70); //Speed = 1
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changeDir(dir); //Richtung = 1
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serialSend('b', 2, 1); //Bremse = an
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}
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public void trainMove() {
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serialSend('b', 2, 0); //Bremse aus
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}
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internal void changeDir(byte dir) {
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serialSend('d', 2, dir); //Richtung = 0
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}
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public bool readStop(char key, byte id) {
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ArduinoInput a = base.getInputWait(key, id);
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return true;
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}
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public void measureAndStop(char key, byte id) {
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System.Threading.Thread t = new System.Threading.Thread(current_runnter);
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t.Start();
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this.readStop(key, id);
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t.Abort();
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base.clearStack('u');
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}
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private void current_runnter(object obj) {
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DateTime t = DateTime.Now;
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float current = 0;
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while(true) {
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long c = readCurrent();
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current += ((float)c / 1000 * 12 * (DateTime.Now.Ticks - t.Ticks)) / 1000000;
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t = DateTime.Now;
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Logger.Info("Train Watt: " + current.ToString());
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System.Threading.Thread.Sleep(100);
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}
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}
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public long whereRead() {
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serialSend('q', 0, 0);
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ArduinoInput a = base.getInputWait('q');
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return a.value;
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}
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public long readCurrent() {
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serialSend('u', 1, 0);
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ArduinoInput a = base.getInputWait('u');
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return a.value;
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}
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public bool findStart() {
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changeDir(0);
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if(this.whereRead() == 0) {
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trainMove();
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System.Threading.Thread.Sleep(3000);
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}
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if(this.whereRead() == 0) {
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changeDir(1);
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System.Threading.Thread.Sleep(3000);
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}
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if(this.whereRead() == 0) {
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trainOn(1);
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return false;
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}
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trainOn(1);
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changeDir(0);
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Logger.Info("Lock gefunden und stehe auf: " + this.whereRead());
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base.clearStack();
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switch(this.whereRead()) {
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case 6:
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Logger.Info("Fahre von 6 nach 5");
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trainMove();
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readStop('r',4);
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trainMove();
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readStop('r',5);
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break;
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case 4:
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Logger.Info("Fahre von 4 nach 5");
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trainMove();
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readStop('r',5);
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break;
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case 3:
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Logger.Info("Fahre von 3 nach 5");
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trainMove();
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readStop('r',2);
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trainMove();
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readStop('r',1);
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trainMove();
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readStop('r',5);
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break;
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case 2:
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Logger.Info("Fahre von 2 nach 5");
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trainMove();
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readStop('r',1);
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trainMove();
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readStop('r',5);
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break;
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case 1:
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Logger.Info("Fahre von 1 nach 5");
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trainMove();
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readStop('r',5);
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break;
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}
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trainOn(1);
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Logger.Info("Stehe nun auf: " + this.whereRead());
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return (this.whereRead() == 5);
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}
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}
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}
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