Sercom wraps serial communication with e-Puck. Main goal is to keep application responsive, although the used serial communication could be very unresponsive. More...

Classes
class	ansGuard
	ansGuard stores OkfCallback, KofCallback design especially for commands and uid for better identification and debugging
class	KofCallbackDef
	wraps the pair of Kofcallback and the arguments for Kofcallback functions
class	myQueue
class	node
class	OkfCallbackDef
	wraps the pair of Rcallback "f" and the arguments "data" for Rcallback functions
class	priorQueue
Public Member Functions
	Sercom (string portName, int serialPortWriteTimeout, int serialPortReadTimeout)
	Initializes a new instance of the Sercom class.
	Sercom (string portName)
	Initializes a new instance of the Sercom class with default values.
void	Start ()
	Opens the Bluetooth connection and turn the BTCom protocol on.
void	Write (string command, OkfCallback okf, KofCallback kof, object state, double timeout)
	Writes the specified command to notSent queue until it can be sent over serial connection. Each command waits until the commands before him arer sent and confirmed or their timeout elapses. /.
void	Dispose ()
	Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources. It takes under 0.5 sec for e-Puck.
override string	ToString ()
	Writes the characteristic of underlying SerialPort connection.
Public Attributes
const int	defWriteTimeout = 2000
	Maximum of miliseconds, which are spent on unsuccessful writing to serial port. Default value in ms, which is set to SerialPort. If serial port can not write for defWriteTimeout in ms, than Elib exception is raised.
const int	defReadTimeout = SerialPort.InfiniteTimeout
	Default value. It is infinite, because the serial port do not have to contain any answer.
const string	Help = "\n\"A\" Accelerometer\r\n\"B,#\" Body led 0=off 1=on 2=inverse\r\n\"C\" Selector position\r\n\"D,#,#\" Set motor speed left,right\r\n\"E\" Get motor speed left,right\r\n\"F,#\" Front led 0=off 1=on 2=inverse\r\n\"G\" IR receiver\r\n\"H\"\t Help\r\n\"I\" Get camera parameter\r\n\"J,#,#,#,#\" Set camera parameter mode,width,heigth,zoom(1,4 or 8)\r\n\"K\" Calibrate proximity sensors\r\n\"L,#,#\" Led number,0=off 1=on 2=inverse\r\n\"N\" Proximity\r\n\"O\" Light sensors\r\n\"P,#,#\" Set motor position left,right\r\n\"Q\" Get motor position left,right\r\n\"R\" Reset e-puck\r\n\"S\" Stop e-puck and turn off leds\r\n\"T,#\" Play sound 1-5 else stop sound\r\n\"U\" Get microphone amplitude\r\n\"V\" Version of SerCom\r\n"
	A textual help about BTCom protocol, which is stored on e-Puck.
const string	RestartMessage = "r\r\f\aWELCOME to the SerCom protocol on e-Puck\r\nthe EPFL education robot type \"H\" for help\r\n"
	A message, which is sent from e-Puck after a restart.
const string	Version = "v,Version 1.1.3 September 2006\r\n"
Static Public Attributes
static readonly List< char >	StableAnsCommandsChars = new List<char>( stableAnsCommands.Keys)
	A textual commands, which have always an identical answer.
Protected Member Functions
virtual void	Dispose (bool disposing)
	Releases unmanaged (close serial port) and - optionally - managed resources (stop threads in nice way).
void	OnFree (object sender, EventArgs ev)
	Raises Free event, if some handler is set.
void	OnWorking (object sender, EventArgs ev)
	Raises Working event, if some handler is set.
Properties
int	WidthImg `[get]`
	The width of last taken picture.
int	HeightImg `[get]`
	The height of last taken picture.
int	ModeImg `[get]`
	The colour mode of last taken picture. It can be black and white or colourful.
bool	FullImgBytes `[get]`
	If an image in LastImg is set to `true`, Sercom.FullImgBytes stores image. If it returns `false` , a picture has not been taken yet or Sercom.FullImgBytes are saving a picture right now.
byte[]	LastImgBytes `[get]`
	Bytes from bitmap of last taken picture.
int	NotSent `[get]`
	Number of commands waiting to be sent over serial connection.
int	NotAnswered `[get, set]`
	Number of commands waiting to be sent or to an answer of the sent command.
Events
static EventHandler	Free
	Sercom offers events Free, which is raised, if Sercom processed some commands and now he has no command to process.
static EventHandler	Working
	Sercom offers events Working, which is raised, if Sercom he has had no command to process and now is processing some commands.

Detailed Description

Sercom wraps serial communication with e-Puck. Main goal is to keep application responsive, although the used serial communication could be very unresponsive.

More sent commands does not mean better control of e-Puck.

Consider following example. We want to accelerate fluently from 0 to 1 speed in 100steps(0,01;0,02;....;0,98;1,00) using Epuck.Motors(double,double,OkfActuators,KofCallback,object,double). We send commands to BTCom program on e-Puck. Sercom puts the commands in queue and the commands will be sent in with gaps greater than L, because the commands wait until the previous command is confirmed. Therefor the acceleration lasts more than 100*L. If Epuck.Motors(double,double,OkfActuators,KofCallback,object,double) is called with gaps smaller than L, the acceleration is slower than it should be.

Luckily, most of commands are confirmed even with low battery until 0.1 seconds, but calibration of IR sensors, reseting e-Puck and shooting an image takes much more time. Calibration of IR sensors takes more than 1 second. Reseting e-Puck last more than 1.5 sec and capturing a colourful image 40 * 40 takes around 0.5 sec.

