static public void Scan(bool connect = false)
{
foundport = false;
portinterface = null;
lock (runlock)
{
run = 0;
running = 0;
}
CommsSerialScan.connect = connect;
List<MAVLinkInterface> scanports = new List<MAVLinkInterface>();
string[] portlist = SerialPort.GetPortNames();
foreach (string port in portlist)
{
scanports.Add(new MAVLinkInterface() { BaseStream = new SerialPort() { PortName = port, BaudRate = bauds[0] } });
}
foreach (MAVLinkInterface inter in scanports)
{
System.Threading.ThreadPool.QueueUserWorkItem(doread, inter);
}
}
public string doCommand(ICommsSerial comPort, string cmd, bool multiLineResponce = false, int level = 0)
{
if (!comPort.IsOpen)
{
return("");
}
comPort.DiscardInBuffer();
comLog("Doing Command " + cmd, 1);
comPort.Write(cmd + "\r\n");
comPort.ReadTimeout = 1000;
// command echo
var cmdecho = Serial_ReadLine(comPort);
if (cmdecho.Contains(cmd))
{
var value = "";
if (multiLineResponce)
{
DateTime deadline = DateTime.Now.AddMilliseconds(1000);
while (comPort.BytesToRead > 0 || DateTime.Now < deadline)
{
try
{
value = value + trimResponse(Serial_ReadLine(comPort));
}
catch { value = value + trimResponse(comPort.ReadExisting()); }
}
}
else
{
value = trimResponse(Serial_ReadLine(comPort));
if (value == "" && level == 0)
{
return(trimResponse(doCommand(comPort, cmd, multiLineResponce, 1)));
}
}
char[] ends = { '\r', '\n' };
comLog(value.TrimEnd(ends), 1);
History.AppendText(cmd.Trim() + " " + value.TrimEnd(ends) + Environment.NewLine);
return(value);
}
comPort.DiscardInBuffer();
// try again
if (level == 0)
{
return(trimResponse(doCommand(comPort, cmd, multiLineResponce, 1)));
}
return("");
}
static public void Scan(bool connect = false)
{
foundport = false;
portinterface = null;
lock (runlock)
{
run = 0;
running = 0;
}
CommsSerialScan.connect = connect;
List <MAVLinkInterface> scanports = new List <MAVLinkInterface>();
string[] portlist = SerialPort.GetPortNames();
foreach (string port in portlist)
{
scanports.Add(new MAVLinkInterface()
{
BaseStream = new SerialPort()
{
PortName = port, BaudRate = bauds[0]
}
});
}
foreach (MAVLinkInterface inter in scanports)
{
System.Threading.ThreadPool.QueueUserWorkItem(doread, inter);
}
}
public string doCommand(ICommsSerial comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
// setup to known state
comPort.Write("\r\n");
// alow some time to gather thoughts
Sleep(100);
// ignore all existing data
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
log.Info("Doing Command " + cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
log.Info("cmd " + cmd + " echo " + temp);
// delay for command
Sleep(500);
// get responce
string ans = "";
while (comPort.BytesToRead > 0)
{
try
{
ans = ans + Serial_ReadLine(comPort) + "\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 500)
{
break;
}
}
log.Info("responce " + level + " " + ans.Replace('\0', ' '));
Regex pattern = new Regex(@"^\[([0-9+])\]\s+",RegexOptions.Multiline);
if (pattern.IsMatch(ans))
{
Match mat = pattern.Match(ans);
ans = pattern.Replace(ans,"");
}
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
public Uploader(ICommsSerial port)
{
self = this;
this.port = port;
this.port.ReadTimeout = 50;
this.port.WriteTimeout = 50;
try
{
this.port.Open();
}
catch (Exception ex)
{
try
{
this.port.Close();
}
catch { }
try
{
this.Dispose();
GC.Collect();
}
catch { }
throw ex;
}
}
public string doCommand(ICommsSerial comPort, string cmd, bool multiLineResponce = false, int level = 0)
{
if (!comPort.IsOpen)
{
return("");
}
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
log.Info("Doing Command " + cmd);
comPort.Write(cmd + "\r\n");
comPort.ReadTimeout = 1000;
// command echo
var cmdecho = Serial_ReadLine(comPort);
if (cmdecho.Contains(cmd))
{
var value = "";
if (multiLineResponce)
{
DateTime deadline = DateTime.Now.AddMilliseconds(1000);
while (comPort.BytesToRead > 0 || DateTime.Now < deadline)
{
try
{
value = value + Serial_ReadLine(comPort);
