C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/PlatformController/PlatformStrategy.cs

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using System;
using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Threading;
using System.Linq;
using System.Text;
using RS232Port;

namespace PlatformController {
        public class PlatformStrategy : SerialStrategy {

                public event updateStatusEventHandler updateResetEvent;

                PlatformData _data;
                public PlatformData Data {
                        get { return _data; }
                        set { _data = value; }
                }

                int _manualThrottle = 0;
                public int ManualThrottle {
                        get { return _manualThrottle; }
                        set { _manualThrottle = value; }
                }

                int _manualSteering = 0;
                public int ManualSteering {
                        get { return _manualSteering; }
                        set { _manualSteering = value; }
                }

                public PlatformStrategy(string platformControllerPortName
                        , double magneticDeclination) {
                        serialPortName = platformControllerPortName;
                        _data = new PlatformData(magneticDeclination);
                        initializePort();
                        resetPlatformController();
                }

                public void initializePort() {
                        if (_rs232 == null) {
                                _rs232 = new RS232MainForm();
                                _rs232.updateErrorEvent += updateError;
                                _rs232.receiveDataEvent += receiveData;
                                _rs232.setSilentModeEvent += updateSilentMode;
                                _rs232.Show();
                                _rs232.Hide();
                                //adjust this if the byte count from the platform controller changes
                                _rs232.Port.ReceivedBytesThreshold = 1;
                                _rs232.DebugMode = RS232MainForm.debugTerminalMode.silent;
                                _rs232.Port.BaudRate = 19200;
                                _rs232.Text = "Platform Controller Serial Port";
                                _rs232.Port.PortName = serialPortName;
                                _rs232.updatePortSettings();
                                
                                _rs232.RecieveDelayMs = 65;
                                
                                _status = openPort();
                        }
                }

                public void resetPlatformController() {
                        if (_rs232.Port.IsOpen) {
                                _rs232.Port.DtrEnable = true;
                                Thread.Sleep(100);
                                _rs232.Port.DtrEnable = false;
                        }
                }

                public void writeToPlatformController(PlatformCommand command, byte argument) {
                        _rs232.transmit(command.command.ToString() + argument.ToString());
                }

                private void receiveData() {
                        if (_rs232.SerialData.Length > 0) {
                                parsSerialData(_rs232.SerialData);
                                updateUi();
                                updateData();
                                _watchdogTimer.Reset();
                                _watchdogTimer.Start();
                        }
                }

                //part of the strategy class is the parsing algorithm 
                //for the platform controller's serial data.
                public void parsSerialData(string buffer) {
                        try {
                                _data.setBuffer(buffer);
                                string s = "";
                                char c = '0';
                                //buffer = buffer.Remove(0, buffer.IndexOf(";") + 1);
                                buffer = buffer.Remove(buffer.LastIndexOf(";") + 1
                                        , buffer.Length - (buffer.LastIndexOf(";") + 1));
                                while (buffer.Contains(":") && buffer.Contains(";")) {
                                        s = buffer.Substring(buffer.IndexOf(":") - 1, buffer.IndexOf(";"));
                                        c = s[0];
                                        s = s.Remove(0, 2);
                                        switch (c) {
                                                case '0':
                                                        //update the status
                                                        if (s == "plat_init") {
                                                                redLedOff();
                                                                _data.setStatus(s);
                                                                updateStatus();
                                                        }
                                                        _rs232.Port.DiscardInBuffer();
                                                        break;
                                                case 'a':
                                                        //system battery
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.SystemBatteryRaw = _outInt;
                                                        break;
                                                case 'b':
                                                        //microcontroller battery
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.MicroBatteryRaw = _outInt;
                                                        break;
                                                case 'c':
                                                        //infrared left
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.InfraredLeftRaw = _outInt;
                                                        break;
                                                case 'd':
                                                        //infrared right
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.InfraredRightRaw = _outInt;
                                                        break;
                                                case 'e':
                                                        //sonar left
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.SonarRangefinderLeft = _outInt;
                                                        break;
                                                case 'f':
                                                        //sonar center
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.SonarRangefinderCenter = _outInt;
                                                        break;
                                                case 'g':
                                                        //sonar right
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.SonarRangefinderRight = _outInt;
                                                        break;
                                                case 'h':
                                                        //left bumper switch switch
                                                        _data.BumperLeft = (s == "1");
                                                        break;
                                                case 'i':
                                                        //right bumper switch
                                                        _data.BumperRight = (s == "1");
                                                        break;
                                                case 'j':
                                                        //reset switch
                                                        _data.ResetSwitch = (s == "0");
                                                        if (updateResetEvent != null && _data.ResetSwitch == true)
                                                                updateResetEvent.Invoke();
                                                        break;
                                                case 'k':
                                                        //radio control mode switch
                                                        _data.RadioControlModeSwitch = (s != "0");
                                                        break;
                                                case 'l':
                                                        //red led
                                                        _data.RedLedValue = (s == "0");
                                                        break;
                                                case 'm':
                                                        //green led
                                                        _data.GreenLedValue = (s == "0");
                                                        break;
                                                case 'n':
                                                        //calculated steering value
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.SteeringCalculatedValue = _outInt;
                                                        break;
                                                case 'o':
                                                        //calculated throttle
                                                        if (int.TryParse(s, out _outInt))
                                                                _data.ThrottleCalculatedValue = _outInt;
                                                        break;
                                                case 'p':
                                                        //get auto avoiding value
                                                        _data.AutoAvoiding = (s == "1");
                                                        break;
                                                case 'q':
                                                        //parse the compass heading
                                                        if (int.TryParse(s, out _outInt)) {
                                                                if (_outInt <= 35990 && _outInt >= 0)
                                                                        _data.CompassHeading = _outInt;
                                                        }
                                                        break;
                                                default:
                                                        break;
                                        }
                                        buffer = buffer.Substring(buffer.IndexOf(";") + 1
                                                , buffer.Length - (buffer.IndexOf(";") + 1));
                                }
                        } catch (Exception e) {
                                updateError(e);
                                _error = e.Message + "\r\n" + e.StackTrace;
                        }
                }

                public void redLedOn() {
                        sendSerialCommand('l', 1);
                }

                public void redLedOff() {
                        sendSerialCommand('l', 0);
                }

                public void greenLedOn() {
                        sendSerialCommand('m', 1);
                }

                public void greenLedOff() {
                        sendSerialCommand('m', 0);
                }


        }
}

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