private void bt_closeall_Click(object sender, EventArgs e)
{
try
{
UDPComm.oktoReceive = false;
closeThread(tstartMissonPlannerConn);
closeThread(tstartmyServerConn);
closeThread(tstartTrimaresConn);
closeThread(tstartExoReadings);
closeThread(Treadings);
if (TCPClientConn != null)
TCPClientConn = null;
if (TCPClientData != null)
TCPClientData = null;
if (TCPMavLinkClient != null)
TCPMavLinkClient = null;
if (TrimaresUDPServerConn != null)
TrimaresUDPServerConn = null;
if (TrimaresUDPServerData != null)
TrimaresUDPServerData = null;
if (TrimaresUDPMavLinkServer != null)
TrimaresUDPMavLinkServer = null;
}
catch { }
//Application.ExitThread();
//Application.Exit();
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
try
{
if (tstartMissonPlannerConn != null)
{
tstartMissonPlannerConn.Abort();
Thread.Sleep(100);
tstartMissonPlannerConn = null;
}
closeThread(tstartMissonPlannerConn);
closeThread(tstartmyServerConn);
closeThread(tstartTrimaresConn);
closeThread(tstartExoReadings);
closeThread(Treadings);
UDPComm.oktoReceive = false;
if (MissionPlannerServer != null)
{
MissionPlannerServer.Close();
MissionPlannerServer = null;
}
if (TrimaresServer != null)
{
TrimaresServer.Close();
TrimaresServer = null;
}
if (TCPClientConn != null)
{
CloseStream(TCPClientConn.mydata.myLink.BaseStream);
TCPClientConn = null;
}
if (TCPMavLinkClient != null)
{
TCPMavLinkClient = null;
}
if (TCPClientData != null)
{
TCPClientData = null;
}
if (TrimaresUDPServerConn != null)
{
CloseStream(TrimaresUDPServerConn.mydata.myLink.BaseStream);
TrimaresUDPServerConn = null;
}
if (TrimaresUDPServerData != null)
TrimaresUDPServerData = null;
if (TrimaresUDPMavLinkServer != null)
TrimaresUDPMavLinkServer = null;
foreach (Process p in System.Diagnostics.Process.GetProcessesByName("AP_Mavlink_router.exe"))
{
p.Kill();
p.WaitForExit();
}
}
catch
{
Application.ExitThread();
Application.Exit();
}
Application.ExitThread();
Application.Exit();
}
void startAPMsimulation()
{
try
{
TrimaresUDPServerData = new MainCrossData();
TrimaresUDPServerConn = new MavLinkConnection(tx_APcomport.Text, ref TrimaresUDPServerData);
// TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer);
TrimaresUDPServerConn.connect();
TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived;
// TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages;
TrimaresUDPServerConn.mydata.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude);
}
catch
{
TrimaresUDPMavLinkServer = null;
TrimaresUDPServerData = null;
TrimaresUDPServerConn = null;
}
//TCPClientData = new MainCrossData();
//TCPClientConn = new MavLinkConnection(tx_APcomport.Text, ref TCPClientData);
//TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient);
////TCPClientConn.mydata.myLink.BaseStream.Open();
//TCPClientConn.connect();
//TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages;
//TCPClientConn.PacketReceived += APSerialConn_PacketReceived;
//TCPClientData.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude);
gb_robot.Enabled = false;
}
/// <summary>
/// inicializa comunicacao do router com o trimares
/// </summary>
private void startTrimaresConn()
{
try
{
TrimaresServer = new MAVcomm.Comms.UdpSerialServer();
TrimaresServer.HostIP = tx_udpIP.Text;
TrimaresServer.Port = tx_udpport.Text;
TrimaresServer.newMsg += TrimaresUDP_PacketReceived;
TrimaresServer.Open();
TrimaresServer.rMessage += showMessages;
//TrimaresUDPServerData = new MainCrossData();
//TrimaresUDPServerConn = new MavLinkConnection("UDPSERVER", ref TrimaresUDPServerData);
//TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer);
//TrimaresUDPServerConn.mydata.myLink.BaseStream.HostIP = tx_udpIP.Text;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Port = tx_udpport.Text;
//TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Open();
//TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages;
}
catch
{
TrimaresServer.Close();
TrimaresServer = null;
TrimaresUDPMavLinkServer = null;
TrimaresUDPServerData = null;
TrimaresUDPServerConn = null;
}
}
private void bt_client_Click(object sender, EventArgs e)
{
try
{
TCPClientData = new MainCrossData();
TCPClientConn = new MavLinkConnection("TCP", ref TCPClientData);
TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient);
TCPClientConn.mydata.myLink.BaseStream.HostIP = tx_clientIP.Text;
TCPClientConn.mydata.myLink.BaseStream.Port = tx_clientPort.Text;
TCPClientConn.PacketReceived += APSerialConn_PacketReceived;
TCPClientConn.mydata.myLink.BaseStream.Open();
TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages;
//MavLinkClient = new MAVLink();
//MavLinkClient.DefaultConnection("TCP", 115200);
//MavLinkClient.BaseStream.HostIP = tx_clientIP.Text;
//MavLinkClient.BaseStream.Port = tx_clientPort.Text;
//MavLinkClient.BaseStream.newMsg += Client_PacketReceived;
//MavLinkClient.BaseStream.Open();
gb_robot.Enabled = false;
}
catch { }
}