private void Looper_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
while (SerPort.BytesToRead > 0)
{
int cint = SerPort.ReadByte();
char c = Convert.ToChar(cint);
str += c;
if (c == '\n')
{
LogList.Items.Insert(0, str.Substring(0, str.Length - 2));
str = "";
}
}
}
else
{
try
{
SerPort.Open();
LogList.Items.Insert(0, "Port Open");
}
catch
{
LogList.Items.Insert(0, "Cannot Open Port");
}
}
}
private void ProcTimer_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
PortStatus.Text = "Opened";
//ProcessSend();
}
else
{
try
{
SerPort.PortName = PortList.Items[PortList.SelectedIndex].ToString();
SerPort.Open();
Log("Port Opened");
}
catch
{
PortStatus.Text = "Error Opening";
bootload_enabled = false;
ButtonsSet(false, true, false);
}
}
}
public Form1()
{
workdir = Directory.GetCurrentDirectory();
InitializeComponent();
flash_data = new short[65536];
bootload_enabled = false;
CancelBtn.Enabled = false;
stopwatch = new Stopwatch();
stopwatch.Start();
for (int i = 0; i < 32; i++)
{
SerPort.PortName = "COM" + Convert.ToString(i);
try
{
SerPort.Open();
PortList.Items.Add(SerPort.PortName);
}
catch
{
}
try
{
SerPort.Close();
}
catch
{
}
}
try
{
PortList.SelectedIndex = 0;
}
catch
{
}
if (File.Exists("savefile.txt"))
{
StreamReader sr = new StreamReader("savefile.txt");
AddToList(ref PortList, sr.ReadLine());
for (int i = 0; i < 10; i++)
{
AddToList(ref FilePathTxt, sr.ReadLine());
}
sr.Close();
}
DataProcessor.RunWorkerAsync();
}
private void StopPlayButton_Click(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
bot_busy = true;
byte[] b = new byte[1];
b[0] = 3;
SerPort.Write(b, 0, 5);
}
}
private void SendCmd(int cmd)
{
if (SerPort.IsOpen)
{
byte[] b = new byte[1] {
Convert.ToByte(cmd)
};
SerPort.Write(b, 0, 1);
}
}
private void PortChecker_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
if (SerPort.BytesToRead > 0)
{
bot_status = (int)SerPort.ReadByte();
}
BotCtrl();
}
}
private void AbortButton_Click(object sender, EventArgs e)
{
is_playing = false;
byte[] b = new byte[5];
b[0] = 0;
b[1] = 3;
b[2] = 0;
b[3] = 0;
b[4] = 0xFF;
SerPort.Write(b, 0, 5);
}
private void Checker_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
PortStatusLabel.Text = "Port Status: " + SerPort.PortName + " is Opened at " + Convert.ToString(SerPort.BaudRate) + " Baud";
}
else
{
PortStatusLabel.Text = "Port Status: Closed";
is_playing = false;
try
{
SerPort.PortName = "COM6";
SerPort.BaudRate = 57600;
SerPort.Open();
}
catch
{
PortStatusLabel.Text = "Port Status: Error";
}
}
if (is_playing)
{
PlayButton.Enabled = false;
CaliButton.Enabled = false;
AbortButton.Enabled = true;
FileListBox.Enabled = false;
}
else
{
CaliButton.Enabled = true;
PlayButton.Enabled = true;
AbortButton.Enabled = false;
FileListBox.Enabled = true;
stop_watch.Stop();
}
PlayProgBar.Minimum = 0;
PlayProgBar.Maximum = event_length;
PlayProgBar.Value = event_cnt;
SongLengthLabel.Text = Convert.ToString(length_of_song);
TimeTakenLabel.Text = Convert.ToString(time_taken);
