private void clientdata(IAsyncResult ar)
{
var client = ((UdpClient)ar.AsyncState);
if (client == null || client.Client == null)
{
return;
}
try
{
var port = ((IPEndPoint)client.Client.LocalEndPoint).Port;
var udpclient = new UdpSerial(client);
var mav = new MAVLinkInterface();
mav.BaseStream = udpclient;
MainV2.comPort = mav;
MainV2.Comports.Add(mav);
mav.Open(false, true);
mav.getParamList();
//mav.getParamListAsync(mav.MAV.sysid, mav.MAV.compid).ConfigureAwait(false);
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show("Timeout waiting for autoscan/no mavlink device connected");
return;
}
}
MAVLinkInterface com2 = new MAVLinkInterface();
com2.BaseStream.PortName = Comms.CommsSerialScan.portinterface.PortName;
com2.BaseStream.BaudRate = Comms.CommsSerialScan.portinterface.BaudRate;
com2.Open(true);
MainV2.Comports.Add(com2);
bindingSource1.ResetBindings(false);
}
private void BUT_connect_Click(object sender, EventArgs e)
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show("Timeout waiting for autoscan/no mavlink device connected");
return;
}
}
MAVLinkInterface com2 = new MAVLinkInterface();
com2.BaseStream.PortName = Comms.CommsSerialScan.portinterface.PortName;
com2.BaseStream.BaudRate = Comms.CommsSerialScan.portinterface.BaudRate;
com2.Open(true);
MainV2.Comports.Add(com2);
// CMB_mavs.DataSource = MainV2.Comports;
//CMB_mavs.DataSource
updateicons();
bindingSource1.ResetBindings(false);
}
private void clientdata(IAsyncResult ar)
{
var client = ((UdpClient)ar.AsyncState);
if (client == null || client.Client == null)
{
return;
}
try
{
var port = ((IPEndPoint)client.Client.LocalEndPoint).Port;
var udpclient = new UdpSerial(client);
var mav = new MAVLinkInterface();
mav.BaseStream = udpclient;
MainV2.comPort = mav;
MainV2.Comports.Add(mav);
mav.Open(false, true);
mav.getParamList();
Forms.Device.BeginInvokeOnMainThread(() =>
{
});
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
}
}
private void clientdata(IAsyncResult ar)
{
var client = ((UdpClient)ar.AsyncState);
if (client == null || client.Client == null)
{
return;
}
try
{
var port = ((IPEndPoint)client.Client.LocalEndPoint).Port;
var udpclient = new UdpSerial(client);
var mav = new MAVLinkInterface();
mav.BaseStream = udpclient;
MainV2.comPort = mav;
MainV2.Comports.Add(mav);
mav.Open(false, true);
mav.getParamList();
Forms.Device.BeginInvokeOnMainThread(() =>
{
});
Task.Run(() =>
{
while (true)
{
try
{
while (mav.BaseStream.BytesToRead < 10 || mav.giveComport == true)
{
Thread.Sleep(20);
}
var packet = mav.readPacket();
mav.MAV.cs.UpdateCurrentSettings(null);
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
Thread.Sleep(10);
}
}
});
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
}
}
private void Connection(string IP, int port)
{
try
{
// 카메라
webControl1.Source = new System.Uri("http://" + IP + ":8080/?action=stream");
webControl2.Source = new System.Uri("http://" + IP + ":8081/?action=stream");
// 구글맵
webControl3.Source = new System.Uri("http://" + IP + ":8080/gmap.html");
// 서버 접속
Client = new TcpClient();
Client.Connect(IP, port);
stream = Client.GetStream();
Connected = true;
Reader = new StreamReader(stream);
Writer = new StreamWriter(stream);
ReceiveThread = new Thread(new ThreadStart(Receive));
ReceiveThread.Start();
button1.Text = "Disconnent";
textBox1.ReadOnly = true;
textBox2.ReadOnly = true;
textBox3.ReadOnly = true;
radioButton1.Checked = true;
radioButton1.Text = "서버 : Connected";
//조이스틱
joystick.PresetValues();
timer1.Start();
// APM 접속
comPort.BaseStream = new TcpSerial();
comPort.BaseStream.Host = IP;
comPort.BaseStream.Port = textBox3.Text;
comPort.MAV.cs.ResetInternals();
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.giveComport = false;
comPort.Open(true);
if (comPort.BaseStream.IsOpen)
{
radioButton2.Checked = true;
radioButton2.Text = "보드 : Connected";
System.Threading.ThreadPool.QueueUserWorkItem(mainloop);
hud1.Enabled = true;
hud1.Visible = true;
}
else
{
about_blank();
disconnect();
throw new Exception("APM 접속 실패");
}
mode = 1360; // 수동 조종 (1360: 수동조종, 1361: 자세제어)
flap = 1400; // OFF (1100: ON, 1400:OFF)
servo1 = 1700; // TRIM
servo2 = 1500; // TRIM
joystickthread = new Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
Priority = ThreadPriority.AboveNormal,