}
catch { value = value + comPort.ReadExisting(); }
}
}
else
{
value = Serial_ReadLine(comPort);
if (value == "" && level == 0)
{
return(doCommand(comPort, cmd, multiLineResponce, 1));
}
}
log.Info(value.Replace('\0', ' '));
return(value);
}
comPort.DiscardInBuffer();
// try again
if (level == 0)
{
return(doCommand(comPort, cmd, multiLineResponce, 1));
}
return("");
}
public Uploader(ICommsSerial port)
{
self = this;
this.port = port;
this.port.ReadTimeout = 50;
this.port.WriteTimeout = 50;
try
{
Console.Write("open");
this.port.Open();
this.port.Write("reboot -b\r");
Console.WriteLine("..done");
}
catch (Exception ex)
{
try
{
this.port.Close();
}
catch { }
try
{
this.Dispose();
GC.Collect();
}
catch { }
throw ex;
}
}
void getTelemPortWithRadio(ref ICommsSerial comPort)
{
// try telem1
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM1);
comPort.ReadTimeout = 4000;
comPort.Open();
if (doConnect(comPort))
{
return;
}
comPort.Close();
// try telem2
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM2);
comPort.ReadTimeout = 4000;
comPort.Open();
if (doConnect(comPort))
{
return;
}
comPort.Close();
}
public string doCommand(ICommsSerial comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
// setup to known state
comPort.Write("\r\n");
// alow some time to gather thoughts
Sleep(100);
// ignore all existing data
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
log.Info("Doing Command " + cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
log.Info("cmd " + cmd + " echo " + temp);
// delay for command
Sleep(500);
// get responce
string ans = "";
while (comPort.BytesToRead > 0)
{
try
{
ans = ans + Serial_ReadLine(comPort) + "\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 500)
{
break;
}
}
log.Info("responce " + level + " " + ans.Replace('\0', ' '));
Regex pattern = new Regex(@"^\[([0-9+])\]\s+",RegexOptions.Multiline);
if (pattern.IsMatch(ans))
{
Match mat = pattern.Match(ans);
ans = pattern.Replace(ans,"");
}
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
public void SetupBasePos(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0, bool disable = false)
{
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (surveyindur == 0)
{
surveyindur = 60;
}
if (surveyinacc == 0)
{
surveyinacc = 2;
}
if (disable)
{
var packet = generate(0x6, 0x71, ubx_cfg_tmode3.Disable);
port.Write(packet, 0, packet.Length);
return;
}
if (basepos == PointLatLngAlt.Zero)
{
// survey in config
var packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
var packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = MainV2.comPort.BaseStream;
//comPort.ReceivedBytesThreshold = 50;
//comPort.ReadBufferSize = 1024 * 1024;
try
{
comPort.toggleDTR();
//comPort.Open();
}
catch (Exception)
{
MessageBox.Show("Error opening comport");
}
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
DateTime start = DateTime.Now;
threadrun = true;
System.Threading.Thread.Sleep(2000);
try
{
comPort.Write("\n\n\n\n");
}
catch { }
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(10);
if (!comPort.IsOpen)
{
break;
}
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("crash in comport reader " + ex.ToString()); } // cant exit unless told to
}
Console.WriteLine("Comport thread close");
});
t11.Name = "comport reader";
t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
bool upload_xmodem(ICommsSerial comPort)
{
// try xmodem mode
// xmodem - short cts to ground
try
{
uploader_LogEvent("Trying XModem Mode");
//comPort.BaudRate = 57600;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 1000;
Thread.Sleep(2000);
var tempd = comPort.ReadExisting();
Console.WriteLine(tempd);
comPort.Write("U");
Thread.Sleep(1000);
var resp1 = Serial_ReadLine(comPort); // echo
var resp2 = Serial_ReadLine(comPort); // echo 2
var tempd2 = comPort.ReadExisting(); // posibly bootloader info / use to sync
// identify
comPort.Write("i");
// responce is rfd900....
