private void button1_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)
{
serialThread = false;
comPort.Close();
timer1.Stop();
about_blank();
disconnect();
}
else
{
if (textBox1.Text == "" || textBox2.Text == "" || textBox3.Text == "")
{
MessageBox.Show("IP 또는 Port가 입력되지 않았습니다.");
}
else
{
String IP = textBox1.Text;
int port = Convert.ToInt32(textBox2.Text);
int ser2port = Convert.ToInt32(textBox3.Text);
Connection(IP, port);
}
}
}
private void Lbl_bootloaderupdate_Click(object sender, EventArgs e)
{
// connect to mavlink
var mav = new MAVLinkInterface();
MainV2.instance.doConnect(mav, MainV2._connectionControl.CMB_serialport.Text,
MainV2._connectionControl.CMB_baudrate.Text, false);
if (mav.BaseStream == null || !mav.BaseStream.IsOpen)
{
return;
}
if (CustomMessageBox.Show("Are you sure you want to upgrade the bootloader? This can brick your board",
"BL Update", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == (int)DialogResult.Yes)
{
if (CustomMessageBox.Show("Are you sure you want to upgrade the bootloader? This can brick your board, Please allow 5 mins for this process",
"BL Update", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == (int)DialogResult.Yes)
{
if (mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0))
{
CustomMessageBox.Show("Upgraded bootloader");
}
else
{
CustomMessageBox.Show("Failed to upgrade bootloader");
}
}
}
mav?.Close();
}
public static void doUpload(string file)
{
if (!validcred)
{
doUserAndPassword();
}
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.BaseStream.Open();
if (mav.getHeartBeat().Length == 0)
{
CustomMessageBox.Show("Invalid log");
return;
}
mav.Close();
string viewurl = Utilities.DroneApi.droneshare.doUpload(file, droneshareusername, dronesharepassword, mav.MAV.Guid, Utilities.DroneApi.APIConstants.apiKey);
if (viewurl != "")
{
try
{
validcred = true;
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { log.Error(ex); CustomMessageBox.Show("Failed to open url " + viewurl); }
}
}
public static void doUpload(string file)
{
doUserAndPassword();
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.getHeartBeat();
mav.Close();
string viewurl = Utilities.DroneApi.droneshare.doUpload(file, droneshareusername, dronesharepassword, mav.MAV.Guid , Utilities.DroneApi.APIConstants.apiKey);
if (viewurl != "")
{
try
{
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { log.Error(ex); CustomMessageBox.Show("Failed to open url " + viewurl); }
}
}
private void FWUpload(object?a)
{
try
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
var tryupload = true;
lock (ports)
if (ports.Contains(portname))
{
tryupload = false;
}
if (tryupload)
{
var fw = Firmware.ProcessFirmware(_args[0]);
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
try
{
up.identify();
validcomms = true;
up.currentChecksum(fw);
flashit = true;
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
if (flashit)
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Flashing fw\r\n"); }));
up.upload(fw);
}
else
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " reboot\r\n"); }));
up.__reboot();
}
lock (ports)
ports.Add(portname);
up.close();
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Done fw\r\n"); }));
if (validcomms)
{
return;
}
}
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
}
DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
this.BeginInvoke(new Action(() =>
{
textBox1.AppendText(portname + " Done bl " + (bldone ? "OK" : "FAIL") + "\r\n");
}));
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
/// <summary>
/// main serial reader thread
/// controls
/// serial reading
/// link quality stats
/// speech voltage - custom - alt warning - data lost
/// heartbeat packet sending
///
/// and can't fall out
/// </summary>
internal void SerialReader()
{
if (serialThread == true)
{
return;
}
serialThread = true;
SerialThreadrunner.Reset();
int minbytes = 10;
int altwarningmax = 0;
bool armedstatus = false;
string lastmessagehigh = "";
DateTime speechcustomtime = DateTime.Now;
DateTime speechlowspeedtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialThread)
{
try
{
Thread.Sleep(1); // was 5
// update connect/disconnect button and info stats
try
{
//UpdateConnectIcon();
}
catch (Exception ex)
{
log.Error(ex);
}
// 30 seconds interval speech options