Name = "Main joystick sender"
};
joystickthread.Start();
// 시리얼 리더
serialreaderthread = new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader",
Priority = ThreadPriority.AboveNormal
};
serialreaderthread.Start();
}
catch (Exception e)
{
MessageBox.Show(e.Message);
}
}
private void pb_connect_Click(object sender, EventArgs e)
{
//pb_connect.BackgroundImage = global::GCSServer.Properties.Resources.disconnect;
comPort.giveComport = false;
log.Info("MenuConnect Start");
//lb_log.Items.Add("MenuConnect Start");
// sanity check
if (comPort.BaseStream.IsOpen && comPort.MAV.cs.groundspeed > 4)
{
if (DialogResult.No == MessageBox.Show(Strings.Stillmoving, Strings.Disconnect, MessageBoxButtons.YesNo))
{
return;
}
}
try
{
log.Info("Cleanup last logfiles");
//lb_log.Items.Add("Cleanup last logfiles");
// cleanup from any previous sessions
if (comPort.logfile != null)
{
comPort.logfile.Close();
}
if (comPort.rawlogfile != null)
{
comPort.rawlogfile.Close();
}
}
catch (Exception ex)
{
MessageBox.Show(Strings.ErrorClosingLogFile + ex.Message, Strings.ERROR);
}
comPort.logfile = null;
comPort.rawlogfile = null;
// decide if this is a connect or disconnect
#region DISCONNECT
// IF BUAT DISCONNECT, dont bother
if (comPort.BaseStream.IsOpen)
{
log.Info("We are disconnecting");
//lb_log.Items.Add("Disconnecting...");
try
{
//if (speechEngine != null) // cancel all pending speech
// speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
//// now that we have closed the connection, cancel the connection stats
//// so that the 'time connected' etc does not grow, but the user can still
//// look at the now frozen stats on the still open form
//try
//{
// // if terminal is used, then closed using this button.... exception
// if (this.connectionStatsForm != null)
// ((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
//}
//catch { }
//// refresh config window if needed
//if (MyView.current != null)
//{
// if (MyView.current.Name == "HWConfig")
// MyView.ShowScreen("HWConfig");
// if (MyView.current.Name == "SWConfig")
// MyView.ShowScreen("SWConfig");
//}
//try
//{
// System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback)delegate
// {
// try
// {
// MissionPlanner.Log.LogSort.SortLogs(Directory.GetFiles(Form1.LogDir, "*.tlog"));
// }
// catch { }
// }
// );
//}
//catch { }
//ganti gambar connect
//this.btn_Start.Text = "CONNECT";
changeConnectStatusDisplay("CONNECT");
}
#endregion
#region CONNECT
else
{
log.Info("We are connecting");
//lb_log.Items.Add("Connecting....");
switch (cb_source.Text)
{
//case "TCP":
// comPort.BaseStream = new TcpSerial();
// break;
//case "UDP":
// comPort.BaseStream = new UdpSerial();
// break;
//case "UDPCl":
// comPort.BaseStream = new UdpSerialConnect();
// break;
case "AUTO": //kalau auto defaultnya pake serial port
default:
comPort.BaseStream = new SerialPort();
break;
}
//RESET current state ,dont bother
comPort.MAV.cs.ResetInternals();
//cleanup any log being played, dont bother
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
{
comPort.logplaybackfile.Close();
}
comPort.logplaybackfile = null;
try
{
// do autoscan
if (cb_source.Text == "AUTO")
{
//Panggil scan supaya ngisi variable portinterface
CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
//klo portnya ga ketemu2 return dari fungsi dan say fail
while (CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
MessageBox.Show(Strings.Timeout);
//_connectionControl.IsConnected(false);
return;
}
}
//ambil portname dan baud lgs dari variable portinterface
//_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
//_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
cb_source.Text = CommsSerialScan.portinterface.PortName;
cb_baudrate.Text = CommsSerialScan.portinterface.BaudRate.ToString();
}
log.Info("Set Portname");
// set port, then options
comPort.BaseStream.PortName = cb_source.Text;
log.Info("Set Baudrate");
try
{
comPort.BaseStream.BaudRate = int.Parse(cb_baudrate.Text);
}
catch (Exception exp)
{
log.Error(exp);
}
//lb_log.Items.Add("Port Name : " + cb_source.Text + ",Baudrate : " + cb_baudrate.Text);
// prevent serialreader from doing anything
comPort.giveComport = true;//jika true maka exclusive use
log.Info("About to do dtr if needed");
// reset on connect logic. ,buat DTR - pentingkah??
