| public doReboot ( bool bootloadermode = false, bool currentvehicle = true ) : bool | ||
| bootloadermode | bool | reboot into bootloader mode? |
| currentvehicle | bool | use current sysid/compid or scan for it |
| return | bool | |
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\n");
// keep it local
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");
MainV2.comPort.BaseStream.Write("exit\rreboot\r");
try
{
MainV2.comPort.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(8);
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();
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);
// 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();
}
private void start_Terminal(bool px4)
{
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
MainV2.comPort.BaseStream.Close();
setcomport();
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);
t11 = new System.Threading.Thread(delegate()
{
threaderror = false;
threadrun = true;
Console.WriteLine("Terminal thread startup 1 " + threadrun + " " + comPort.IsOpen);
try
{
comPort.Write("\r");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread startup 2 " + threadrun + " " + comPort.IsOpen);
// 100 ms
readandsleep(100);
}
catch (Exception ex)
{
Console.WriteLine("Terminal thread error 3 " + ex.ToString());
threaderror = true;
}
Console.WriteLine("Terminal thread startup 3 " + threadrun + " " + comPort.IsOpen);
try
{
comPort.Write("\n\n\n");
// 1 secs
readandsleep(1000);
comPort.Write("\r\r\r?\r");
}
catch (Exception ex)
{
if (!threaderror)
Console.WriteLine("Terminal thread error 4 " + ex.ToString());
threaderror = true;
}
Console.WriteLine("Terminal thread startup 4 " + threadrun + " " + comPort.IsOpen);
if (!threaderror) setButtonState(true);
while (threadrun && !threaderror)
{
try
{
System.Threading.Thread.Sleep(10);
if (inlogview)
continue;
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex)
{
Console.WriteLine("Terminal thread error 5 " + ex.ToString());
threaderror = true;
}
}
try
{
//comPort.Write("\rreboot\r");
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("Terminal thread close port");
comPort.Close();
}
catch { }
setButtonState(false);
while (threadrun)
{
//stay in thread if threaderror
System.Threading.Thread.Sleep(10);
}
log.Info("Terminal thread exit");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
BUT_ConnectAPM.Enabled = false;
BUT_disconnect.Enabled = true;
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception ex)
{
log.Error(ex);
TXT_terminal.AppendText("Cant open com port\r\n");
return;
}
TXT_terminal.Focus();
}