if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 &&
(MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
if (MainV2.speechEngine.IsReady)
{
if (Settings.Instance.GetBoolean("speechcustomenabled"))
{
MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechcustom"]));
}
speechcustomtime = DateTime.Now;
}
// speech for battery alerts
//speechbatteryvolt
float warnvolt = Settings.Instance.GetFloat("speechbatteryvolt");
float warnpercent = Settings.Instance.GetFloat("speechbatterypercent");
if (Settings.Instance.GetBoolean("speechbatteryenabled") == true &&
MainV2.comPort.MAV.cs.battery_voltage <= warnvolt &&
MainV2.comPort.MAV.cs.battery_voltage >= 5.0)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechbattery"]));
}
}
else if (Settings.Instance.GetBoolean("speechbatteryenabled") == true &&
(MainV2.comPort.MAV.cs.battery_remaining) < warnpercent &&
MainV2.comPort.MAV.cs.battery_voltage >= 5.0 &&
MainV2.comPort.MAV.cs.battery_remaining != 0.0)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync(
ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechbattery"]));
}
}
}
// speech for airspeed alerts
if (speechEnable && speechEngine != null && (DateTime.Now - speechlowspeedtime).TotalSeconds > 10 &&
(MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
if (Settings.Instance.GetBoolean("speechlowspeedenabled") == true && MainV2.comPort.MAV.cs.armed)
{
float warngroundspeed = Settings.Instance.GetFloat("speechlowgroundspeedtrigger");
float warnairspeed = Settings.Instance.GetFloat("speechlowairspeedtrigger");
if (MainV2.comPort.MAV.cs.airspeed < warnairspeed)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync(
ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechlowairspeed"]));
speechlowspeedtime = DateTime.Now;
}
}
else if (MainV2.comPort.MAV.cs.groundspeed < warngroundspeed)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync(
ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechlowgroundspeed"]));
speechlowspeedtime = DateTime.Now;
}
}
else
{
speechlowspeedtime = DateTime.Now;
}
}
}
// speech altitude warning - message high warning
if (speechEnable && speechEngine != null &&
(MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
float warnalt = float.MaxValue;
if (Settings.Instance.ContainsKey("speechaltheight"))
{
warnalt = Settings.Instance.GetFloat("speechaltheight");
}
try
{
altwarningmax = (int)Math.Max(MainV2.comPort.MAV.cs.alt, altwarningmax);
if (Settings.Instance.GetBoolean("speechaltenabled") == true && MainV2.comPort.MAV.cs.alt != 0.00 &&
(MainV2.comPort.MAV.cs.alt <= warnalt) && MainV2.comPort.MAV.cs.armed)
{
if (altwarningmax > warnalt)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync(
ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechalt"]));
}
}
}
}
catch
{
} // silent fail
try
{
// say the latest high priority message
if (MainV2.speechEngine.IsReady &&
lastmessagehigh != MainV2.comPort.MAV.cs.messageHigh && MainV2.comPort.MAV.cs.messageHigh != null)
{
if (!MainV2.comPort.MAV.cs.messageHigh.StartsWith("PX4v2 "))
{
MainV2.speechEngine.SpeakAsync(MainV2.comPort.MAV.cs.messageHigh);
lastmessagehigh = MainV2.comPort.MAV.cs.messageHigh;
}
}
}
catch
{
}
}
// not doing anything
if (!MainV2.comPort.logreadmode && !comPort.BaseStream.IsOpen)
{
altwarningmax = 0;
}
// attenuate the link qualty over time
if ((DateTime.Now - MainV2.comPort.MAV.lastvalidpacket).TotalSeconds >= 1)
{
if (linkqualitytime.Second != DateTime.Now.Second)
{
MainV2.comPort.MAV.cs.linkqualitygcs = (ushort)(MainV2.comPort.MAV.cs.linkqualitygcs * 0.8f);
linkqualitytime = DateTime.Now;
// force redraw if there are no other packets are being read
}
}
// data loss warning - wait min of 10 seconds, ignore first 30 seconds of connect, repeat at 5 seconds interval
if ((DateTime.Now - MainV2.comPort.MAV.lastvalidpacket).TotalSeconds > 10 &&
(DateTime.Now - connecttime).TotalSeconds > 30 &&
(DateTime.Now - nodatawarning).TotalSeconds > 5 &&
(MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen) &&
MainV2.comPort.MAV.cs.armed)
{
if (speechEnable && speechEngine != null)
{
if (MainV2.speechEngine.IsReady)
{
MainV2.speechEngine.SpeakAsync("WARNING No Data for " +
(int)
(DateTime.Now - MainV2.comPort.MAV.lastvalidpacket)
.TotalSeconds + " Seconds");
nodatawarning = DateTime.Now;
}
}
}
// get home point on armed status change.
