public void functionControlButton_Click(object sender, EventArgs e)
{
Button btn = sender as Button;
string send = "$s";
switch (btn.Name)
{
case "registerFunctionButton":
break;
case "displaySteerButton":
send += "@#";
BTserialPort.Write(send);
break;
case "clearFunctionButton":
send += "i#";
BTserialPort.Write(send);
break;
case "testFunctionButton":
send += "t#";
BTserialPort.Write(send);
break;
case "saveFunctionButton":
break;
case "openFunctionButton":
break;
default: break;
}
}
private void openPortButton_Click(object sender, EventArgs e)
{
try
{
if (portComboBox.SelectedItem == null)
{
MessageBox.Show("无串口！.");
}
else
{
if (BTserialPort.IsOpen == true)
{
portInfo.Closing = true;
while (portInfo.Listening)
{
Application.DoEvents();
}
BTserialPort.DataReceived -= BTserialPort_DataReceived;
BTserialPort.Close();
openPortButton.Text = "打开串口";
portComboBox.Enabled = true;
portInfo.Closing = false;
}
else
{
//初始化SerialPort对象
BTserialPort.NewLine = "\r\n";
BTserialPort.RtsEnable = true;//根据实际情况吧。
//实例化委托对象
BTserialPort.DataReceived += new SerialDataReceivedEventHandler(BTserialPort_DataReceived);
BTserialPort.PortName = portComboBox.SelectedItem.ToString();
BTserialPort.BaudRate = portInfo.Baudrate;
BTserialPort.DataBits = portInfo.DataBits;
BTserialPort.Parity = portInfo.PARITY;
BTserialPort.StopBits = portInfo.STOPBITS;
BTserialPort.Open();
openPortButton.Text = "关闭串口";
portComboBox.Enabled = false;
}
}
}
catch
{
MessageBox.Show("Serial port not available or in use now. Please try another port.");
}
}
private void sendButton_Click(object sender, EventArgs e)
{
//定义一个变量，记录发送了几个字节
if (BTserialPort.IsOpen)
{
int n = 0;
//16进制发送
if (sendForm == 0)
{
//我们不管规则了。如果写错了一些，我们允许的，只用正则得到有效的十六进制数
MatchCollection mc = Regex.Matches(dataSendTextBox.Text, @"(?i)[\da-f]{2}");
List <byte> buf = new List <byte>();//填充到这个临时列表中
//依次添加到列表中
foreach (Match m in mc)
{
buf.Add(byte.Parse(m.Value, System.Globalization.NumberStyles.HexNumber));
}
//转换列表为数组后发送
BTserialPort.Write(buf.ToArray(), 0, buf.Count);
//记录发送的字节数
n = buf.Count;
}
else//ascii编码直接发送
{
//包含换行符
//if (checkBoxNewlineSend.Checked)
//{
// serialPort1.WriteLine(dataSendTextBox.Text);
// n = dataSendTextBox.Text.Length + 2;
//}
//else//不包含换行符
//{
BTserialPort.Write(dataSendTextBox.Text);
n = dataSendTextBox.Text.Length;
//}
}
//labelSendCount.Text = "Send:" + send_count.ToString();//更新界面
}
else
{
MessageBox.Show("串口未打开，请打开串口!");
}
}
/* private void textBox1_KeyDown(object sender, KeyEventArgs e)
* {
* if (e.KeyData == Keys.A)
* {
* dataReceiveTextBox.AppendText("a\n");
* }
* }*/
private void BTserialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (portInfo.Closing)
{
return; //如果正在关闭，忽略操作，直接返回，尽快的完成串口监听线程的一次循环
}
try
{
portInfo.Listening = true; //设置标记，说明我已经开始处理数据，一会儿要使用系统UI的。
int n = BTserialPort.BytesToRead; //先记录下来，避免某种原因，人为的原因，操作几次之间时间长，缓存不一致
byte[] buf = new byte[n]; //声明一个临时数组存储当前来的串口数据
received_count += n; //增加接收计数
BTserialPort.Read(buf, 0, n); //读取缓冲数据
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//<协议解析>
bool data_1_catched = false;//缓存记录数据是否捕获到
//1.缓存数据
buffer.AddRange(buf);
//2.完整性判断
while (buffer.Count >= 2)//至少要包含头（2字节）+长度（1字节）+校验（1字节）
{
//请不要担心使用>=，因为>=已经和>,<,=一样，是独立操作符，并不是解析成>和=2个符号
//2.1 查找数据头
if (buffer[0] == 0xAA)
{
//if (buffer.Count < 10)
//break;
if (buffer.Count < 10)
{
break;
}
byte checksum = 0;
for (int i = 0; i < 9; i++)//len+3表示校验之前的位置
{
checksum ^= buffer[i];
}
if (checksum != buffer[9]) //如果数据校验失败，丢弃这一包数据
{
buffer.RemoveRange(0, 10); //从缓存中删除错误数据
continue; //继续下一次循环
}
//至此，已经被找到了一条完整数据。我们将数据直接分析，或是缓存起来一起分析
//我们这里采用的办法是缓存一次，好处就是如果你某种原因，数据堆积在缓存buffer中
//已经很多了，那你需要循环的找到最后一组，只分析最新数据，过往数据你已经处理不及时
//了，就不要浪费更多时间了，这也是考虑到系统负载能够降低。
buffer.CopyTo(0, binary_data_1, 0, 10); //复制一条完整数据到具体的数据缓存
data_1_catched = true;
buffer.RemoveRange(0, 10); //正确分析一条数据，从缓存中移除数据。
}
else
{
//这里是很重要的，如果数据开始不是头，则删除数据
//buffer.RemoveAt(0);
buffer.RemoveRange(0, 1);
}
if (buffer[0] == '#')
{
displayNum = 1;
}
else
{
displayNum = 0;
}
}
//分析数据
if (data_1_catched)
{
}
//如果需要别的协议，只要扩展这个data_n_catched就可以了。往往我们协议多的情况下，还会包含数据编号，给来的数据进行
//编号，协议优化后就是： 头+编号+长度+数据+校验
//</协议解析>
