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("");
}
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 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 identify()
{
port.DiscardInBuffer();
//Console.WriteLine("0 " + DateTime.Now.Millisecond);
// make sure we are in sync before starting
self.__sync();
//Console.WriteLine("1 "+DateTime.Now.Millisecond);
//get the bootloader protocol ID first
self.bl_rev = self.__getInfo(Info.BL_REV);
// Console.WriteLine("2 " + DateTime.Now.Millisecond);
if ((bl_rev < (int)BL_REV_MIN) || (bl_rev > (int)BL_REV_MAX))
{
throw new Exception("Bootloader protocol mismatch");
}
// revert to default write timeout
port.WriteTimeout = 500;
self.board_type = self.__getInfo(Info.BOARD_ID);
self.board_rev = self.__getInfo(Info.BOARD_REV);
self.fw_maxsize = self.__getInfo(Info.FLASH_SIZE);
}
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;
}
/// <summary>
/// Requests a sync reply.
/// </summary>
/// <returns>
/// True if in sync, false otherwise.
/// </returns>
private bool cmdSync()
{
port.DiscardInBuffer();
send(Code.GET_SYNC);
send(Code.EOC);
try
{
getSync();
}
catch
{
return(false);
}
return(true);
}
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 identify()
{
port.DiscardInBuffer();
//Console.WriteLine("0 " + DateTime.Now.Millisecond);
// make sure we are in sync before starting
self.__sync();
//Console.WriteLine("1 "+DateTime.Now.Millisecond);
//get the bootloader protocol ID first
self.bl_rev = self.__getInfo(Info.BL_REV);
// Console.WriteLine("2 " + DateTime.Now.Millisecond);
if ((bl_rev < (int)BL_REV_MIN) || (bl_rev > (int)BL_REV_MAX))
{
throw new Exception("Bootloader protocol mismatch");
}
print("Got BL Info - changing timeout");
// revert to default write timeout
port.WriteTimeout = 500;
self.board_type = self.__getInfo(Info.BOARD_ID);
self.board_rev = self.__getInfo(Info.BOARD_REV);
self.fw_maxsize = self.__getInfo(Info.FLASH_SIZE);
if (bl_rev >= 5)
{
try
{
self.chip = self.__getCHIP();
self.chip_desc = self.__getCHIPDES();
} catch { __sync(); }
}
if (bl_rev >= 5)
{
try
{
self.extf_maxsize = __getInfo(Info.EXTF_SIZE);
}
catch { __sync(); }
}
Console.WriteLine("Found board type {0} brdrev {1} blrev {2} fwmax {3} extf {7} chip {5:X} chipdes {6} on {4}", board_type,
board_rev, bl_rev, fw_maxsize, port, chip, chip_desc, extf_maxsize);
}
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); }
}
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();
}
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);
}
private void start_Terminal(bool px4)
{
setcomport();
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
if (comPort.IsOpen)
{
Console.WriteLine("Terminal Start - Close Port");
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(400);
}
comPort.ReadBufferSize = 1024 * 1024 * 4;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting " + MainV2.comPortName + " at " + comPort.BaudRate + "\n");
// keep it local
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.BaseStream.PortName = MainV2.comPortName;
mine.BaseStream.BaudRate = comPort.BaudRate;
mine.giveComport = true;
mine.BaseStream.Open();
// check if we are a mavlink stream
byte[] buffer = mine.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
TXT_terminal.AppendText("Via Mavlink\n");
mine.doReboot(false);
try
{
mine.BaseStream.Close();
}
catch { }
}
else
{
log.Info("no packet - sending reboot via console");
TXT_terminal.AppendText("Via Console\n");
try
{
mine.BaseStream.Write("reboot\r");
mine.BaseStream.Write("exit\rreboot\r");
}
catch { }
try
{
mine.BaseStream.Close();
}
catch { }
}
}
TXT_terminal.AppendText("Waiting for reboot\n");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
DateTime deadline = DateTime.Now.AddSeconds(9);
while (DateTime.Now < deadline)
{
System.Threading.Thread.Sleep(500);
Application.DoEvents();
}
int a = 0;
while (a < 5)
{
try
{
if (!comPort.IsOpen)
{
comPort.Open();
}
}
catch { }
System.Threading.Thread.Sleep(200);
a++;
}
}
else
{
log.Info("About to open " + comPort.PortName);
comPort.Open();
log.Info("toggle dtr");
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch { }
Console.WriteLine("Terminal_Load run " + threadrun + " " + comPort.IsOpen);
BUT_disconnect.Enabled = true;
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start run run " + threadrun + " " + comPort.IsOpen);
try
{
comPort.Write("\r");
}
catch { }
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1 run " + threadrun + " " + comPort.IsOpen);
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2 run " + threadrun + " " + comPort.IsOpen);
try
{
if (!inlogview && comPort.IsOpen)
{
comPort.Write("\n\n\n");
}
// 1 secs
if (!inlogview && comPort.IsOpen)
{
readandsleep(1000);
