private void SendALLFingersValue()
{
MainBoardSerial.Write(String.Format("@ALLF:{0},{1},{2},{3},{4},{5}#", interthread_ThumbValue.ToString().PadLeft(4, ' ')
, interthread_IndexValue.ToString().PadLeft(4, ' ')
, interthread_MiddleValue.ToString().PadLeft(4, ' ')
, interthread_RingValue.ToString().PadLeft(4, ' ')
, interthread_PinkyValue.ToString().PadLeft(4, ' ')
, (interthread_ThumbValue + interthread_IndexValue + interthread_MiddleValue + interthread_PinkyValue + interthread_RingValue).ToString().PadLeft(3, '0')));
dbg(String.Format("@ALLF:{0},{1},{2},{3},{4},{5}#", interthread_ThumbValue.ToString().PadLeft(4, ' ')
, interthread_IndexValue.ToString().PadLeft(4, ' ')
, interthread_MiddleValue.ToString().PadLeft(4, ' ')
, interthread_RingValue.ToString().PadLeft(4, ' ')
, interthread_PinkyValue.ToString().PadLeft(4, ' ')
, (interthread_ThumbValue + interthread_IndexValue + interthread_MiddleValue + interthread_PinkyValue + interthread_RingValue).ToString().PadLeft(4, '0')));
}
public bool isConnected()
{
//int TimeoutCounter = 0;
//if (SerialPortHandler.IsOpen == true)
//{
// PINGFlag = false;
// dbg("Open OK .");
// SerialPortHandler.DiscardInBuffer();
// dbg("Step before sending ping.");
if (MainBoardSerial.IsOpen == true)
{
MainBoardSerial.Write("PCPing#");
}
// dbg("PingBoard");
// sw.Reset();
// sw.Start();
// while(PINGFlag == false && sw.ElapsedMilliseconds < 2000){}
// if (sw.ElapsedMilliseconds > 2000)
// {
// dbg("Ping TimeOut");
// }
// sw.Stop();
// if (PINGFlag == true)
// {
dbg("PING OK !");
ParseThread = new Thread(new ThreadStart(this.ParseBuffer));
ParseThread.Start();
return(true);
// }
// else
// {
// dbg("PingStatement Not Found,Ping string recieved :" + LastSerialData);
// }
// SerialPortHandler.Close();
// dbg("Serial Port has been closed , because the Hand didn't reply successfly");
// tabControl1.SelectedTab = tabPage1;
// return false;
//}
//else
//{
// // ToolStripControlHost host = new ToolStripControlHost("HelloWorld");
// dbg("Serial Port is closed , please connect to hand first.");
//}
//return false;
}
private void MainBoardSerial_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
bool SpecialCommand = false;
string SerialRXData = MainBoardSerial.ReadTo("#");
if (SerialRXData == "PingOK#")
{
PINGFlag = true;
SerialRXData = "";
SpecialCommand = true;
dbg("Special RX:" + SerialRXData);
}
if (SpecialCommand == false)
{
SerialQueue.Enqueue(SerialRXData);
BufferWaitHandle.Set();
}
}
private void SendFingerData(int fingername, int fingervalue)
{
//Packet : FingerNumber,FingerDirection,FingerSpeedValue
int TempDir = 0, TempSpeed = 0;
if (fingervalue < 0)
{
TempDir = 1;
}
TempSpeed = (Math.Abs(fingervalue));
// if(SerialPortHandler.IsOpen == true ) SerialPortHandler.Write("@SM:" + TempDir + "," + TempSpeed + "," + (TempDir+TempSpeed) + "#\r\n");
//if (isConnected() == true)
//{
dbg(String.Format("Sending:{0},{1},{2},{3}#", TempDir.ToString().PadLeft(1, '0'), fingername.ToString().PadLeft(3), TempSpeed.ToString().PadLeft(3, '0'), (TempDir + TempSpeed + fingername).ToString().PadLeft(3, '0')));
if (MainBoardSerial.IsOpen == true)
{
MainBoardSerial.Write(String.Format("@SM:{0},{1},{2},{3}#", TempDir.ToString().PadLeft(1, '0'), fingername.ToString().PadLeft(3), TempSpeed.ToString().PadLeft(3, '0'), (TempDir + TempSpeed + fingername).ToString().PadLeft(3, '0')));
}
//}
}
private void cmd_connect_Click(object sender, EventArgs e)
{
dbg("Trying to connect ...");
try
{
if (cmd_connect.Text == "Disconnect")
{
cmd_connect.Text = "Connect";
MainBoardSerial.Close();
}
else
{
MainBoardSerial.BaudRate = 115200;
if (MainBoardSerial.IsOpen == true)
{
MainBoardSerial.Close();
}
MainBoardSerial.PortName = cmb_ports.Text;
dbg("Just before connect ...");
MainBoardSerial.Open();
dbg("First stage of connection is OK ...");
if (isConnected() == true)
{
dbg("Connected to Bionic Hand");
dbg("Controller is ready...");
tabControl1.SelectedTab = tabPage2;
cmd_connect.Text = "Disconnect";
}
else
{
dbg("No Data from MCU");
}
}
}
catch (Exception ex)
{
dbg("Error in Connection : " + ex.Message);
}
}