Constructor & Destructor Documentation

Elib.Sercom.Sercom	(	string	portName,
		int	serialPortWriteTimeout,
		int	serialPortReadTimeout
	)

Initializes a new instance of the Sercom class.

Parameters:

portName	Name of the serial port.
serialPortWriteTimeout	The serial port write time out.
serialPortReadTimeout	The serial port read time out.

Elib.Sercom.Sercom ( string portName )

Initializes a new instance of the Sercom class with default values.

Parameters:

portName Name of the serial port.

Member Function Documentation

virtual void Elib.Sercom.Dispose ( bool disposing ) [protected, virtual]

Releases unmanaged (close serial port) and - optionally - managed resources (stop threads in nice way).

Parameters:

disposing true to release both managed and unmanaged resources; false to release only unmanaged resources.

void Elib.Sercom.Dispose ( )

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources. It takes under 0.5 sec for e-Puck.

void Elib.Sercom.OnFree	(	object	sender,
		EventArgs	ev
	)		`[protected]`

Raises Free event, if some handler is set.

Parameters:

sender	Parameter for the event
ev	Parameter for the event

void Elib.Sercom.OnWorking	(	object	sender,
		EventArgs	ev
	)		`[protected]`

Raises Working event, if some handler is set.

Parameters:

sender	Parameter for the event.
ev	Parameter for the event.

void Elib.Sercom.Start ( )

Opens the Bluetooth connection and turn the BTCom protocol on.

override string Elib.Sercom.ToString ( )

Writes the characteristic of underlying SerialPort connection.

Returns:: A System.String that represents this instance.

void Elib.Sercom.Write	(	string	command,
		OkfCallback	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Writes the specified command to notSent queue until it can be sent over serial connection. Each command waits until the commands before him arer sent and confirmed or their timeout elapses. /.

Parameters:

command	The command.
okf	The received callback.
kof	The not received callback.
state	The state.
timeout	The timeout after, which is called notrecieved callback and the command is considered undelivered.

writes tests if input command is in range of characters for sercom protocol, but it doesn't ensures good structure after first character!

Member Data Documentation

const int Elib.Sercom.defReadTimeout = SerialPort.InfiniteTimeout

Default value. It is infinite, because the serial port do not have to contain any answer.

const int Elib.Sercom.defWriteTimeout = 2000

Maximum of miliseconds, which are spent on unsuccessful writing to serial port. Default value in ms, which is set to SerialPort. If serial port can not write for defWriteTimeout in ms, than Elib exception is raised.

const string Elib.Sercom.Help = "\n\"A\" Accelerometer\r\n\"B,#\" Body led 0=off 1=on 2=inverse\r\n\"C\" Selector position\r\n\"D,#,#\" Set motor speed left,right\r\n\"E\" Get motor speed left,right\r\n\"F,#\" Front led 0=off 1=on 2=inverse\r\n\"G\" IR receiver\r\n\"H\"\t Help\r\n\"I\" Get camera parameter\r\n\"J,#,#,#,#\" Set camera parameter mode,width,heigth,zoom(1,4 or 8)\r\n\"K\" Calibrate proximity sensors\r\n\"L,#,#\" Led number,0=off 1=on 2=inverse\r\n\"N\" Proximity\r\n\"O\" Light sensors\r\n\"P,#,#\" Set motor position left,right\r\n\"Q\" Get motor position left,right\r\n\"R\" Reset e-puck\r\n\"S\" Stop e-puck and turn off leds\r\n\"T,#\" Play sound 1-5 else stop sound\r\n\"U\" Get microphone amplitude\r\n\"V\" Version of SerCom\r\n"

A textual help about BTCom protocol, which is stored on e-Puck.

We suppose, that Elib is used with BTCom version 1.1.3, so we know how the help looks like.

const string Elib.Sercom.RestartMessage = "r\r\f\aWELCOME to the SerCom protocol on e-Puck\r\nthe EPFL education robot type \"H\" for help\r\n"

A message, which is sent from e-Puck after a restart.

We suppose, that Elib is used with BTCom version 1.1.3, so we know how the help looks like.

readonly List<char> Elib.Sercom.StableAnsCommandsChars = new List<char>( stableAnsCommands.Keys) [static]

A textual commands, which have always an identical answer.

const string Elib.Sercom.Version = "v,Version 1.1.3 September 2006\r\n"

We suppose, that Elib is used with BTCom version 1.1.3, so we know the version.

Property Documentation

bool Elib.Sercom.FullImgBytes [get]

If an image in LastImg is set to true, Sercom.FullImgBytes stores image. If it returns false , a picture has not been taken yet or Sercom.FullImgBytes are saving a picture right now.

int Elib.Sercom.HeightImg [get]

The height of last taken picture.

byte [] Elib.Sercom.LastImgBytes [get]

Bytes from bitmap of last taken picture.

int Elib.Sercom.ModeImg [get]

The colour mode of last taken picture. It can be black and white or colourful.

int Elib.Sercom.NotAnswered [get, set]

Number of commands waiting to be sent or to an answer of the sent command.

int Elib.Sercom.NotSent [get]

Number of commands waiting to be sent over serial connection.

int Elib.Sercom.WidthImg [get]

The width of last taken picture.

Event Documentation

EventHandler Elib.Sercom.Free [static]

Sercom offers events Free, which is raised, if Sercom processed some commands and now he has no command to process.

EventHandler Elib.Sercom.Working [static]

Sercom offers events Working, which is raised, if Sercom he has had no command to process and now is processing some commands.

The documentation for this class was generated from the following files:

priorQueue.cs
sercomFieldMembers.cs
sercomPublicFce.cs
stableanswers.cs
sercomPrivateFce.cs

Elib.Sercom Class Reference

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Properties

Events

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Property Documentation

Event Documentation