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
builder.Clear();//清除字符串构造器的内容
//因为要访问ui资源，所以需要使用invoke方式同步ui。
this.Invoke((EventHandler)(delegate
{
//判断是否是显示为16进制
if (receiveForm == 0)
{
//依次的拼接出16进制字符串
foreach (byte b in buf)
{
builder.Append(b.ToString("X2") + " ");
}
}
else
{
//直接按ASCII规则转换成字符串
builder.Append(Encoding.ASCII.GetString(buf));
}
if (displayNum == 0)
{
//追加的形式添加到文本框末端，并滚动到最后。
this.dataReceiveTextBox.AppendText(builder.ToString());
}
else if (displayNum == 1)
{
this.functionTextBox.AppendText(builder.ToString());
}
}));
}
finally
{
portInfo.Listening = false;//我用完了，ui可以关闭串口了。
}
}
public void steerControlButton_Click(object sender, EventArgs e)
{
Button btn = sender as Button;
string send = "$c";
string[] steerPWM = new string[12];
switch (btn.Name)
{
case "steerOpenButton":
break;
case "steerSaveButton":
break;
case "steerInitButton":
if (BTserialPort.IsOpen)
{
steerTextBox0.Text = "75";
steerTextBox1.Text = "75";
steerTextBox2.Text = "75";
steerTextBox3.Text = "75";
steerTextBox4.Text = "75";
steerTextBox5.Text = "75";
steerTextBox6.Text = "75";
steerTextBox7.Text = "75";
steerTextBox8.Text = "75";
steerTextBox9.Text = "75";
steerTextBox10.Text = "75";
steerTextBox11.Text = "75";
send += "75,75,75,75,75,75,75,75,75,75,75,75#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("串口未打开，请打开串口!");
}
break;
case "steerSendDataButton":
if (BTserialPort.IsOpen)
{
steerPWM[0] = steerTextBox0.Text;
steerPWM[1] = steerTextBox1.Text;
steerPWM[2] = steerTextBox2.Text;
steerPWM[3] = steerTextBox3.Text;
steerPWM[4] = steerTextBox4.Text;
steerPWM[5] = steerTextBox5.Text;
steerPWM[6] = steerTextBox6.Text;
steerPWM[7] = steerTextBox7.Text;
steerPWM[8] = steerTextBox8.Text;
steerPWM[9] = steerTextBox9.Text;
steerPWM[10] = steerTextBox10.Text;
steerPWM[11] = steerTextBox11.Text;
send = send + steerPWM[0] + "," + steerPWM[1] + "," + steerPWM[2] + "," + steerPWM[3] + "," + steerPWM[4]
+ "," + steerPWM[5] + "," + steerPWM[6] + "," + steerPWM[7] + "," + steerPWM[8] + "," + steerPWM[9]
+ "," + steerPWM[10] + "," + steerPWM[11] + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("串口未打开，请打开串口!");
}
break;
default: break;
}
}
public void CarControlButton_Click(object sender, EventArgs e)
{
Button btn = sender as Button;
string send;
string speed;
string angle;
if (BTserialPort.IsOpen)
{
switch (btn.Name)
{
case "stopRobotButton":
send = "$zs#";
BTserialPort.Write(send);
break;
case "autoRobotButton":
send = "$zx$";
BTserialPort.Write(send);
break;
case "frontButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zq" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "backButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zw" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "leftButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$ze" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "rightButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zr" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "leftStraightButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zy" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "rightStraightButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zt" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "rightBackButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zu" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "leftBackButton":
if (int.Parse(speedTextBox.Text) <= 999 && int.Parse(speedTextBox.Text) >= 0)
{
speed = speedTextBox.Text;
send = "$zi" + speed + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("速度没设置好！");
}
break;
case "rightRoateButton":
if (int.Parse(rightRoateTextBox.Text) <= 360 && int.Parse(rightRoateTextBox.Text) >= 0)
{
angle = rightRoateTextBox.Text;
send = "$zo" + angle + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("角度没设置好！");
}
break;
case "leftRoateButton":
if (int.Parse(leftRoateTextBox.Text) <= 360 && int.Parse(leftRoateTextBox.Text) >= 0)
{
angle = leftRoateTextBox.Text;
send = "$zp" + angle + "#";
BTserialPort.Write(send);
}
else
{
MessageBox.Show("角度没设置好！");
}
break;
default:
break;
}
}
else
{
MessageBox.Show("串口未打开，请打开串口!");
}
}
