// Serial port callback function to handle the receipt of messages from the Motor Controller
private void MRSMainControllerSerialPort_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
MRSMainControllerSerialPort.Read(inBuffer, 0, COMM_BUFFER_SIZE);
commTimeoutErrorFlag = false; // If no exception was thrown then we should have receiced a complete buffer (COMM_BUFFER_SIZE bits)
// Check that the first byte contains the CommStartByte
if (inBuffer[0x00] != CommStartByte)
{
commFramingErrorFlag = true;
Console.WriteLine("Serial port framing error");
return;
}
else
{
commFramingErrorFlag = false;
}
// Check that the checksums match
Byte checkSum = 0;
for (int i = 0; i < COMM_BUFFER_SIZE - 1; ++i)
{
checkSum += inBuffer[i];
}
if (checkSum == inBuffer[COMM_BUFFER_SIZE - 1])
{
commChecksumErrorFlag = false;
}
else
{
commChecksumErrorFlag = true;
Console.WriteLine("Serial port checksum error");
return;
}
// If no errors then set flag indicating that a valid message has been received
mrsmcMessageReceived = true;
}
catch (System.TimeoutException)
{
commTimeoutErrorFlag = true;
Console.WriteLine("Serial port timeout");
mrsmcMessageReceived = false;
}
}
private void testCommsToolStripButton_Click(object sender, EventArgs e)
{
BuildCommMessage(TRexStatMsgType, dummy);
if (!mcspConnectCheckBox.Checked)
{
mcspConnectCheckBox.Checked = true;
}
try
{
MRSMainControllerSerialPort.Write(outBuffer, 0, COMM_BUFFER_SIZE);
}
catch (InvalidOperationException ioe)
{
Console.WriteLine(ioe.GetType().Name + ": " + ioe.Message);
}
}
private void modeToolStripButton_Click(object sender, EventArgs e)
{
foreach (ToolStripButton tsb in modeButtons)
{
tsb.Checked = tsb == sender;
if (tsb.Checked)
{
Byte[] mode = new Byte[1];
mode[0] = Convert.ToByte(tsb.Tag.ToString());
BuildCommMessage(SetModeMsgType, mode);
try
{
MRSMainControllerSerialPort.Write(outBuffer, 0, COMM_BUFFER_SIZE);
}
catch (InvalidOperationException ioe)
{
Console.WriteLine(ioe.GetType().Name + ": " + ioe.Message);
}
}
}
}
private void mcspConnectCheckBox_CheckedChanged(object sender, EventArgs e)
{
if (mcspConnectCheckBox.Checked)
{
try
{
mcspTimer.Enabled = true;
MRSMainControllerSerialPort.Open();
}
catch (IOException ioe)
{
Console.WriteLine(ioe.GetType().Name + ": " + ioe.Message);
mcspConnectCheckBox.Checked = false;
}
}
else
{
if (MRSMainControllerSerialPort.IsOpen)
{
MRSMainControllerSerialPort.Close();
mcspTimer.Enabled = false;
}
}
}
private void mcspTimer_Tick(object sender, EventArgs e)
{
if (ShowAllMRSMCCommandBufferUpdates)
{
DisplayCommBuffers();
}
// Display communication error status
commErrorDisplayLabel.ForeColor = Color.Black;
if (mcspConnectCheckBox.Checked)
{
commErrorDisplayLabel.Text = "Connected - no errors";
}
else
{
commErrorDisplayLabel.Text = "Not connected";
}
if (commTimeoutErrorFlag)
{
commErrorDisplayLabel.ForeColor = Color.Red;
commErrorDisplayLabel.Text = "Serial port timeout";
commTimeoutErrorFlag = false;
}
if (commFramingErrorFlag)
{
commErrorDisplayLabel.ForeColor = Color.Red;
commErrorDisplayLabel.Text = "Serial port framing error";
commFramingErrorFlag = false;
}
if (commChecksumErrorFlag)
{
commErrorDisplayLabel.ForeColor = Color.Red;
commErrorDisplayLabel.Text = "Serial port checksum error";
commChecksumErrorFlag = false;