if (armedstatus != MainV2.comPort.MAV.cs.armed && comPort.BaseStream.IsOpen)
{
armedstatus = MainV2.comPort.MAV.cs.armed;
// status just changed to armed
if (MainV2.comPort.MAV.cs.armed == true &&
MainV2.comPort.MAV.apname != MAVLink.MAV_AUTOPILOT.INVALID &&
MainV2.comPort.MAV.aptype != MAVLink.MAV_TYPE.GIMBAL)
{
System.Threading.ThreadPool.QueueUserWorkItem(state =>
{
Thread.CurrentThread.Name = "Arm State change";
try
{
while (comPort.giveComport == true)
{
Thread.Sleep(100);
}
MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt(MainV2.comPort.getWP(0));
}
catch
{
// dont hang this loop
}
});
}
if (speechEnable && speechEngine != null)
{
if (Settings.Instance.GetBoolean("speecharmenabled"))
{
string speech = armedstatus ? Settings.Instance["speecharm"] : Settings.Instance["speechdisarm"];
if (!string.IsNullOrEmpty(speech))
{
MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, speech));
}
}
}
}
// send a hb every seconds from gcs to ap
if (heatbeatSend.Second != DateTime.Now.Second)
{
MAVLink.mavlink_heartbeat_t htb = new MAVLink.mavlink_heartbeat_t()
{
type = (byte)MAVLink.MAV_TYPE.GCS,
autopilot = (byte)MAVLink.MAV_AUTOPILOT.INVALID,
mavlink_version = 3 // MAVLink.MAVLINK_VERSION
};
// enumerate each link
foreach (var port in Comports.ToArray())
{
if (!port.BaseStream.IsOpen)
{
continue;
}
// poll for params at heartbeat interval - primary mav on this port only
if (!port.giveComport)
{
try
{
// poll only when not armed
if (!port.MAV.cs.armed)
{
port.getParamPoll();
port.getParamPoll();
}
}
catch
{
}
}
// there are 3 hb types we can send, mavlink1, mavlink2 signed and unsigned
bool sentsigned = false;
bool sentmavlink1 = false;
bool sentmavlink2 = false;
// enumerate each mav
foreach (var MAV in port.MAVlist)
{
try
{
// poll for version if we dont have it - every mav every port
if (!port.giveComport && !MAV.cs.armed && (DateTime.Now.Second % 20) == 0 && MAV.cs.version < new Version(0, 1))
{
port.getVersion(MAV.sysid, MAV.compid, false);
}
// are we talking to a mavlink2 device
if (MAV.mavlinkv2)
{
// is signing enabled
if (MAV.signing)
{
// check if we have already sent
if (sentsigned)
{
continue;
}
sentsigned = true;
}
else
{
// check if we have already sent
if (sentmavlink2)
{
continue;
}
sentmavlink2 = true;
}
}
else
{
// check if we have already sent
if (sentmavlink1)
{
continue;
}
sentmavlink1 = true;
}
port.sendPacket(htb, MAV.sysid, MAV.compid);
}
catch (Exception ex)
{
log.Error(ex);
// close the bad port
try
{
port.Close();
}
catch
{
}
// refresh the screen if needed
if (port == MainV2.comPort)
{
// refresh config window if needed
}
}
}
}
heatbeatSend = DateTime.Now;
}
// if not connected or busy, sleep and loop
if (!comPort.BaseStream.IsOpen || comPort.giveComport == true)
{
if (!comPort.BaseStream.IsOpen)
{
// check if other ports are still open
foreach (var port in Comports)
{
if (port.BaseStream.IsOpen)
{
Console.WriteLine("Main comport shut, swapping to other mav");
comPort = port;
break;
}
}
}
System.Threading.Thread.Sleep(100);
}
// read the interfaces
foreach (var port in Comports.ToArray())
{
if (!port.BaseStream.IsOpen)
{
// skip primary interface
if (port == comPort)
{
continue;
}
// modify array and drop out
Comports.Remove(port);
port.Dispose();
break;
}
DateTime startread = DateTime.Now;
// must be open, we have bytes, we are not yielding the port,
// the thread is meant to be running and we only spend 1 seconds max in this read loop
while (port.BaseStream.IsOpen && port.BaseStream.BytesToRead > minbytes &&