}
if (!inlogview && comPort.IsOpen)
{
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 run " + threadrun + " " + comPort.IsOpen);
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (!threadrun)
{
break;
}
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 run " + threadrun + " " + comPort.IsOpen);
ChangeConnectStatus(false);
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close run " + threadrun);
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
if (this.IsDisposed || this.Disposing)
{
return;
}
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();
}
void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
while (comPort.BytesToRead > 0 && threadrun)
{
updateDisplay();
string line = "";
comPort.ReadTimeout = 500;
try
{
line = comPort.ReadLine(); //readline(comPort);
if (!line.Contains("\n"))
{
line = line + "\n";
}
}
catch
{
line = comPort.ReadExisting();
//byte[] data = readline(comPort);
//line = Encoding.ASCII.GetString(data, 0, data.Length);
}
receivedbytes += line.Length;
//string line = Encoding.ASCII.GetString(data, 0, data.Length);
switch (status)
{
case serialstatus.Connecting:
if (line.Contains("ENTER") || line.Contains("GROUND START") || line.Contains("reset to FLY") || line.Contains("interactive setup") || line.Contains("CLI") || line.Contains("Ardu"))
{
try
{
System.Threading.Thread.Sleep(200);
comPort.Write("\n\n\n\n");
}
catch { }
System.Threading.Thread.Sleep(500);
comPort.Write("logs\r");
status = serialstatus.Done;
}
break;
case serialstatus.Closefile:
sw.Close();
TextReader tr = new StreamReader(logfile);
this.Invoke((System.Windows.Forms.MethodInvoker) delegate()
{
TXT_seriallog.AppendText("Creating KML for " + logfile);
});
while (tr.Peek() != -1)
{
processLine(tr.ReadLine());
}
tr.Close();
try
{
writeKML(logfile + ".kml");
}
catch { } // usualy invalid lat long error
status = serialstatus.Done;
comPort.DiscardInBuffer();
break;
case serialstatus.Createfile:
receivedbytes = 0;
Directory.CreateDirectory(MainV2.LogDir);
logfile = MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm") + " " + currentlog + ".log";
sw = new StreamWriter(logfile);
status = serialstatus.Waiting;
lock (thisLock)
{
this.Invoke((System.Windows.Forms.MethodInvoker) delegate()
{
TXT_seriallog.Clear();
});
}
//if (line.Contains("Dumping Log"))
{
status = serialstatus.Reading;
}
break;
case serialstatus.Done:
//
// if (line.Contains("start") && line.Contains("end"))
{
Regex regex2 = new Regex(@"^Log ([0-9]+)[,\s]", RegexOptions.IgnoreCase);
if (regex2.IsMatch(line))
{
MatchCollection matchs = regex2.Matches(line);
logcount = int.Parse(matchs[0].Groups[1].Value);
genchkcombo(logcount);
//status = serialstatus.Done;
}
}
if (line.Contains("No logs"))
{
status = serialstatus.Done;
}
break;
case serialstatus.Reading:
if (line.Contains("packets read") || line.Contains("Done") || line.Contains("logs enabled"))
{
status = serialstatus.Closefile;
Console.Write("CloseFile: " + line);
break;
}
sw.Write(line);
continue;
case serialstatus.Waiting:
if (line.Contains("Dumping Log") || line.Contains("GPS:") || line.Contains("NTUN:") || line.Contains("CTUN:") || line.Contains("PM:"))
{
status = serialstatus.Reading;
Console.Write("Reading: " + line);
}
break;
}
lock (thisLock)
{
this.BeginInvoke((MethodInvoker) delegate()
{
Console.Write(line);
TXT_seriallog.AppendText(line.Replace((char)0x0, ' '));
// auto scroll
if (TXT_seriallog.TextLength >= 10000)
{
TXT_seriallog.Text = TXT_seriallog.Text.Substring(TXT_seriallog.TextLength / 2);
}
TXT_seriallog.SelectionStart = TXT_seriallog.Text.Length;
TXT_seriallog.ScrollToCaret();
TXT_seriallog.Refresh();
});
}
}
//log.Info("exit while");
}
catch (Exception ex) { CustomMessageBox.Show("Error reading data" + ex.ToString()); }
}
private void Log_Load(object sender, EventArgs e)
{
if (MainV2.config["log_isarducopter"] != null)
{
CHK_arducopter.Checked = bool.Parse(MainV2.config["log_isarducopter"].ToString());
CHK_arduplane.Checked = bool.Parse(MainV2.config["log_isarduplane"].ToString());
CHK_ardurover.Checked = bool.Parse(MainV2.config["log_isardurover"].ToString());
}
status = serialstatus.Connecting;
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
comPort.DtrEnable = false;
comPort.RtsEnable = false;
if (comPort.IsOpen)
{
comPort.Close();
}
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
// 4mb
comPort.ReadBufferSize = 1024 * 1024 * 4;
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 responce
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");
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
readandsleep(100);
try
{
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 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 = 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);