var resp3 = Serial_ReadLine(comPort); //echo
var resp4 = Serial_ReadLine(comPort); // newline
var resp5 = Serial_ReadLine(comPort); // bootloader info
uploader_LogEvent(resp5);
if (resp5.Contains("RFD900"))
{
// start upload
comPort.Write("u");
var resp6 = Serial_ReadLine(comPort); // echo
var resp7 = Serial_ReadLine(comPort); // Ready
if (resp7.Contains("Ready"))
{
comPort.ReadTimeout = 3500;
// responce is C
var isC = comPort.ReadByte();
var temp = comPort.ReadExisting();
if (isC == 'C')
{
XModem.LogEvent += uploader_LogEvent;
XModem.ProgressEvent += uploader_ProgressEvent;
// start file send
XModem.Upload(@"SiK900x.bin",
comPort);
XModem.LogEvent -= uploader_LogEvent;
XModem.ProgressEvent -= uploader_ProgressEvent;
return(true);
}
}
}
}
catch (Exception ex2)
{
log.Error(ex2);
}
return(false);
}
public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples)
{
byte[] datastruct1 = { clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0 };
var packet = generate(0x6, 0x1, datastruct1);
port.Write(packet, 0, packet.Length);
}
public static (string status, string reply, TimeSpan elapsed) AT(ICommsSerial port, string cmd = "AT",
double timeout = 10, string success = "OK", string failure = "+CME ERROR")
{
// clear the buffer
Console.WriteLine("Existing: " + port.ReadExisting());
port.Write(cmd + "\r\n");
Console.WriteLine("TX: " + cmd);
DateTime start = DateTime.Now;
var reply = "";
var echo = false;
while (true)
{
if (port.BytesToRead > 0)
{
var line = "";
try
{
line = port.ReadLine();
}
catch
{
line = port.ReadExisting();
}
Console.WriteLine(line);
if (!echo)
{
echo = line.EndsWith(cmd);
}
if (line != "\r\n" && !echo) // blank line or echo'd command
{
reply += "\t" + line.TrimEnd();
if (line.StartsWith(success))
{
Console.WriteLine("RX: Success");
Thread.Sleep(50);
return("Success", reply, DateTime.Now - start);
}
if (line.StartsWith(failure))
{
Console.WriteLine("RX: Error");
Thread.Sleep(50);
return("Error", reply, DateTime.Now - start);
}
}
}
if ((DateTime.Now - start).TotalSeconds > timeout)
{
Console.WriteLine("RX: Timeout");
return("Timeout", reply, DateTime.Now - start);
}
Thread.Sleep(20);
}
}
void getTelemPortWithRadio(ref ICommsSerial comPort)
{
// try telem1
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM1);
comPort.ReadTimeout = 4000;
comPort.Open();
}
public void poll_msg(ICommsSerial port, byte clas, byte subclass)
{
byte[] datastruct1 = { };
var packet = generate(clas, subclass, datastruct1);
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(10);
}
void setcomport()
{
if (comPort == null)
{
comPort = new MissionPlanner.Comms.SerialPort();
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.ReadBufferSize = 1024 * 1024 * 4;
}
}
void setcomport()
{
if (comPort == null)
{
comPort = new MissionPlanner.Comms.SerialPort();
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.PortName = MainV2.comPortName;
comPort.ReadBufferSize = 1024 * 1024 * 4;
}
}
public static void Upload(string firmwarebin, ICommsSerial comPort)
{
comPort.ReadTimeout = 2000;
using (var fs = new FileStream(firmwarebin, FileMode.Open))
{
var len = (int)fs.Length;
len = (len % 128) == 0 ? len / 128 : (len / 128) + 1;
var startlen = len;
int a = 1;
int NoAckCount = 0;
while (len > 0)
{
LogEvent?.Invoke("Uploading block " + a + "/" + startlen);
SendBlock(fs, comPort, a);
// responce ACK
var ack = comPort.ReadByte();
while (ack == 'C')
{
ack = comPort.ReadByte();
}
if (ack == ACK)
{
NoAckCount = 0;
len--;
a++;
ProgressEvent?.Invoke(1 - ((double)len / (double)startlen));
}
else if (ack == NAK)
{
MsgBox.CustomMessageBox.Show("Corrupted packet. Please power cycle and try again.\r\n", "Warning",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
len = 0;
}
else
{
NoAckCount++;
if (NoAckCount >= 10)
{
}
}
}
}
// boot
Thread.Sleep(100);
comPort.Write("\r\n");
Thread.Sleep(100);
comPort.Write("BOOTNEW\r\n");
Thread.Sleep(100);
}
static public void Scan(bool connect = false, bool scan_wifi = false)
{
foundport = false;
portinterface = null;
lock (runlock)
{
run = 0;
running = 0;
}
CommsSerialScan.connect = connect;
List <MAVLinkInterface> scanports = new List <MAVLinkInterface>();