TimeTakenToPlayLabel.Text = Convert.ToString(time_taken_tp);
PercentAdjLabel.Text = Convert.ToString(percent_adj * 100);
}
private void Player_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
if (SerPort.BytesToRead > 0)
{
bot_status = (int)SerPort.ReadByte();
if (bot_status == 1 && is_playing)
{
event_cnt = 0;
SendNextInstruct();
stop_watch.Reset();
}
else if (bot_status == 0 && is_playing)
{
SendNextInstruct();
}
else if (bot_status == 2)
{
is_playing = false;
event_cnt = 0;
}
else if (bot_status == 3)
{
stop_watch.Reset();
stop_watch.Start();
}
else if (bot_status == 4)
{
stop_watch.Stop();
if (is_cali)
{
CalcAutoAdj();
ApplyToList();
}
}
}
}
if (is_cali)
{
time_taken = Convert.ToDouble(stop_watch.ElapsedMilliseconds) / (double)1000;
}
else
{
time_taken_tp = Convert.ToDouble(stop_watch.ElapsedMilliseconds) / (double)1000;
}
}
private void PortList_SelectedIndexChanged(object sender, EventArgs e)
{
Log("Port Changed");
try
{
SerPort.Close();
SerPort.PortName = PortList.Items[PortList.SelectedIndex].ToString();
SerPort.Open();
Log("Port Opened");
}
catch
{
Log("Port Cannot be Opened");
bootload_enabled = false;
ButtonsSet(true, true, false);
}
}
private void Checker_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
PortStatusLabel.Text = "Port Status: " + SerPort.PortName + " is Opened at " + Convert.ToString(SerPort.BaudRate) + " Baud";
}
else
{
PortStatusLabel.Text = "Port Status: Closed";
try
{
SerPort.PortName = "COM6";
SerPort.BaudRate = 57600;
SerPort.Open();
}
catch
{
PortStatusLabel.Text = "Port Status: Error";
}
}
}
private void SendNextInstruct()
{
if (SerPort.BytesToWrite < 8)
{
byte[] b = new byte[5];
b[0] = 0;
b[1] = (byte)dev_event[event_cnt].sp_code;
int delay = dev_event[event_cnt].delay;
delay += dev_event[event_cnt].delay_manualadj;
if (is_cali == false)
{
delay += dev_event[event_cnt].delay_autoadj;
}
delay = Convert.ToInt32(Math.Round((double)delay * percent_adj));
b[3] = Convert.ToByte(delay % 256);
b[2] = Convert.ToByte((delay - Convert.ToInt32(b[3])) / 256);
b[4] = (byte)dev_event[event_cnt].bitmask;
SerPort.Write(b, 0, 5);
event_cnt++;
if (b[1] == 3)
{
is_playing = false;
if (is_cali)
{
CalcAutoAdj();
ApplyToList();
}
}
}
}
private void StartBtn_Click(object sender, EventArgs e)
{
LoadProgress.Value = 0;
if (!File.Exists(FilePathTxt.Text))
{
Log("File Does Not Exist");
bootload_enabled = false;
ButtonsSet(true, true, false);
return;
}
AddToList(ref FilePathTxt, FilePathTxt.Text);
for (int i = 0; i < 65536; i++)
{
flash_data[i] = 0xFF;
}
StreamReader sr;
sr = new StreamReader(FilePathTxt.Text);
string str = "";
bool fail_flag = false;
do
{
try
{
str = sr.ReadLine();
if (str == null)
{
Log("End of File Reached");
}
int record_type = Convert.ToInt32(str.Substring(7, 2), 16);
if (record_type == 0)
{
int byte_cnt = Convert.ToInt32(str.Substring(1, 2), 16);
int addr = Convert.ToInt32(str.Substring(3, 4), 16);
for (int i = 0, j = 9; i < byte_cnt; i++, j += 2)
{