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = MainV2.comPort.BaseStream;
try
{
comPort.toggleDTR();
comPort.DiscardInBuffer();
// 10 sec
waitandsleep(10000);
}
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;
readandsleep(100);
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 Log_Load(object sender, EventArgs e)
{
if (MainV2.config["log_isarducopter"] != null)
{
CHK_arducopter.Checked = bool.Parse(MainV2.config["log_isarducopter"].ToString());
CHK_arduplane.Checked = bool.Parse(MainV2.config["log_isarduplane"].ToString());
CHK_ardurover.Checked = bool.Parse(MainV2.config["log_isardurover"].ToString());
}
status = serialstatus.Connecting;
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
comPort.DtrEnable = false;
comPort.RtsEnable = false;
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 responce
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");
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
readandsleep(100);
try
{
comPort.Write("\n\n\n\nexit\r\nlogs\r\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);
}
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; }
}
private void start_Terminal(bool px4)
{
setcomport();
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
if (comPort.IsOpen)
{
Console.WriteLine("Terminal Start - Close Port");
threadrun = false;
// if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
{
// return;
}
comPort.Close();
// allow things to cleanup
Thread.Sleep(400);
}
comPort.ReadBufferSize = 1024 * 1024 * 4;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting " + MainV2.comPortName + " at " + comPort.BaudRate + "\n");
// keep it local
using (var mine = new MAVLinkInterface())
{
mine.BaseStream.PortName = MainV2.comPortName;
mine.BaseStream.BaudRate = comPort.BaudRate;
mine.giveComport = true;
mine.BaseStream.Open();
// check if we are a mavlink stream
var buffer = mine.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
TXT_terminal.AppendText("Via Mavlink\n");
mine.doReboot(false);
try
{
mine.BaseStream.Close();
}
catch
{
}
}
else
{
log.Info("no packet - sending reboot via console");
TXT_terminal.AppendText("Via Console\n");
try
{
mine.BaseStream.Write("reboot\r");
mine.BaseStream.Write("exit\rreboot\r");
}
catch
{
}
try
{
mine.BaseStream.Close();
}
catch
{
}
}
}
TXT_terminal.AppendText("Waiting for reboot\n");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
var deadline = DateTime.Now.AddSeconds(9);
while (DateTime.Now < deadline)
{
Thread.Sleep(500);
Application.DoEvents();
}
var a = 0;
while (a < 5)
{
try
{
if (!comPort.IsOpen)
{
comPort.Open();
}
}
catch
{
}
Thread.Sleep(200);
a++;
}
}
else
{
log.Info("About to open " + comPort.PortName);
comPort.Open();
log.Info("toggle dtr");
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch
{
}
startreadthread();
}
catch (Exception ex)
{
log.Error(ex);
TXT_terminal.AppendText("Cant open serial port\r\n");
return;
}
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = MainV2.comPort.BaseStream;
try
{
comPort.toggleDTR();
comPort.DiscardInBuffer();
// 10 sec
waitandsleep(10000);
}
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;
readandsleep(100);
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 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();
MainV2.comPort.doReboot();
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();
}
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 { comPort.ReadExisting(); }
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);
}
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;
}
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 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)
{
char[] ends = { '\r', '\n' };
try
{
comLog("Connecting", 2);
int trys = 1;
// setup a known enviroment
comPort.Write("ATO\r\n");
retry:
// wait
Sleep(1500, comPort);
comPort.DiscardInBuffer();
// send config string
comPort.Write("+++");
Sleep(1500, comPort);
// check for config response "OK"
comLog("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate, 2);
// allow time for data/response
if (comPort.BytesToRead == 0 && trys <= 3)
{
trys++;
comLog("doConnect retry", 2);
goto retry;
}
byte[] buffer = new byte[20];
int len = comPort.Read(buffer, 0, buffer.Length);
string conn = ASCIIEncoding.ASCII.GetString(buffer, 0, len);
comLog("Connect first response " + conn.TrimEnd(ends) + " " + 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");
Regex regex = new Regex(@"SiK\s+(.*)\s+on\s+(.*)");
if (regex.IsMatch(version))
{
comLog("Connected: " + version.TrimEnd(ends), 2);
return(true);
}
comLog("Connect Version: " + version.TrimEnd(ends));
return(false);
}
catch { return(false); }
}