string[] portlist = SerialPort.GetPortNames();
foreach (string port in portlist)
{
scanports.Add(new MAVLinkInterface()
{
BaseStream = new SerialPort()
{
PortName = port, BaudRate = bauds[0]
}
});
}
// AB ZhaoYJ@2017-02-23 for auto-conn FC
// add UDP to autoscan list
// AB ZhaoYJ@2017-04-18 for auto-conn FC
// add TCP to autoscan list
// ========= start =========
if (scan_wifi)
{
scanports.Add(new MAVLinkInterface()
{
BaseStream = new TcpSerial()
});
}
// string pname = scanports[2].BaseStream.PortName;
// ========= end =========
foreach (MAVLinkInterface inter in scanports)
{
if (!foundport)
{
System.Threading.ThreadPool.QueueUserWorkItem(doread, inter);
}
else
{
break;
}
}
}
static ConfigSerialInjectGPS()
{
try
{
comPort = new SerialPort();
}
catch
{
comPort = new TcpSerial();
}
}
void background_DoOpen(object state)
{
if (CoTStream == null)
{
return;
}
try
{
CoTStream.Open();
}
catch { CoTStream = null; } // don't care if we crash
}
public void SetupBasePos(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0,
bool disable = false, bool movingbase = false)
{
if (movingbase)
{
disable = true;
}
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (surveyindur == 0)
{
surveyindur = 60;
}
if (surveyinacc == 0)
{
surveyinacc = 2;
}
if (disable)
{
// disable
var packet = generate(0x6, 0x71, ubx_cfg_tmode3.Disable);
port.Write(packet, 0, packet.Length);
// save - bbr
packet = generate(0x06, 0x09, new uint8_t[] { 0, 0, 0, 0, 0xff, 0xff, 0, 0, 0, 0, 0, 0, 0x01 });
port.Write(packet, 0, packet.Length);
Thread.Sleep(1000);
//reboot
packet = generate(0x06, 0x04, new uint8_t[] { 0x14, 0xff, 0, 0 });
port.Write(packet, 0, packet.Length);
Thread.Sleep(3000);
return;
}
if (basepos == PointLatLngAlt.Zero)
{
// survey in config
var packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
var packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
}
public bool doConnect(ICommsSerial comPort)
{
try
{
Console.WriteLine("doConnect");
// setup a known enviroment
comPort.Write("ATO\r\n");
// wait
Sleep(1100, comPort);
comPort.DiscardInBuffer();
// send config string
comPort.Write("+++");
Sleep(1100, comPort);
// check for config response "OK"
log.Info("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
// allow time for data/response
byte[] buffer = new byte[20];
int len = comPort.Read(buffer, 0, buffer.Length);
string conn = ASCIIEncoding.ASCII.GetString(buffer, 0, len);
log.Info("Connect first response " + conn.Replace('\0', ' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
doCommand(comPort, "AT&T");
string version = doCommand(comPort, "ATI");
log.Info("Connect Version: " + version.Trim() + "\n");
Regex regex = new Regex(@"SiK\s+(.*)\s+on\s+(.*)");
if (regex.IsMatch(version))
{
return(true);
}
return(false);
}
catch { return(false); }
}
public void Dispose()
{
try
{
this.port.Close();
}
catch { }
try
{
this.port.Dispose();
}
catch { }
this.port = null;
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload (ICommsSerial on_port, IHex image_data, bool use_mavlink = false)
{
progress (0);
port = on_port;
try {
connect_and_sync();
upload_and_verify (image_data);
cmdReboot ();
} catch {
if (port.IsOpen)
port.Close ();
throw;
}
}
public static void Upload(string firmwarebin, ICommsSerial comPort)
{
var fs = new FileStream(firmwarebin, FileMode.Open);
var len = (int)fs.Length;
len = (len % 128) == 0 ? len / 128 : (len / 128) + 1;
var startlen = len;
int a = 1;
while (len > 0)
{
if (LogEvent != null)
{
LogEvent("Uploading block " + a + "/" + startlen);
}
XModem.SendBlock(fs, comPort, a);
// responce ACK
var ack = comPort.ReadByte();
while (ack == 'C')
{
ack = comPort.ReadByte();
}
if (ack == ACK)
{
len--;
a++;
if (ProgressEvent != null)
{
ProgressEvent(len / startlen);
}
}
else if (ack == NAK)
{
CustomMessageBox.Show("Corrupted packet. Please power cycle and try again.\r\n", "Warning",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
len = 0;
}
}
// boot
comPort.Write("b");
}
private void Sleep(int mstimeout, ICommsSerial comPort = null)
{
var endtime = DateTime.Now.AddMilliseconds(mstimeout);
while (DateTime.Now < endtime)
{
Thread.Sleep(1);
Application.DoEvents();
// prime the mavlinkserial loop with data.
