static void Main(string[] args)
{
var settings = ConfigurationManager.AppSettings;
var port = settings["COM_PORT"];
var speed = Convert.ToInt32(settings["COM_SPEED"]);
var tcpPort = Convert.ToInt32(settings["TCP_PORT"]);
serial = new SerialManager(port, speed);
Console.WriteLine("UART: " + port + " - " + speed);
server = new HardwareTcpServer(tcpPort);
server.OnServerState += server_OnServerState;
server.OnClientState += server_OnClientState;
server.OnData += server_OnData;
serial.OnReceive += serial_OnReceive;
serial.OnStateChange += serial_OnStateChange;
serial.Connect();
// bridge = new HttpToUartBridge(6200);
TcpListener listener = new TcpListener(IPAddress.Parse("188.127.233.35"), tcpPort);
listener.Start();
Console.WriteLine("TCP: " + tcpPort);
while (Thread.CurrentThread.ThreadState == ThreadState.Running)
{
Console.WriteLine("Listening " + tcpPort);
while (!listener.Pending())
{
Thread.Sleep(300);
}
server.AcceptTcpClient(listener.AcceptSocket());
}
Console.WriteLine("Stopped");
listener.Stop();
server.Close();
serial.Close();
}
public static void ProcessMessage(byte[] data, SerialManager manager)
{
MotorState obj = MotorState.Deserialize(data);
WriteLog(obj);
if (obj != null)
{
/*if (!initialized && LastState != null)
{
if (LastState.x != obj.x || LastState.y != obj.y || LastState.z != obj.z)
{
Uart.SendCommand(MotorCommand.Rebase(LastState.x, LastState.y, LastState.z));
}
}*/
if (OnMessage != null)
{
OnMessage(obj);
}
LastState = obj;
/*StreamWriter writer = new StreamWriter(cfgPath + "\\config.json", false, Encoding.UTF8);
writer.WriteLine(Uart.PortName);
writer.WriteLine(JsonConvert.SerializeObject(obj));
writer.Close();*/
initialized = true;
}
else
{
if (data.Length == 1 && (data[0] >= 50 || data[0] < 100))
{
if (LastState != null)
{
//SendCoordCommand(CoordMotorCommand.Rebase(LastState.x, LastState.y, LastState.z));
}
}
}
}
static void serial_OnReceive(byte[] data, SerialManager sm)
{
server.Send(data);
}
static void serial_OnStateChange(UART.EDeviceState state, SerialManager sm)
{
Console.WriteLine("UART -> " + state);
}
static void serial_OnStateChange(UART.EDeviceState state, SerialManager sm)
{
if (state == EDeviceState.Online || state == EDeviceState.PortOpen)
{
Info(sm.PortName + " -> " + state);
return;
}
if (state == EDeviceState.Offline)
{
Serials.Remove(sm.PortName);
Warn(sm.PortName + " -> " + state);
return;
}
if (state == EDeviceState.Error)
{
Error(sm.PortName + " -> " + state);
return;
}
Log(sm.PortName + " -> " + state);
}
static void serial_OnReceive(byte[] data, SerialManager sm)
{
var portName = "";
if (sm != null)
{
portName = sm.PortName;
}
if (data.Length > 40)
{
Log(portName + " >> " + data.Length);
}
else
{
var str = SerialPacket.SerializeData(data);
Log(portName + " >> " + str);
}
var segment = getMessage(portName, SerialDirection.FromUART, data);
if (socketServer != null && socketServer.State == SuperSocket.SocketBase.ServerState.Running)
{
var sessions = GetSessions(portName);
if (sessions != null)
{
foreach (var session in sessions)
{
session.Send(segment);
}
}
}
if (tcpService != null)
{
tcpService.Send(segment);
}
}
//--------------------------------------------------------------------------------------------------