}
if (commTimeoutErrorFlag)
{
commErrorDisplayLabel.ForeColor = Color.Red;
commErrorDisplayLabel.Text = "Serial port timeout";
}
// Handle any new message from the MRS Master Controller
if (mrsmcMessageReceived)
{
Byte mrsmcMessageType = inBuffer[0x01];
switch (mrsmcMessageType)
{
case TextMsgMsgType:
String message = "";
for (int i = 2; i < COMM_BUFFER_SIZE - 1; ++i)
{
if (inBuffer[i] != 0x00)
{
message += (char)inBuffer[i];
}
}
textMessageTextBox.AppendText(message);
Console.Write(message);
break;
case SetModeMsgType:
break;
case TRexCmdMsgType:
break;
case TRexStatMsgType:
for (int i = 0; i < TRex.TREX_STATUS_BUFFER_SIZE; ++i)
{
tRex.StatusBuffer[i] = inBuffer[i + 2];
}
if (ShowInBufferUpdates)
{
DisplayInBuffer();
}
mcStatusRequestSent = false;
// Displays will be updated below in this timer event handler
break;
default:
break;
}
mrsmcMessageReceived = false;
} // Serial Communication with Master Controller
// If a new motor controller command is not pending then request a motor controller status update
if (!newTRexMotorControllerCommand)
{
++displayCount;
if (displayCount >= 10)
{
if (mcStatusRequestSent)
{
commErrorDisplayLabel.ForeColor = Color.Orange;
commErrorDisplayLabel.Text = "MC status update timeout";
Console.WriteLine("MC status update timeout");
mcStatusRequestSent = false;
}
else
{
BuildCommMessage(TRexStatMsgType, dummy);
try
{
MRSMainControllerSerialPort.Write(outBuffer, 0, COMM_BUFFER_SIZE);
}
catch (InvalidOperationException ioe)
{
Console.WriteLine(ioe.GetType().Name + ": " + ioe.Message);
}
mcStatusRequestSent = true;
}
displayCount = 0;
}
}
// If any part of the command set for the motor controller has been updated then build a new message and send it
if (newTRexMotorControllerCommand)
{
BuildCommMessage(TRexCmdMsgType, tRex.CommandBuffer);
try
{
MRSMainControllerSerialPort.Write(outBuffer, 0, COMM_BUFFER_SIZE);
}
catch (InvalidOperationException ioe)
{
Console.WriteLine(ioe.GetType().Name + ": " + ioe.Message);
}
if (ShowOutBufferUpdates)
{
DisplayOutBuffer();
}
newTRexMotorControllerCommand = false;
displayCount = 0;
}
// Update motor control graphic display
using (Graphics g = Graphics.FromImage(steeringPictureBox.Image))
{
// Create pen & brush
Pen blackPen = new Pen(Color.Black, 1);
SolidBrush blackBrush = new SolidBrush(Color.Black);
g.DrawEllipse(blackPen, 43, 15, 10, 20);
// Create rectangle for ellipse
Rectangle rect = new Rectangle(0, 0, 95, 49);
// Create start and sweep angles.
float startAngle = 265.0F;
float sweepAngle = 10.0F;
// Draw pie to screen
g.FillPie(blackBrush, rect, startAngle, sweepAngle);
}
steeringPictureBox.Invalidate();
// Update motor controller data displays
throttleSettingDisplayLabel.Text = tRex.Throttle.ToString("000");
lMotSpeedDisplayLabel.Text = tRex.LMotSpeed.ToString("000");
rMotSpeedDisplayLabel.Text = tRex.RMotSpeed.ToString("000");
tRexVSupplyDisplayLabel.Text = (tRex.BatV / 100.0).ToString("N2");
leftIMotorDisplayLabel.Text = tRex.LMotI.ToString("###0");
rightIMotorDisplayLabel.Text = tRex.RMotI.ToString("###0");
tRexXAccelDisplayLabel.Text = "X: " + tRex.AccelX.ToString("###0");
tRexYAccelDisplayLabel.Text = "Y: " + tRex.AccelY.ToString("###0");
tRexZAccelDisplayLabel.Text = "Z: " + tRex.AccelZ.ToString("###0");
}