if (comPort != null)
{
var test = comPort.BytesToRead;
test++;
}
}
}
private void setcomport()
{
if (comPort == null)
{
try
{
comPort = new SerialPort();
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.ReadBufferSize = 1024 * 1024 * 4;
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate, Strings.ERROR);
}
}
}
public bool doConnect(ICommsSerial comPort)
{
try
{
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
log.Info("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
string conn = comPort.ReadExisting();
log.Info("Connect first responce " + conn.Replace('\0', ' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
doCommand(comPort, "AT&T");
string version = doCommand(comPort, "ATI");
log.Info("Connect Version: " + version.Trim() + "\n");
Regex regex = new Regex(@"SiK\s+(.*)\s+on\s+(.*)");
if (regex.IsMatch(version))
{
return(true);
}
return(false);
}
catch { return(false); }
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload(ICommsSerial on_port, IHex image_data, bool use_mavlink = false)
{
progress(0);
port = on_port;
try {
connect_and_sync();
upload_and_verify(image_data);
cmdReboot();
} catch {
if (port.IsOpen)
{
port.Close();
}
throw;
}
}
static public void Scan(bool connect = false)
{
foundport = false;
portinterface = null;
lock (runlock)
{
run = 1;
running = 0;
}
CommsSerialScan.connect = connect;
string[] portlist = SerialPort.GetPortNames();
foreach (var portname in portlist)
{
new Thread(o => { doread(portname.Clone()); }).Start();
}
}
string Serial_ReadLine(ICommsSerial comPort)
{
StringBuilder sb = new StringBuilder();
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
while (DateTime.Now < Deadline)
{
if (comPort.BytesToRead > 0)
{
byte data = (byte)comPort.ReadByte();
sb.Append((char)data);
if (data == '\n')
break;
}
}
return sb.ToString();
}
public static void Upload(string firmwarebin, ICommsSerial comPort)
{
using (var fs = new FileStream(firmwarebin, FileMode.Open))
{
var len = (int)fs.Length;
len = (len % 128) == 0 ? len / 128 : (len / 128) + 1;
var startlen = len;
int a = 1;
while (len > 0)
{
if (LogEvent != null)
LogEvent("Uploading block " + a + "/" + startlen);
SendBlock(fs, comPort, a);
// responce ACK
var ack = comPort.ReadByte();
while (ack == 'C')
ack = comPort.ReadByte();
if (ack == ACK)
{
len--;
a++;
if (ProgressEvent != null)
ProgressEvent(len / startlen);
}
else if (ack == NAK)
{
CustomMessageBox.Show("Corrupted packet. Please power cycle and try again.\r\n", "Warning",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
len = 0;
}
}
}
// boot
comPort.Write("b");
}
public static void SendBlock(FileStream fs, ICommsSerial Serial, int bNumber)
{
byte[] packet = new byte[133];
byte[] bits = new byte[128];
UInt16 CRC = 0;
for (int i = 0; i < bits.Length; i++) { bits[i] = 0x26; }
packet[0] = SOH;
packet[1] = (byte)(bNumber % 256);
packet[2] = (byte)(255 - (bNumber % 256));
var bytesRead = fs.Read(bits, 0, bits.Length);
if (bytesRead == bits.Length)
{
CRC = CRC_calc(bits, 128);
System.Buffer.BlockCopy(bits, 0, packet, 3, 128);
packet[131] = (byte)(CRC >> 8);
packet[132] = (byte)(CRC);
Serial.Write(packet, 0, packet.Length);
}
else if (bytesRead > 0)
{
CRC = CRC_calc(bits, 128);
System.Buffer.BlockCopy(bits, 0, packet, 3, 128);
packet[131] = (byte)(CRC >> 8);
packet[132] = (byte)(CRC);
Serial.Write(packet, 0, packet.Length);
Serial.Write("" + EOT);
CustomMessageBox.Show("Firmware upgraded successfully.", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else if (bytesRead == 0)
{
Serial.Write("" + EOT);
CustomMessageBox.Show("Firmware upgraded successfully.", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
public void poll_msg(ICommsSerial port, byte clas, byte subclass)
{
byte[] datastruct1 = { };
var packet = generate(clas, subclass, datastruct1);
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(10);
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = GCSViews.Terminal.comPort;
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
if (!comPort.IsOpen)
comPort.Open();
//Console.WriteLine("Log dtr");
//comPort.toggleDTR();
Console.WriteLine("Log discard");
comPort.DiscardInBuffer();
Console.WriteLine("Log w&sleep");
try
{
// try provoke a response
comPort.Write("\n\n?\r\n\n");
}
catch
{
}
// 10 sec
waitandsleep(10000);
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
return;
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
if (comPort.IsOpen)
readandsleep(100);
try
{
if (comPort.IsOpen)
comPort.Write("\n\n\n\nexit\r\nlogs\r\n"); // more in "connecting"
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(1);
if (!comPort.IsOpen)
break;
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object) null, (SerialDataReceivedEventArgs) null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
}) {Name = "comport reader", IsBackground = true};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
public void SetupM8P(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0)
{
port.BaseStream.Flush();
// port config - 115200 - uart1
var packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// port config - usb
packet = generate(0x6, 0x00, new byte[] { 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// set rate to 1hz
packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// set navmode to stationary
packet = generate(0x6, 0x24, new byte[] { 0xFF ,0xFF ,0x02 ,0x03 ,0x00 ,0x00 ,0x00 ,0x00 ,0x10 ,0x27 ,0x00 ,0x00 ,0x05 ,0x00
,0xFA ,0x00 ,0xFA ,0x00 ,0x64 ,0x00 ,0x2C ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x10 ,0x27 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// turn off all nmea
for (int a = 0; a <= 0xf; a++)
{
if (a == 0xb || a == 0xc || a == 0xe)
continue;
turnon_off(port, 0xf0, (byte)a, 0);
}
// mon-ver
poll_msg(port, 0xa, 0x4);
// surveyin msg - for feedback
turnon_off(port, 0x01, 0x3b, 1);
