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Processing --> Arduino --> Unity communication via ports

What I try to do: Processing 3 is receiving a sort of QR code via my webcam --> it reads the value and sends it to my Arduino, Arduino successfully receives it and can now do stuff with it. Now I want to add another communication channel, Unity. I want the Arduino to send the value from the Processing to Unity.
It is easy to communicate between Arduino and Unity, but I need Processing for the webcam value.
The problem: Both Processing 3 and Unity make use of the same port (COM4, 9600). This will cause an IO exception in Unity saying "Access Denied" followed by errors of the Serial port isn't open.
Processing 3 code
...
//Open port
String portName = Serial.list()[0];
myPort = new Serial(this, portName, 9600);
myPort.write(1);
...
Arduino code
void setup() {
// put your setup code here, to run once:
...
Serial.begin(9600); // Start serial communication at 9600 bps
...
}
void loop() {
if (Serial.available()) { // If data is available to read,
val = Serial.read(); // read it and store it in val
}
//val contains now the data that was sent from Processing 3
//Send this data to Unity:
Serial.flush();
Serial.println(val);
}
Unity code
...
SerialPort stream = new SerialPort ("COM4", 9600); //We obviously can't open this port since its already in use by Processing 3. How to fix this?
...
// Use this for initialization
void Start () {
stream.Open(); //Throws IO exception: Access Denied error
}
// Update is called once per frame
void Update () {
string value = stream.ReadLine();
val = int.Parse(value);
if (val == 1) {
//Links van arduino
goLeft();
}else if (val == 2) {
//Rechts van arduino
goRight();
}
}
We obviously can't open the port in Unity since its already in use by Processing 3. How to fix this?
Communication stream:
Processing 3 --> Arduino --> Unity
Eventually Unity needs to know whether you have to go Left or Right based on the QR code input on the webcam.

You can't use the same serial port in two concurrent applications (why do you want to use an Arduino at all?) A solution is to establish alink between applications. A network connection, using a 127.0.0.1 loopback connection, is a tried and tested way of creating that link.
As far as protocols go, you have endless options, my personal preference is to use OSC - both processing (via OSCP5) and Unity (various plugins, including my own I should really make public at some point) have decent support for messaging, but you can use many other types of links (ie. websockets)

For the people who would like to know how to solve this problem.
You can't. We have to think in another way.
Options were:
Close port while done processing and then open port in Unity (was not practical since we need a constant stream of instructions)
Leave out the Arduino and communicate between Processing and Unity (was not practical either since we need the Arduino in this case for blinkers)
Find another communication form between the Arduino/Processing and Unity without any ports. (Thanks to #kaj)
I've implemented the last option
Output Processing results to a "data.txt" file
Unity opens this file in C# with ReadAccess FileStream and reads the output and uses this
In this way we can still use the Arduino and Unity directly reads output from the Processing without a middleman.

C# - Bluetooth programming

In my program, I send a command to a device and it sends some data back. Whenever the data is available, the following event handler gets invoked.
private void notify_change(GattCharacteristic sender, GattValueChangedEventArgs args)
{
lock (this._dataRec)
{
notCounter++;
byte[] bArray = new byte[args.CharacteristicValue.Length];
DataReader.FromBuffer(args.CharacteristicValue).ReadBytes(bArray);
dataQ.Enqueue(Encoding.ASCII.GetString(bArray));
Monitor.Pulse(this._dataRec);
}
}
Sometimes, I noticed that this gets called before previous data has been read (or something like that; from the list of commands, data seems to be missing). Looks like the buffer gets overwritten whenever the function is invoked. Is there a way to add data to the buffer rather than overwriting it?

In my program, I send a command to a device and it sends some data
back.
Since you are trigger response by your calls, be sure that you don't make buffer overflow on device side. Minimal theoretical gap between two packets is 7.5ms but in practice it is about 20-30ms. So if you are sending in a loop, your device will lost (overwrite) packets if gap is less than your HW setup can handle.

The GATT protocol has two options to receive unsolicited information. They are notifications and indications. notifications are one with out acknowledgement from the receiver where as indications require an acknowledgment from the receiver. so you probably need indications and if this is not an option you need to ensure that the data is copied before the next notification.
see the following from the Bluetooth specification.