port.giveComport == false && serialThread && startread.AddSeconds(1) > DateTime.Now)
{
try
{
port.readPacket();
}
catch (Exception ex)
{
log.Error(ex);
}
}
// update currentstate of sysids on the port
foreach (var MAV in port.MAVlist)
{
try
{
MAV.cs.UpdateCurrentSettings(null, false, port, MAV);
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
}
catch (Exception e)
{
log.Error("Serial Reader fail :" + e.ToString());
try
{
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
Console.WriteLine("SerialReader Done");
SerialThreadrunner.Set();
}
public static void doUpload(string file)
{
doUserAndPassword();
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.getHeartBeat();
mav.Close();
string guid = Guid.NewGuid().ToString();
switch (mav.MAV.cs.firmware)
{
case MainV2.Firmwares.ArduCopter2:
guid = MainV2.config["copter_guid"].ToString();
break;
case MainV2.Firmwares.ArduPlane:
guid = MainV2.config["plane_guid"].ToString();
break;
case MainV2.Firmwares.ArduRover:
guid = MainV2.config["rover_guid"].ToString();
break;
}
string viewurl = Utilities.droneshare.doUpload(file, droneshareusername, dronesharepassword, guid, Utilities.droneshare.APIConstants.apiKey);
if (viewurl != "")
{
try
{
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { CustomMessageBox.Show("Failed to open url "+ viewurl); }
}
}
/// <summary>
/// main serial reader thread
/// controls
/// serial reading
/// link quality stats
/// speech voltage - custom - alt warning - data lost
/// heartbeat packet sending
///
/// and can't fall out
/// </summary>
private void SerialReader()
{
if (serialThread == true)
{
return;
}
serialThread = true;
SerialThreadrunner.Reset();
int minbytes = 0;
int altwarningmax = 0;
bool armedstatus = false;
string lastmessagehigh = "";
DateTime speechcustomtime = DateTime.Now;
DateTime speechbatterytime = DateTime.Now;
DateTime speechlowspeedtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialThread)
{
try
{
Thread.Sleep(1); // was 5
//// get home point on armed status change.
//if (armedstatus != Form1.comPort.MAV.cs.armed && comPort.BaseStream.IsOpen)
//{
// armedstatus = Form1.comPort.MAV.cs.armed;
// // status just changed to armed
// if (Form1.comPort.MAV.cs.armed == true)
// {
// try
// {
// //Form1.comPort.MAV.cs.HomeLocation = new PointLatLngAlt(Form1.comPort.getWP(0));
// //if (MyView.current != null && MyView.current.Name == "FlightPlanner")
// //{
// // // update home if we are on flight data tab
// // FlightPlanner.updateHome();
// //}
// }
// catch
// {
// // dont hang this loop
// this.BeginInvoke((MethodInvoker)delegate { MessageBox.Show("Failed to update home location"); });
// }
// }
//}
// send a hb every seconds from gcs to ap
if (heatbeatSend.Second != DateTime.Now.Second)
{
MAVLink.mavlink_heartbeat_t htb = new MAVLink.mavlink_heartbeat_t()
{
type = (byte)MAVLink.MAV_TYPE.GCS,
autopilot = (byte)MAVLink.MAV_AUTOPILOT.INVALID,
mavlink_version = 3,
};
foreach (var port in Form1.Comports)
{
try
{
port.sendPacket(htb);
}
catch { }
}
heatbeatSend = DateTime.Now;
}
// if not connected or busy, sleep and loop
if (!comPort.BaseStream.IsOpen || comPort.giveComport == true)
{
if (!comPort.BaseStream.IsOpen)
{
// check if other ports are still open
foreach (var port in Comports)
{
if (port.BaseStream.IsOpen)
{
Console.WriteLine("Main comport shut, swapping to other mav");
comPort = port;
break;
}
}
}
System.Threading.Thread.Sleep(100);
//continue;
}
// actualy read the packets
while (comPort.BaseStream.IsOpen && comPort.BaseStream.BytesToRead > minbytes && comPort.giveComport == false)
{
try
{