// pvt msg - for feedback
turnon_off(port, 0x01, 0x07, 1);
// 1005 - 5s
turnon_off(port, 0xf5, 0x05, 5);
// 1077 - 1s
turnon_off(port, 0xf5, 0x4d, 1);
// 1087 - 1s
turnon_off(port, 0xf5, 0x57, 1);
// rxm-raw/rawx - 1s
turnon_off(port, 0x02, 0x15, 1);
turnon_off(port, 0x02, 0x10, 1);
// rxm-sfrb/sfrb - 5s
turnon_off(port, 0x02, 0x13, 5);
turnon_off(port, 0x02, 0x11, 5);
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (basepos == PointLatLngAlt.Zero)
{
// survey in config - 60s and < 2m
packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
System.Threading.Thread.Sleep(100);
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = MainV2.comPort.BaseStream;
//comPort.ReceivedBytesThreshold = 50;
//comPort.ReadBufferSize = 1024 * 1024;
try
{
comPort.DtrEnable = false;
System.Threading.Thread.Sleep(100);
comPort.DtrEnable = true;
//comPort.Open();
}
catch (Exception)
{
MessageBox.Show("Error opening comport");
}
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
DateTime start = DateTime.Now;
threadrun = true;
System.Threading.Thread.Sleep(2000);
try
{
comPort.Write("\n\n\n\n");
}
catch { }
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(10);
if (!comPort.IsOpen)
break;
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("crash in comport reader " + ex.ToString()); } // cant exit unless told to
}
Console.WriteLine("Comport thread close");
});
t11.Name = "comport reader";
t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
private void start_NSHTerminal()
{
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
comPort = new MAVLinkSerialPort(MainV2.comPort, MAVLink.SERIAL_CONTROL_DEV.SHELL);
comPort.BaudRate = 0;
// 20 hz
((MAVLinkSerialPort)comPort).timeout = 50;
comPort.Open();
startreadthread();
}
}
catch
{
}
}
public void SetupM8P(ICommsSerial port)
{
// port config - 115200 - uart1
var packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
// set rate to 1hz
packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
// surveyin msg - for feedback
packet = generate(0x6, 0x1, new byte[] { 0x01, 0x3b, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
// pvt msg - for feedback
packet = generate(0x6, 0x1, new byte[] { 0x01, 0x7, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
// 1005 - 5s
packet = generate(0x6, 0x1, new byte[] { 0xF5, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
// 1077 - 1s
packet = generate(0x6, 0x1, new byte[] {0xF5, 0x4D, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
// 1087 - 1s
packet = generate(0x6, 0x1, new byte[] { 0xF5, 0x57, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
// survey in config - 60s and < 2m
packet = generate(0x6, 0x71, new byte[] {0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00,
0x00, 0x00, 0x20, 0x4E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
}
bool upload_xmodem(ICommsSerial comPort)
{
// try xmodem mode
// xmodem - short cts to ground
try
{
uploader_LogEvent("Trying XModem Mode");
//comPort.BaudRate = 57600;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 1000;
Thread.Sleep(2000);
var tempd = comPort.ReadExisting();
Console.WriteLine(tempd);
comPort.Write("U");
Thread.Sleep(1000);
var resp1 = Serial_ReadLine(comPort); // echo
var resp2 = Serial_ReadLine(comPort); // echo 2
var tempd2 = comPort.ReadExisting(); // posibly bootloader info / use to sync
// identify
comPort.Write("i");
// responce is rfd900....
var resp3 = Serial_ReadLine(comPort); //echo
var resp4 = Serial_ReadLine(comPort); // newline
var resp5 = Serial_ReadLine(comPort); // bootloader info
uploader_LogEvent(resp5);
if (resp5.Contains("RFD900"))
{
// start upload
comPort.Write("u");
var resp6 = Serial_ReadLine(comPort); // echo
var resp7 = Serial_ReadLine(comPort); // Ready
if (resp7.Contains("Ready"))
{
comPort.ReadTimeout = 3500;
// responce is C
var isC = comPort.ReadByte();
var temp = comPort.ReadExisting();
if (isC == 'C')
{
XModem.LogEvent += uploader_LogEvent;
XModem.ProgressEvent += uploader_ProgressEvent;
// start file send
XModem.Upload(@"SiK900x.bin",
comPort);
XModem.LogEvent -= uploader_LogEvent;
XModem.ProgressEvent -= uploader_ProgressEvent;
return true;
}
}
}
}
catch (Exception ex2)
{
log.Error(ex2);
}
return false;
}
private void setcomport()
{
if (comPort == null)
{
try
{
comPort = new SerialPort();
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.ReadBufferSize = 1024*1024*4;
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate, Strings.ERROR);
}
}
}
public string doCommand(ICommsSerial comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
comPort.DiscardInBuffer();
// setup to known state
comPort.Write("\r\n");
try
{
var temp1 = Serial_ReadLine(comPort);
}
catch
{
try
{
comPort.ReadExisting();
}
catch { return ""; }
}
Sleep(100);
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
log.Info("Doing Command " + cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
log.Info("cmd " + cmd + " echo " + temp);
// get response
string ans = "";
DateTime deadline = DateTime.Now.AddMilliseconds(200);
while (comPort.BytesToRead > 0 || DateTime.Now < deadline)
{
try
{
ans = ans + Serial_ReadLine(comPort) + "\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 1024)
{
break;
}
}
log.Info("response " + level + " " + ans.Replace('\0', ' '));
Regex pattern = new Regex(@"^\[([0-9+])\]\s+", RegexOptions.Multiline);
if (pattern.IsMatch(ans))
{
Match mat = pattern.Match(ans);
ans = pattern.Replace(ans, "");
}
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
void getTelemPortWithRadio(ref ICommsSerial comPort)
{
// try telem1
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM1);
comPort.ReadTimeout = 4000;
comPort.Open();
if (doConnect(comPort))
{
return;
}
comPort.Close();
// try telem2
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM2);
comPort.ReadTimeout = 4000;
comPort.Open();
