ArduinoConnection.cs

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using System;
using System.IO.Ports;
using Configuration;
using Logging;
using SharedObjects;

namespace ArduinoConnection
{
    public class ArduinoConnection
    {
        private SerialPort currentPort;
        public bool PortFound { get; private set; }
        public string PortString { get; private set; }

        public ArduinoConnection(string portString = "")
        {
            if (String.IsNullOrEmpty(portString))
                FindComPort();
            else
            {
                PortString = portString;
                currentPort = new SerialPort(PortString, Configuration.Configuration.Information.Arduino.BaudRate) { ReadTimeout = 1000 };
            }
        }

        public string FindComPort()
        {
            try
            {
                string[] ports = SerialPort.GetPortNames();
                foreach (string port in ports)
                {
                    currentPort = new SerialPort(port, Configuration.Configuration.Information.Arduino.BaudRate);
                    if (DetectArduino())
                    {
                        
                        PortFound = true;
                        return PortString = port;
                    }
                    PortFound = false;
                }
            }
            catch (Exception ex)
            {
                Singleton<Logger>.Instance.LogException(ex);
            }
            return string.Empty;
        }

        public void ActivateLaser(bool on = true)
        {
            SendCommand(@on ? ArduinoConfiguration.EnableLaserCommand : ArduinoConfiguration.DisableLaserCommand);
        }
        public void ActivateLight(bool on, int hue)
        {
            if(on) 
                SendCommand(ArduinoConfiguration.EnableLightCommand, hue);
            else
                SendCommand(ArduinoConfiguration.DisableLightCommand);
        }

        public void RotateTurnTableCw(int steps)
        {
           SendCommand(ArduinoConfiguration.RotateTurnTableCwCommand, steps);
        }

        public void RotateTurnTableCcw(int steps)
        {
            SendCommand(ArduinoConfiguration.RotateTurnTableCcwCommand, steps);
        }

        public void RotateLaserCw(int steps)
        {
            SendCommand(ArduinoConfiguration.RotateLaserCwCommand, steps);
        }

        public void RotateLaserCcw(int steps)
        {
            SendCommand(ArduinoConfiguration.RotateLaserCcwCommand, steps);
        }

        public void EnableMicroStepping()
        {
            SendCommand(ArduinoConfiguration.EnableMicroSteppingCommand);
        }

        public void DisableMicroStepping()
        {
            SendCommand(ArduinoConfiguration.DisableMicroSteppingCommand);
        }
        private bool DetectArduino()
        {
            try
            {
                //The below setting are for the Hello handshake
                byte[] buffer = new byte[1];
                buffer[0] = Convert.ToByte(ArduinoConfiguration.Ping);
                currentPort.Open();
                currentPort.Write(buffer, 0, 1);
                try
                {
                    int intReturnAscii = currentPort.ReadByte();
                    return intReturnAscii == ArduinoConfiguration.ACK;
                }
                catch (TimeoutException) // occurs if no response is there after 1000 ms.
                {
                    Singleton<Logger>.Instance.LogInfo(String.Format("Not detected on port {0}", currentPort));
                    return false;
                }
            }
            catch (Exception ex)
            {
                Singleton<Logger>.Instance.LogException(ex);
            }
            finally
            {
                if(currentPort.IsOpen)
                    currentPort.Close();
            }

            return false;
        }

        private bool SendCommand(int command, int parameter = -1)
        {
            try
            {
                byte[] buffer = parameter == -1 ? new byte[1] : new byte[2];

                buffer[0] = Convert.ToByte(command);
                if (parameter != -1)
                    buffer[1] = Convert.ToByte(parameter);
                currentPort.Open();
                currentPort.Write(buffer, 0, parameter == -1 ? 1 : 2);

                return currentPort.ReadByte() == ArduinoConfiguration.ACK;
            }
            catch (TimeoutException)
            {
                Singleton<Logger>.Instance.LogInfo(String.Format("Command took longer then expected: {0}", command));
                return false;
            }
            catch (Exception ex)
            {
                Singleton<Logger>.Instance.LogException(ex);
                return false;
            }
            finally
            {
                if (currentPort.IsOpen)
                    currentPort.Close();
            }
        }
    }
}