comPort.readPacket();
}
catch { }
}
// update currentstate of sysids on main port
foreach (var sysid in comPort.sysidseen)
{
try
{
comPort.MAVlist[sysid].cs.UpdateCurrentSettings(null, false, comPort, comPort.MAVlist[sysid]);
}
catch { }
}
//C_Log.writeLog(comPort.MAV.cs.pitch + " " + comPort.MAV.cs.roll + " " + comPort.MAV.cs.yaw + "\n\r");
this.Invoke((MethodInvoker) delegate
{
//update teks
//lbl_test.Visible = true;
//lbl_test.Text = "YAW :" + comPort.MAV.cs.yaw.ToString() + "\nAltitude :" + comPort.MAV.cs.alt.ToString();
//lbl_test.Text = "YAW :" + loop1.ToString() + "\nAltitude :" + loop2.ToString();
label1.Text = comPort.MAV.cs.yaw.ToString();
label2.Text = comPort.MAV.cs.pitch.ToString();
label3.Text = comPort.MAV.cs.roll.ToString();
});
////Ngirim Data
//if (USock != null)
//{
// if (USock.isConnected())
// {
// this.Invoke(sdtc);
// }
//}
//// read the other interfaces
//foreach (var port in Comports)
//{
// // skip primary interface
// if (port == comPort)
// continue;
// if (!port.BaseStream.IsOpen)
// {
// // modify array and drop out
// Comports.Remove(port);
// break;
// }
// while (port.BaseStream.IsOpen && port.BaseStream.BytesToRead > minbytes)
// {
// try
// {
// port.readPacket();
// }
// catch { }
// }
// // update currentstate of sysids on the port
// foreach (var sysid in port.sysidseen)
// {
// try
// {
// port.MAVlist[sysid].cs.UpdateCurrentSettings(null, false, port, port.MAVlist[sysid]);
// }
// catch { }
// }
//}
//UPDATE JOYSTICK OUTPUT FROM SERIAL
//updateProgressJoystickInputSERIAL();
//COMPARE DELAY
//JoystickDelayCalculation();
}
catch (Exception e)
{
log.Error("Serial Reader fail :" + e.ToString());
MessageBox.Show(e.ToString());
try
{
comPort.Close();
}
catch { }
}
}
Console.WriteLine("SerialReader Done");
SerialThreadrunner.Set();
}
private void FWUpload(object a)
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
Console.WriteLine("Thread start for " + portname);
try
{
if (!portstatus.ContainsKey(portname))
{
portstatus[portname] = "";
}
{
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
Firmware fw = null;
try
{
up.identify();
validcomms = true;
portstatus[portname] += "BL ";
UpdateTextBox();
fw = Firmware.ProcessFirmware(_args[0]);
up.currentChecksum(fw);
fw.board_id = up.board_type;
flashit = true;
portstatus[portname] += "CS ";
UpdateTextBox();
}
catch (Exception ex)
{
if (ex.Message.Contains("Same Firmware"))
{
portstatus[portname] += "BLUPD OK ";
}
else
{
portstatus[portname] += "BLEX ";
}
UpdateTextBox();
}
if (flashit)
{
DateTime ts = DateTime.Now;
up.ProgressEvent += completed =>
{
if (ts.Second != DateTime.Now.Second)
{
Console.WriteLine("{0}: {1}", portname, completed);
ts = DateTime.Now;
}
};
up.upload(fw);
portstatus[portname] += "BLUPD OK ";
UpdateTextBox();
}
else
{
up.__reboot();
UpdateTextBox();
}
up.close();
if (validcomms)
{
return;
}
}
}
var ports = getPortByVPidInt(txt_vid.Text, txt_pid.Text, txt_int.Text);
if (!ports.Contains(portname))
{
portstatus[portname] += "NOTML OK ";
UpdateTextBox();
return;
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
portstatus[portname] += ASCIIEncoding.ASCII
.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim()
.TrimEnd(new char[] { '\0', '\r', '\n' });
UpdateTextBox();
}
//DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
if (bldone)
{
portstatus[portname] += "MLBLUPD OK";
}
UpdateTextBox();
}
catch (Exception ex)
{
portstatus[portname] += "MLEX ";
UpdateTextBox();
}
}
catch (Exception ex)
{
portstatus[portname] += "EX!! ";
UpdateTextBox();
}
UpdateTextBox();
}