flash_data[addr + i] = Convert.ToInt16(str.Substring(j, 2), 16);
if ((addr + i) > last_addr)
{
last_addr = (short)(addr + i);
}
}
}
else if (record_type == 1)
{
Log("End of Flash Reached");
break;
}
}
catch
{
fail_flag = true;
}
}while (str != null);
if (fail_flag)
{
Log("File Not Read");
bootload_enabled = false;
ButtonsSet(true, true, false);
}
else
{
Log("File Successfully Read");
Log("Waiting for MCU Ready Signal");
bootload_enabled = true;
ButtonsSet(false, false, true);
previous_addr = -1;
retry_cnt = 0;
page_num = (short)((last_addr + 256) / 256);
LoadProgress.Maximum = page_num * 256;
page_num++;
if (SerPort.IsOpen)
{
while (SerPort.BytesToRead > 0)
{
SerPort.ReadByte();
}
}
}
sr.Close();
}
private void ProcessSend()
{
if (SerPort.IsOpen == false || bootload_enabled == false)
{
Thread.Sleep(250);
return;
}
while (SerPort.BytesToRead >= 2)
{
while (SerPort.BytesToRead != 2)
{
SerPort.ReadByte();
}
int c0 = SerPort.ReadByte();
int c1 = SerPort.ReadByte();
int addr = c0 + (c1 << 8);
if (addr == 0xFFFF)
{
stopwatch.Start();
byte[] b = new byte[2] {
(byte)(page_num % 256), (byte)(page_num >> 8),
};
SerPort.Write(b, 0, 2);
Log("MCU Sent Ready Signal");
Log("Replied Number of Pages: " + Convert.ToString(page_num, 10));
}
else if (addr == page_num)
{
stopwatch.Stop();
long time_ms = stopwatch.ElapsedMilliseconds;
stopwatch.Reset();
double time_s = (double)time_ms / 1000.0;
Log("Bootloader Finished in " + Convert.ToString(time_s) + " Seconds");
bootload_enabled = false;
ButtonsSet(true, true, false);
}
else
{
if (previous_addr == addr)
{
Log("Page Re-requested: " + Convert.ToString(addr, 10));
retry_cnt++;
}
else
{
retry_cnt = 0;
}
if ((previous_addr == addr || previous_addr + 1 == addr) && retry_cnt < 3)
{
previous_addr = (short)addr;
checksum = 0;
byte[] b = new byte[256];
while ((SerPort.WriteBufferSize - 256) < SerPort.BytesToWrite)
{
;
}
if (page_num < 6)
{
for (int i = addr * 256, j = 0; j < 256; i++, j++)
{
b[0] = (byte)flash_data[i];
checksum += flash_data[i];
SerPort.Write(b, 0, 1);
ProgressSet(Convert.ToInt32(Math.Min(i, LoadProgress.Maximum)));
}
}
else
{
for (int i = addr * 256, j = 0; j < 256; i++, j++)
{
b[j] = (byte)flash_data[i];
checksum += flash_data[i];
}
SerPort.Write(b, 0, 256);
ProgressSet(Convert.ToInt32(Math.Min((addr * 256) + 256, LoadProgress.Maximum)));
}
b[0] = (byte)(checksum % 256);
b[1] = (byte)(checksum >> 8);
SerPort.Write(b, 0, 2);
}
else
{
Log("Fatal Error, Received: 0x" + Convert.ToString(addr, 16).ToUpper() + ", Checksum was: 0x" + Convert.ToString(checksum, 16).ToUpper() + ", Retried: " + Convert.ToString(retry_cnt));
bootload_enabled = false;
ButtonsSet(true, true, false);
}
}
}
}
private void PortProcessor_Tick(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
int c;
while (SerPort.BytesToRead != 0)
{
c = SerPort.ReadByte();
if (c >= 0x80)
{
addr = (c & 0x7F) >> 1;
data = 0;
cnt = 0;
sign_flag = c % 2;
}
else
{
data += (c << (7 * cnt));
cnt++;
if (cnt == 5)
{
double data_;
if ((c & 0x40) == 0x40)
{