if (doConnect(comPort))
{
return;
}
comPort.Close();
}
private void CloseStream(ICommsSerial basestream)
{
try
{
if (basestream.IsOpen)
basestream.Close();
}
catch { }
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
if (comPort.IsOpen)
comPort.Close();
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.Open();
comPort.toggleDTR();
comPort.DiscardInBuffer();
Console.WriteLine("Terminal_Load");
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1");
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2");
try
{
if (!inlogview)
comPort.Write("\n\n\n");
// 1 secs
if (!inlogview)
readandsleep(1000);
if (!inlogview)
comPort.Write("\r\r\r?\r");
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); threadrun = false; return; }
Console.WriteLine("Terminal thread 3");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (inlogview)
continue;
if (!comPort.IsOpen)
break;
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close");
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
void setcomport()
{
if (comPort == null)
{
comPort = new MissionPlanner.Comms.SerialPort();
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.PortName = MainV2.comPortName;
comPort.ReadBufferSize = 1024 * 1024 * 4;
}
}
void setcomport()
{
if (comPort == null)
{
comPort = new MissionPlanner.Comms.SerialPort();
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.ReadBufferSize = 1024 * 1024 * 4;
}
}
private void start_Terminal(bool px4)
{
try
{
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
if (comPort.IsOpen)
{
threadrun = false;
// if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
{
// return;
}
comPort.Close();
// allow things to cleanup
System.Threading.Thread.Sleep(200);
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
log.Info("About to open " + comPort.PortName);
comPort.Open();
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting");
// check if we are a mavlink stream
byte[] buffer = MainV2.comPort.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
MainV2.comPort.giveComport = true;
MainV2.comPort.doReboot(false);
try
{
comPort.Close();
}
catch { }
}
else
{
log.Info("no packet - sending reboot via console");
MainV2.comPort.giveComport = true;
MainV2.comPort.BaseStream.Write("exit\rreboot\r");
try
{
comPort.Close();
}
catch { }
}
MainV2.comPort.giveComport = true;
TXT_terminal.AppendText("Waiting for reboot");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
DateTime deadline = DateTime.Now.AddSeconds(8);
while (DateTime.Now < deadline)
{
System.Threading.Thread.Sleep(100);
Application.DoEvents();
}
int a = 0;
// while (a < 5)
{
try
{
comPort.Open();
}
catch { }
System.Threading.Thread.Sleep(200);
a++;
}
}
else
{
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch { }
Console.WriteLine("Terminal_Load");
BUT_disconnect.Enabled = true;
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1");
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2");
try
{
if (!inlogview)
comPort.Write("\n\n\n");
// 1 secs
if (!inlogview)
readandsleep(1000);
if (!inlogview)
comPort.Write("\r\r\r?\r");
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); ChangeConnectStatus(false); threadrun = false; return; }
Console.WriteLine("Terminal thread 3");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
ChangeConnectStatus(comPort.IsOpen);
if (this.Disposing)
break;
if (inlogview)
continue;
if (!comPort.IsOpen)
{
Console.WriteLine("Comport Closed");
ChangeConnectStatus(false);
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close");
ChangeConnectStatus(false);
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception ex) { log.Error(ex); TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples)
{
byte[] datastruct1 = { clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0 };
var packet = generate(0x6, 0x1, datastruct1);
port.Write(packet, 0, packet.Length);
}
public string doCommand(ICommsSerial comPort, string cmd, bool multiLineResponce = false, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
log.Info("Doing Command " + cmd);
comPort.Write(cmd + "\r\n");
comPort.ReadTimeout = 1000;
// command echo
var cmdecho = Serial_ReadLine(comPort);
if (cmdecho.Contains(cmd))
{
var value = "";
if (multiLineResponce)
{
DateTime deadline = DateTime.Now.AddMilliseconds(1000);
while (comPort.BytesToRead > 0 || DateTime.Now < deadline)
{
try
{
value = value + Serial_ReadLine(comPort);
}
catch
{
value = value + comPort.ReadExisting();
}
}
}
else
{
value = Serial_ReadLine(comPort);
if (value == "" && level == 0)
{
return doCommand(comPort, cmd, multiLineResponce, 1);
}
}
log.Info(value.Replace('\0', ' '));
return value;
}
comPort.DiscardInBuffer();
// try again
if (level == 0)
return doCommand(comPort, cmd, multiLineResponce, 1);
return "";
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = MainV2.comPort.BaseStream;
//comPort.ReceivedBytesThreshold = 50;
//comPort.ReadBufferSize = 1024 * 1024;
try
{
comPort.toggleDTR();
//comPort.Open();
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
System.Threading.Thread.Sleep(2000);
try
{
comPort.Write("\n\n\n\n"); // more in "connecting"
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(10);
if (!comPort.IsOpen)
break;
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
}) {Name = "comport reader"};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
break;
case "UDP Host":
comPort = new UdpSerial();
break;
case "UDP Client":
comPort = new UdpSerialConnect();
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" + ex.ToString());
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
void Sleep(int mstimeout, ICommsSerial comPort = null)
{
DateTime endtime = DateTime.Now.AddMilliseconds(mstimeout);
while (DateTime.Now < endtime)
{
System.Threading.Thread.Sleep(1);
Application.DoEvents();
// prime the mavlinkserial loop with data.