Multithreading using AsyncCallback and GUI controls

Multithread programming is a new concept for me. I’ve done a bunch of reading and even with many examples, I just can’t seem to figure it out. I'm new to C# and programming.
I have a winform project with lots of custom controls I’ve imported and will utilize many tcpclients. I’m trying to get each control to be hosted on it’s own separate thread. Right now, I’m trying to get 1 control to behave appropriately with it’s own thread.
I'll show you what I have and then follow up with some questions regarding guidance.
string asyncServerHolder; // gets the server name from a text_changed event
int asyncPortHolder; // gets the port # from a text_changed event
TcpClient wifiClient = new TcpClient();
private void btnStart_Click(object sender, EventArgs e)
{
... // variable initialization, etc.
... // XML setup, http POST setup.
send(postString + XMLString); // Content to send.
}
private void send(string msg)
{
AsyncCallback callBack = new AsyncCallback(ContentDownload);
wifiClient.BeginConnect(asyncServerHolder, asyncPortHolder, callBack, wifiClient);
wifiClient.Client.Send(System.Text.Encoding.ASCII.GetBytes(msg));
}
private void ContentDownload(IAsyncResult result)
{
if (wifiClient.Connected)
{
string response4 = "Connected!!"; //debug msg
byte[] buff = new byte[1024];
int i = wifiClient.Client.Receive(buff);
do
{
response1 = System.Text.Encoding.UTF8.GetString(buff, 0, i);
} while (response1.Length == 0);
response2 = response1.Substring(9, 3); // pick out status code to be displayed after
wifiClient.Client.Dispose();
wifiClient.Close();
}
}
If you're knowledgeable about this, I bet you see lots of problems above. As it stands right now, I always get an exception one my first iteration of running this sequence:
"A request to send or receive data was disallowed because the socket is not connected and (when sending on a datagram socket using a sendto call) no address was supplied"
Why is this? I have confirmed that my asyncServerHolder and my asyncPortHolder are correct. My second iteration of attempting allowed me to see response4 = "Connected!!" but I get a null response on response1.
Eventually I'd like to substitute in my user controls which I have in a List. I'd just like to gracefully connect, send my msg, receive my response and then allow my form to notify me from that particular control which plays host to that tcp client. My next step would be link up many controls.
Some questions:
1) Do I need more TCP clients? Should they be in a list and be the # of controls I have enabled at that time of btnStart_Click?
2) My controls are on my GUI, does that mean I need to invoke if I'm interacting with them?
3) I see many examples using static methods with this context. Why is this?
Thanks in advance. All criticism is welcome, feel free to be harsh!

BeginConnect returns immediately. Probably, no connection has been established yet when Send runs. Make sure that you use the connection only after having connected.
if (wifiClient.Connected) and what if !Connected? You just do nothing. That's not a valid error recovery strategy. Remove this if entirely.
In your read loop you destroy the previously read contents on each iteration. In fact, you can't split up an UTF8 encoded string at all and decode the parts separately. Read all bytes into some buffer and only when you have received everything, decode the bytes to a string.
wifiClient.Client.Dispose();
wifiClient.Close();
Superstitious dispose pattern. wifiClient.Dispose(); is the canonical way to release everything.
I didn't quite understand what "controls" you are talking about. A socket is not a control. UI controls are single-threaded. Only access them on the UI thread.
Do I need more TCP clients?
You need one for each connection.
Probably, you should use await for all blocking operations. There are wrapper libraries that make the socket APIs usable with await.