static void sm_OnSend(byte[] data, SerialManager manager)
{
if (data.Length > 40)
{
Log(manager.PortName + " << " + data.Length);
}
else
{
var str = SerialPacket.SerializeData(data);
Log(manager.PortName + " << " + str);
}
var sessions = GetSessions(manager.PortName);
if (sessions == null) return;
var segment = getMessage(manager.PortName, SerialDirection.ToUART, data);
foreach (var session in sessions)
{
session.Send(segment);
}
if (tcpService != null)
{
tcpService.Send(segment);
}
}
public fmStats(SerialManager sm)
{
InitializeComponent();
manager = sm;
}
protected void OpenDevice(SerialConfig cfg)
{
if (cfg == null) return;
if (device != null)
{
device.Close();
}
try
{
switch (cfg.RxPacketType)
{
case PacketType.Raw:
device = new SerialManager(cfg);
break;
/*case PacketType.Simple:
case PacketType.SimpleCoded:
case PacketType.SimpleCRC:
case PacketType.Sized:
case PacketType.SizedOld:
case PacketType.SizedCRC:
case PacketType.SizedCRC_old:
case PacketType.PacketInvariant:
device = new SerialPacketManager(cfg);
break;*/
case PacketType.Addressed:
case PacketType.AddressedOld:
device = new SerialAddressedManager(cfg);
break;
case PacketType.XRouting:
device = new XRoutingManager(cfg);
break;
default:
device = new SerialPacketManager(cfg);
break;
}
if (device.Connect())
{
device.OnStateChange += SelectedPort_Disposed;
ShowMessage(cfg.PortName + " " + "\nConnected!");
ShowMessage(JsonConvert.SerializeObject(cfg));
EnableItems();
}
else
{
DisableItems();
device.Close();
device = null;
ShowError(cfg.PortName + "Connecting error: " + device.LastError);
}
}
catch (Exception err)
{
ShowError(cfg.PortName + "Connecting error: ", err);
}
}
protected static SerialConfig AddPort(SerialConfig cfgBase, bool autoConnect)
{
if (Serials.ContainsKey(cfgBase.PortName))
{
//Serials[cfg.PortName].SetParams((uint)cfg.Speed, cfg.DataBits, cfg.StopBits, cfg.Parity);
if (autoConnect && !Serials[cfgBase.PortName].IsOpened)
{
Serials[cfgBase.PortName].Connect();
}
return cfgBase;
}
var cfg = ComPortConfigs.FirstOrDefault(s => s.PortName == cfgBase.PortName);
SerialConfig cfgNew = null;
SerialManager sm;
switch (cfgBase.RxPacketType)
{
case PacketType.SimpleCoded:
case PacketType.SimpleCRC: throw new NotImplementedException("PacketType.SimpleCRC have no manager today!");
case PacketType.Sized:
sm = new SerialPacketManager(cfgBase);
break;
case PacketType.SizedOld:
sm = new SerialPacketManager(cfgBase);
break;
case PacketType.Addressed:
sm = new SerialAddressedManager(cfgBase);
(sm as SerialAddressedManager).DeviceAddr = 0xAA;
break;
case PacketType.AddressedOld:
sm = new SerialAddressedManager(cfgBase);
break;
case PacketType.XRouting:
/*if (cfg == null)
{
cfgNew = new XRSerialConfig(cfgBase);
sm = new XRoutingManager(cfgNew as XRSerialConfig);
}
else
{
sm = new XRoutingManager(cfg as XRSerialConfig);
} */
sm = new XRoutingManager(cfgBase);
(sm as XRoutingManager).DeviceAddr = 0xAB;
break;
default:
sm = new SerialManager(cfgBase);
break;
}
if (cfg == null)
{
if (cfgNew != null)
{
ComPortConfigs.Add(cfgNew);
cfg = cfgNew;
}
else
{
ComPortConfigs.Add(cfgBase);
cfg = cfgBase;
}
}
Log(cfg);
sm.OnReceive += serial_OnReceive;
sm.OnSend += sm_OnSend;
sm.OnError += serial_OnError;
sm.OnStateChange += serial_OnStateChange;