if (comPort != null) {
int test = comPort.BytesToRead;
test++;
}
}
}
public bool doConnect(ICommsSerial comPort)
{
try
{
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
log.Info("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
string conn = comPort.ReadExisting();
log.Info("Connect first responce " + conn.Replace('\0', ' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
doCommand(comPort, "AT&T");
string version = doCommand(comPort, "ATI");
log.Info("Connect Version: " + version.Trim() + "\n");
Regex regex = new Regex(@"SiK\s+(.*)\s+on\s+(.*)");
if (regex.IsMatch(version))
{
return true;
}
return false;
}
catch { return false; }
}
public bool doConnect(ICommsSerial comPort)
{
try
{
Console.WriteLine("doConnect");
// setup a known enviroment
comPort.Write("ATO\r\n");
// wait
Sleep(1100, comPort);
comPort.DiscardInBuffer();
// send config string
comPort.Write("+++");
Sleep(1100,comPort);
// check for config response "OK"
log.Info("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
// allow time for data/response
byte[] buffer = new byte[20];
int len = comPort.Read(buffer, 0, buffer.Length);
string conn = ASCIIEncoding.ASCII.GetString(buffer, 0, len);
log.Info("Connect first response " + conn.Replace('\0', ' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
doCommand(comPort, "AT&T");
string version = doCommand(comPort, "ATI");
log.Info("Connect Version: " + version.Trim() + "\n");
Regex regex = new Regex(@"SiK\s+(.*)\s+on\s+(.*)");
if (regex.IsMatch(version))
{
return true;
}
return false;
}
catch { return false; }
}
/// <summary>
/// Load firmware history from file
/// </summary>
public Firmware()
{
comPortosdbl = new MissionPlanner.Comms.SerialPort();
}
string Serial_ReadLine(ICommsSerial comPort)
{
StringBuilder sb = new StringBuilder();
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
while (DateTime.Now < Deadline)
{
if (comPort.BytesToRead > 0)
{
byte data = (byte)comPort.ReadByte();
sb.Append((char)data);
if (data == '\n')
break;
}
}
return sb.ToString();
}
static void doread(object o)
{
lock (runlock)
{
run++;
running++;
}
MAVLinkInterface port = (MAVLinkInterface)o;
try
{
port.BaseStream.Open();
int baud = 0;
redo:
if (run == 0)
return;
DateTime deadline = DateTime.Now.AddSeconds(5);
while (DateTime.Now < deadline)
{
Console.WriteLine("Scan port {0} at {1}", port.BaseStream.PortName, port.BaseStream.BaudRate);
byte[] packet = new byte[0];
try
{
packet = port.readPacket();
}
catch { }
if (packet.Length > 0)
{
port.BaseStream.Close();
Console.WriteLine("Found Mavlink on port {0} at {1}", port.BaseStream.PortName, port.BaseStream.BaudRate);
foundport = true;
portinterface = port.BaseStream;
if (CommsSerialScan.connect)
{
MainV2.comPort.BaseStream = port.BaseStream;
doconnect();
}
lock (runlock)
{
running--;
}
return;
}
if (foundport)
break;
}
if (!foundport && port.BaseStream.BaudRate > 0)
{
baud++;
if (baud < bauds.Length)
{
port.BaseStream.BaudRate = bauds[baud];
goto redo;
}
}
try
{
port.BaseStream.Close();
}
catch { }
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
finally
{
lock (runlock)
{
running--;
}
}
Console.WriteLine("Scan port {0} Finished!!", port.BaseStream.PortName);
}