ObjectDisposedException: Safe handle has been closed

So this is a rather small question with a big explanation. As is noted by the title I am getting an unhandled exception telling me my Safe handle has been closed. What I'll probably have to do is edit this post a few times with more and more code to help me diagnose what the problem is.
I'm using POS for .NET to make a Service Object for my RFID and MSR device. Although my devices are the same, I have 2 different Virtual COM Port chips that communicate to those devices. One by Silicon labs, the other by FTDI. I wanted to use the plug and play features with POS for .NET so I gave it both my Hardware ID's. Because it is plug and play I have the full hardware path available to me which I can then create a SafeFileHandle using a call to PInvoke and using that SafeFileHandle I create a FileStream. The FTDI chip doesn't let me talk to the devices directly like that so I have to get the friendly name of the device then use mutex to pull out the COM port then create a SerialPort instance. That step works fine and great. As a FYI I have tried to use the Friendly name of both chips to get the COM port and the Silicon Labs one (for some strange reason) doesn't get listed using SetupAPI.GetDeviceDetails using the Ports GUID. I'm not sure on that one since in Device Manager the Silicon labs Device Class Guid is the Ports GUID.
Well since both the SerialPort and the FileStream have a Stream object I decided to use that to read and write to that port. The problem with that is if I send a RFID command to the MSR device the MSR device doesn't respond back with anything. So if I use this code int fromReader = ReaderStream.ReadByte(); my thread is blocked. It's a blocking call and requires a minimum of 1 byte to proceed. So I looked around and it appears the only solution is to use a separate thread and set a timeout. If the timeout happens then abort the thread.
Thread t = new Thread(new ThreadStart(ReadFromStream));
t.Start();
if (!t.Join(timeout))
{
t.Abort();
}
(t.Abort has been surrounded with a try/catch to no avail, since it didn't fix the problem I removed it)
ReadFromStream is Abstract method in RFID Device. Here is one of the implementations
protected override void ReadFromStream()
{
var commandLength = USN3170Constants.MIN_RESPONSE_LENGTH;
var response = new System.Collections.Generic.List<byte>(USN3170Constants.MIN_RESPONSE_LENGTH);
for (int i = 0; i <= commandLength; i++)
{
int fromReader = ReaderStream.ReadByte();
if (fromReader == -1) break; //at end of stream
response.Add((byte)fromReader);
if (response.Count > USN3170Constants.DATA_LENGTH_INDEX && response[USN3170Constants.DATA_LENGTH_INDEX] > 0)
{
commandLength = response[USN3170Constants.DATA_LENGTH_INDEX] + 3;
}
}
streamBuffer = response.ToArray();
}
(int fromReader = ReaderStream.ReadByte(); was surrounded with a try/catch. Only thing it caught was the aborted thread exception, so I took it out)
The above code is where I suspect the problem lies. The strange thing is, though, is that I have a unit test which I feel mimics rather well the Microsoft Test App.
(FYI QUADPORT is the FTDI chipset)
PosExplorer posExplorer;
DeviceCollection smartCardRWs;
[Test]
public void TestQuadPortOpen()
{
posExplorer = new PosExplorer();
smartCardRWs = posExplorer.GetDevices(DeviceType.SmartCardRW, DeviceCompatibilities.CompatibilityLevel1);
//if using quadport one item is the MSR and the other is the RFID
//because of that one of them will fail. Currently the first Device in the collection is the the RFID, and the second is MSR
Assert.GreaterOrEqual(smartCardRWs.Count, 2);
//Hardware Id: QUADPORT\QUAD_SERIAL_INTERFACE
foreach(DeviceInfo item in smartCardRWs)
{
Assert.AreEqual("QUADPORT\\QUAD_SERIAL_INTERFACE", item.HardwareId);
}
SmartCardRW rfidDevice = (SmartCardRW)posExplorer.CreateInstance(smartCardRWs[0]);
SmartCardRW msrDevice = (SmartCardRW)posExplorer.CreateInstance(smartCardRWs[1]);
rfidDevice.Open();
Assert.AreNotEqual(ControlState.Closed, rfidDevice.State);
rfidDevice.Close();
try
{
msrDevice.Open();
Assert.Fail("MSR Device is not a RFID Device");
}
catch
{
Assert.AreEqual(ControlState.Closed, msrDevice.State);
}
rfidDevice = null;
msrDevice = null;
}
When I run that test I do not get the SafeFileHandle exception. In fact the test passes.
So I am at a loss as to how to track down this bug. Since I'll be using this Service Object in a different program that I am also creating I'll probably end up using this code from this test in that program. However I feel that the Microsoft Test App is more or less the "Golden Standard". Is it really... probably not. But it does work good for my purposes, SO I feel it is a problem with my code and not theirs.
Any tricks on how I can narrow this down? FYI I've tried using the debugger but walking the Open Code the error does not occur. I also walked the Update Status Timer and it also does not throw the error. Once I hit continue then I'll get the exception. I turned of Just My Code and Loaded Symbols and it tells me "Source Information is missing from teh debug information for this module"

This problem (and in particular the reference to a SerialPort instance) sounds suspiciously like the problem documented at http://connect.microsoft.com/VisualStudio/feedback/details/140018/serialport-crashes-after-disconnect-of-usb-com-port.
As I understand it, in the case of a non-permanent SerialPort (like one associated with a USB device, for example) when the port "goes away" unexpectedly the underlying Stream associated with it gets disposed. If there is an active read or write operation on the port at the time a subsequent call to SerialPort.Close can lead to the exception you mention, however the exception is occurring in Microsoft's code running on a different thread and cannot be caught from within your code. (It will still be seen by any "last chance" exception handler you have bound to the UnhandledException event on the AppDomain.)
There seem to be two basic workaround styles in the linked document. In both instances, after opening the port you store a reference to the BaseStream instance for the open port. One workaround then suppresses garbage collection on that base stream. The other explicitly calls Close on the base stream, capturing any exceptions thrown during that operation, before calling Close on the SerialPort.
EDIT: For what it's worth, under the .NET framework V4.5, it appears that none of the documented workarounds on the Microsoft Connect site fully resolve the problem although they may be reducing the frequency with which it occurs. :-(

