/// <summary>
/// Open a serial port if in config we choose serial communication.
/// </summary>
/// <param name="comPort"></param>
/// <param name="baudRate"></param>
/// <returns>A Ccr Port for receiving serial port data</returns>
internal bool SerialOpen(int comPort, int baudRate)
{
commMethod = DrRobotConnectionMethod.SerialComm;
if (recBuffer == null)
{
recBuffer = new byte[4095];
}
if (baudRate < 1200)
{
baudRate = 115200;
}
serialPort.Close();
string portName = "COM" + comPort.ToString(System.Globalization.NumberFormatInfo.InvariantInfo);
if (serialPort == null)
{
serialPort = new SerialPort(portName, baudRate);
}
else
{
serialPort.PortName = portName;
serialPort.BaudRate = baudRate;
}
serialPort.Encoding = Encoding.Default;
serialPort.Parity = Parity.None;
serialPort.DataBits = 8;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.RequestToSend; // Handshake.RequestToSend; //hardware flow control
// serialPort.WriteTimeout = 2000;
serialPort.NewLine = "\r";
serialPort.ReadTimeout = 0;
serialPort.ReceivedBytesThreshold = 1; //the shortest package is ping package
serialPort.ReadBufferSize = 4096;
//serialPort.DataReceived += new SerialDataReceivedEventHandler(port_DataReceived);
//serialPort.ErrorReceived += new SerialErrorReceivedEventHandler(portError);
try
{
serialPort.Open();
//start a thread to receive
// if (receiveThread == null)
{
receiveThread = new Thread((dataReceive));
receiveThread.CurrentCulture = new CultureInfo("en-US");
receiveThread.Start();
}
}
catch
{
return(false);
}
return(true);
}
//private JaguarCtrl _form;
//private string comID = "MOT1";
/*public DrRobotComm(JaguarCtrl form, string id)
* {
* _form = form;
* comID = id;
* }*/
//here is the WiFi connecting start
internal bool StartClient(string addr, int portNum)
{
// Connect to remote server
commMethod = DrRobotConnectionMethod.WiFiComm;
try
{
// Establish the remote endpoint for the socket
// GetHostEntry was an attempt to do a hostname lookup
// so that you did not have to type an IP address.
// However, it takes a LONG time for an IP address
// (around 20 seconds).
// IPHostEntry ipHostInfo = Dns.GetHostEntry(addr);
// IPAddress ipAddress = ipHostInfo.AddressList[0];
IPAddress ipAddress;
int remotePort = portNum;
try
{
ipAddress = IPAddress.Parse(addr);
}
catch (Exception e)
{
lastSendErrorMsg = e.Message;
return(false);
}
IPEndPoint remoteEP = new IPEndPoint(ipAddress, remotePort);
// Create a TCP socket
clientSocket = new Socket(AddressFamily.InterNetwork,
SocketType.Stream, ProtocolType.Tcp);
//udp
//clientSocket = new Socket(AddressFamily.InterNetwork,
// SocketType.Dgram, ProtocolType.Udp);
//need send data to active the communication
// Connect to the remote endpoint
// We will wait for this to complete rather than do it
// asynchronously
receiveThread = new Thread((dataReceive));
receiveThread.CurrentCulture = new CultureInfo("en-US");
clientSocket.Connect(remoteEP);
localPort = ((IPEndPoint)clientSocket.LocalEndPoint).Port;
//for communication need to send a package first
//Ping();
receiveThread.Start();
return(true);
}
catch (SocketException e)
{
socketErrorCount++;
lastRecvError = e.ErrorCode;
lastRecvErrorMsg = e.ToString();
return(false);
}
}