if (autoConnect)
{
if (sm.Connect())
{
Serials.Add(cfg.PortName, sm);
return cfg;
}
else
{
Warn("Can't connect " + cfg.PortName);
sm.OnReceive -= serial_OnReceive;
sm.OnSend -= sm_OnSend;
sm.OnError -= serial_OnError;
sm.OnStateChange -= serial_OnStateChange;
return null;
}
}
return cfg;
}
void SelectedPort_Disposed(EDeviceState state, SerialManager sm)
{
Invoke(DeviceStateChanged, state, sm);
}
void OnDeviceStatusChanged(EDeviceState state, SerialManager sm)
{
ShowMessage(device.PortName + " --> " + state);
if (state == EDeviceState.Offline)
{
DisableItems();
device = null;
}
}
protected void onReceiveByte(byte data, SerialManager sm)
{
if (State < EDeviceState.Online) State = EDeviceState.Online;
switch (packetState)
{
case PacketReadingState.free:
if (data == receiverStart || receiverStart == 0)
{
if (receiverCRCValue.HasValue)
{
crc = receiverCRCValue.Value;
}
readingIndex = 0;
if (data == PACKET_UNSIZED_START_BYTE)
{
packetState = PacketReadingState.dataReading;
receivingBuf = new byte[MAX_PACKET_DATA_SIZE];
return;
}
if (data == PACKET_SIZED_START_BYTE)
{
packetState = PacketReadingState.sizeWaiting;
return;
}
}
break;
case PacketReadingState.sizeWaiting:
if (data <= 0)
{
packetState = PacketReadingState.free;
}
else
{
receivingBuf = new byte[data];
if (data > 0){
packetState = PacketReadingState.dataReading;
}
else{
packetState = PacketReadingState.finishCheck;
}
}
break;
case PacketReadingState.dataReading:
if ((receiverStart == PACKET_UNSIZED_START_BYTE) && data == PACKET_END_TEXT){
var buf = new byte[readingIndex + 1];
Array.Copy(receivingBuf, 0, buf, 0, buf.Length);
receivingBuf = buf;
packetState = receiverCRCValue.HasValue ? PacketReadingState.crcCheck : PacketReadingState.finishCheck;
return;
}
receivingBuf[readingIndex] = data;
crc ^= data;
readingIndex++;
if (readingIndex >= receivingBuf.Length)
{
packetState = receiverCRCValue.HasValue ? PacketReadingState.crcCheck : PacketReadingState.finishCheck;
}
break;
case PacketReadingState.crcCheck:
if (data == crc)
{
packetState = PacketReadingState.finishCheck;
}
else
{
callError(new Exception("Wrong CRC sum!"));
}
break;
case PacketReadingState.finishCheck:
packetState = PacketReadingState.free;
if ((receiverEnd > 0 && data == receiverEnd) || (receiverEnd == 0 && (data == PACKET_END_TRANSMIT || data == PACKET_END_TEXT))){
callReceive(receivingBuf);
}
else
{
callError(new Exception("Incorrect finishing byte!"));
}
break;
}
}
public fmUART()
{
InitializeComponent();
manager = new SerialManager();
}
static void serial_OnError(Exception e, SerialManager sm)
{
var portName = "";
if (sm != null)
{
portName = sm.PortName;
}
var segment = getMessage(portName, SerialDirection.Error, e.Message);
if (socketServer != null && socketServer.State == SuperSocket.SocketBase.ServerState.Running)
{
Error(portName + " ERROR: " + e.Message);
var sessions = socketServer.GetAllSessions();
foreach (var session in sessions)
{
session.Send(segment);
}
}
if (tcpService != null)
{
tcpService.Send(segment);
}
}
public fmUART(SerialManager device)
{
InitializeComponent();
manager = device;
}
void UART_Server_OnStateChange(EDeviceState state, SerialManager sm)
{
try
{
Invoke(new Action<EDeviceState>(ChangeState), state);
}
catch(Exception e)
{
}
}