I had the same error when I used a thread to read from a SerialPort. Calling Interrupt on the thread occasionally caused the uncatchable ObjectDisposedException. After hours of debugging and carefully reading this:
https://blogs.msdn.microsoft.com/bclteam/2006/10/10/top-5-serialport-tips-kim-hamilton/
I realized that the problem is just this:
NET 2.0 (and above) isn’t letting you get away with some things, such as attempting to cancel a SerialPort read by interrupting the thread accessing the SerialPort.
So before you call Thread.Interrupt() you have to close the COM... This will cause a catchable exception on the ReadByte operation.
Or you may use the ReadTimeout property on the SerialPort to avoid using a thread just to have a timeout.

I would like to post my case in which I had a similar issue trying to read from a serial port (virtual com driven by a Moxa RS232 to ethernet).
Since I did have no chance to catch the ObjectDisposedException, the only solution was to increase the ReadTimeout property which was originally set to -1 (continuous reading).
Setting the ReadTimeout to 100 millis solved this issue in my case.
EDIT
It is not the definitive solution: it can happen that if you close the application during a read attempt you can get the same uncatchable exception.
My final solution is to kill the process of the application directly in the FormClosing event :
private void MyForm_FormClosing(object sender, FormClosingEventArgs e)
{
Process p = Process.GetCurrentProcess();
p.Kill();
}

Please take a look at this:
https://github.com/jcurl/SerialPortStream
I replaced System.IO.Ports with RJPC.IO.Ports, fixed up a couple parameter differences in the initialization, and all the problems went away with this issue.

C# "using" SerialPort transmit with data loss

I'm new to this forum, and I have a question that has been bothering me for a while.
My setup is a serial enabled character display connected to my pc with a usb/uart converter. I'm transmitting bytes to the display via the serialPort class in a separate write buffer thread in a C++ style:
private void transmitThread(){
while(threadAlive){
if(q.Count > 0){ // Queue not empty
byte[] b = q.Dequeue();
s.Write(b,0,b.Length);
System.Threading.Thread.Sleep(100);
}
else{ // Queue empty
System.Threading.Thread.Sleep(10);
}
}
}
Assuming the serial port is already opened, this works perfectly and transmits all the data to the display. There are though no exception handling at all in this snippet. Therefore I was looking into implementing a typical C# feature, the 'using' statement and only opening the port when needed, like so:
private void transmitThread(){
while(threadAlive){
if(q.Count > 0){ // Queue not empty
byte[] b = q.Dequeue();
using(s){ //using the serialPort
s.Open();
s.Write(b,0,b.Length);
s.Close();
}
System.Threading.Thread.Sleep(100);
}
else{ // Queue empty
System.Threading.Thread.Sleep(10);
}
}
}
The problem with this function is, that it only transmits a random amount of the data, typically about one third of the byte-array of 80 bytes. I have tried different priority settings of the thread, but nothing changes.
Am I missing something important, or do I simply close the port too fast after a transmit request?
I hope you can help me. Thanks :)

No, that was a Really Bad Idea. The things that go wrong, roughly in the order you'll encounter them:
the serial port driver discards any bytes left in the transmit buffer that were not yet transmitted when you close the port. Which is what you are seeing now.
the MSDN article for SerialPort.Close() warns that you must "wait a while" before opening the port again. There's an internal worker thread that needs to shut down. The amount of time you have to wait is not specified and is variable, depending on machine load.
closing a port allows another program to grab the port and open it. Serial ports cannot be shared, your program will fail when you try to open it again.
Serial ports were simply not designed to be opened and closed on-the-fly. Only open it at the start of your program, close it when it ends. Not calling Close() at all is quite acceptable and avoids a deadlock scenario.

I think you're missing the point of the using block. A typical using block will look like this:
using (var resource = new SomeResource())
{
resource.DoSomething();
}
The opening happens at the very beginning. Typically as part of the constructor. But sometimes on the first line of the using block.
But the big red flag I see is that the closing happens automatically. You don't need the .Close() call.

If the successful operation of your serial device is dependent on the calls to Thread.Sleep then perhaps the thread is being interrupted at some point, sufficient to make the data transmission out of sync with the device. There would most likely be ways to solve this but the first thing I would do is try to use the .NET SerialPort class instead. The Write method is very similar to what you want to do, and there are C++ code examples in those articles.