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs , dont bother
try
{
Directory.CreateDirectory(Form1.LogDir);
comPort.logfile = new BufferedStream(File.Open(Form1.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(Form1.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog");
}
catch (Exception exp2) { log.Error(exp2); MessageBox.Show(Strings.Failclog); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
#region Connectnya
// do the connect - CONNECT pake mavlink
comPort.Open(false);
if (!comPort.BaseStream.IsOpen)//klo g open maka close yg exisitng, mungkin gara2 ngeunplug tanpa disconnect
{
log.Info("comport is closed. existing connect");
try
{
//_connectionControl.IsConnected(false);
//UpdateConnectIcon();
changeConnectStatusDisplay("CONNECT");
comPort.Close();
}
catch { }
return;
}
//-------------------------NANTI AJA
//// KALAU ADA ID lebih dari satu maka bisa pilih yg mana, masukin ke sysidcurrent
//// 3dr radio is hidden as no hb packet is ever emitted
//if (comPort.sysidseen.Count > 1)
//{
// // we have more than one mav
// // user selection of sysid
// MissionPlanner.Controls.SysidSelector id = new SysidSelector();
// id.ShowDialog();
//}
#endregion
comPort.getParamList();
#region masalah firmware
//// detect firmware we are conected to.
//if (comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
//{
// _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
//}
//else if (comPort.MAV.cs.firmware == Firmwares.Ateryx)
//{
// _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
//}
//else if (comPort.MAV.cs.firmware == Firmwares.ArduRover)
//{
// _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
//}
//else if (comPort.MAV.cs.firmware == Firmwares.ArduPlane)
//{
// _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
//}
//// check for newer firmware
//var softwares = Firmware.LoadSoftwares();
//if (softwares.Count > 0)
//{
// try
// {
// string[] fields1 = comPort.MAV.VersionString.Split(' ');
// foreach (Firmware.software item in softwares)
// {
// string[] fields2 = item.name.Split(' ');
// // check primare firmware type. ie arudplane, arducopter
// if (fields1[0] == fields2[0])
// {
// Version ver1 = VersionDetection.GetVersion(comPort.MAV.VersionString);
// Version ver2 = VersionDetection.GetVersion(item.name);
// if (ver2 > ver1)
// {
// Common.MessageShowAgain(Strings.NewFirmware, Strings.NewFirmwareA + item.name + Strings.Pleaseup);
// break;
// }
// // check the first hit only
// break;
// }
// }
// }
// catch (Exception ex) { log.Error(ex); }
//}
#endregion
#region Miscellaneous
//FlightData.CheckBatteryShow();
//MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Connect", comPort.MAV.cs.firmware.ToString(), comPort.MAV.param.Count.ToString());
//MissionPlanner.Utilities.Tracking.AddTiming("Connect", "Connect Time", (DateTime.Now - connecttime).TotalMilliseconds, "");
//MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Baud", comPort.BaseStream.BaudRate.ToString(), "");
// save the baudrate for this port
config[cb_baudrate.Text + "_BAUD"] = cb_baudrate.Text;
this.Text = "GCS Server " + comPort.MAV.VersionString;
//// refresh config window if needed
//if (MyView.current != null)
//{
// if (MyView.current.Name == "HWConfig")
// MyView.ShowScreen("HWConfig");
// if (MyView.current.Name == "SWConfig")
// MyView.ShowScreen("SWConfig");
//}
//// load wps on connect option.
//if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
//{
// // only do it if we are connected.
// if (comPort.BaseStream.IsOpen)
// {
// MenuFlightPlanner_Click(null, null);
// FlightPlanner.BUT_read_Click(null, null);
// }
//}
#endregion
//GANTI GAMBR DISCONNECT
// set connected icon
//this.MenuConnect.Image = displayicons.disconnect;
MessageBox.Show(Strings.Done);
//lb_log.Items.Add("Done!");
changeConnectStatusDisplay("DISCONNECT");
}
catch (Exception ex)
{
log.Warn(ex);
try
{
//_connectionControl.IsConnected(false);
//UpdateConnectIcon();
comPort.Close();
}
catch { }
MessageBox.Show("Can not establish a connection\n\n" + ex.Message);
//lb_log.Items.Add("Connection failed");
return;
}
}
#endregion
}