data -= (c << (7 * (cnt - 1)));
if ((c & 0x20) == 0x20)
{
data_ = (double)data * Math.Pow(10, -1 * (double)(c & 0x1F));
}
else
{
data_ = (double)data * Math.Pow(10, (double)(c & 0x1F));
}
}
else
{
data_ = (double)data;
}
if (sign_flag != 0)
{
data_ *= -1;
}
try
{
DataList.Items[addr].SubItems[1].Text = Convert.ToString(data_);
}
catch
{
}
}
}
}
}
else
{
SerPort.BaudRate = 19200;
try
{
SerPort.PortName = "COM6";
SerPort.Open();
}
catch
{
try
{
SerPort.PortName = "COM3";
SerPort.Open();
}
catch
{
}
}
}
}
void BotCtrl()
{
if (bot_status == 0)
{
}
else if (bot_status == 1)
{
bot_busy = false;
bot_do_not_disturb = false;
SongStatusLabel.Text = "Robot Wants File Name";
if (FileListBox.Items[FileListBox.SelectedIndex].Length != 0)
{
string str = "";
int i;
for (i = 0; i < 8 && i < FileListBox.Items[FileListBox.SelectedIndex].Length; i++)
{
str += FileListBox.Items[FileListBox.SelectedIndex].SubString(i, 1);
}
for (int j = i; j < 8; j++)
{
str += "_";
}
SerPort.Write(str);
bot_status = 0;
SongStatusLabel.Text = "Robot is Waiting for Command";
}
}
else if (bot_status == 2)
{
bot_do_not_disturb = true;
bot_busy = true;
byte[] b = new byte[2];
b[0] = event_length % 256;
b[1] = Convert.ToByte((event_length - (int)b[0]) / 256);
SerPort.Write(b, 0, 2);
f_ptr = 0;
bot_status = 0;
}
else if (bot_status == 3)
{
SongStatusLabel.Text = "Robot is Loading New Chart";
bot_busy = true;
bot_do_not_disturb = true;
if (SerPort.BytesToWrite < 8)
{
byte[] b = new byte[5];
b[0] = 0;
b[1] = (byte)dev_event[f_ptr].sp_code;
int delay = dev_event[f_ptr].delay;
delay += dev_event[f_ptr].delay_manualadj;
delay = Convert.ToInt32(Math.Round((double)delay * percent_adj));
b[3] = Convert.ToByte(delay % 256);
b[2] = Convert.ToByte((delay - Convert.ToInt32(b[3])) / 256);
b[4] = (byte)dev_event[f_ptr].bitmask;
SerPort.Write(b, 0, 5);
f_ptr++;
ProgBar.Value = f_ptr;
bot_status = 0;
}
}
else if (bot_status == 4)
{
bot_busy = false;
bot_do_not_disturb = false;
SongStatusLabel.Text = "Robot is Finished Loading";
bot_status = 0;
}
else if (bot_status == 5)
{
bot_busy = true;
SongStatusLabel.Text = "Robot is Playing";
bot_status = 0;
}
else if (bot_status == 6)
{
bot_busy = true;
SongStatusLabel.Text = "Robot is Finished Playing";
bot_status = 0;
}
else if (bot_status == 7)
{
stop_watch.Reset();
stop_watch.Start();
bot_status = 0;
}
else if (bot_status == 8)
{
stop_watch.Stop();
time_taken = (double)stop_watch.ElapsedMilliseconds / (double)1000;
TimeTakenLabel.Text = Convert.ToString(time_taken);
bot_status = 0;
}
else if (bot_status == 128)
{
SongStatusLabel.Text = "File Missing on Disk";
bot_status = 0;
}
else if (bot_status == 255)
{
SongStatusLabel.Text = "Disk Error on Robot";
}
if (bot_busy)
{
PlayButton.Enabled = false;
LoadFileButton.Enabled = false;
FileListBox.Enabled = false;
}
else
{
PlayButton.Enabled = true;
LoadFileButton.Enabled = true;
FileListBox.Enabled = true;
}
if (bot_do_not_disturb)
{
StopPlayButton.Enabled = false;
}
else
{
StopPlayButton.Enabled = true;
}
}
