private void DoUpdateLcd()
{
Lcd.Clear();
if (!Lcd.IsKey3Pressed)
{
Lcd.LcdWriteTime();
List <CalendarItem> CalenderItems = DataManager.GetCalenderItems();
Int32 LineCount = 0;
for (int i = 0; i < 4; i++)
{
if (CalenderItems.Count > i)
{
Lcd.LcdWrite(LineCount++, CalenderItems[i]);
}
}
List <EmailItem> EmailItems = DataManager.GetEmailItems();
if (EmailItems.Count > 0)
{
Lcd.LcdWrite(EmailItems[0]);
}
Lcd.Update();
}
NextUpdateLcd = DateTime.Now.AddMilliseconds(100);
}
static void Shutdown(Motor motorR, Motor motorL)
{
motorR.Off(); //voor de zekerheid dat alle motoren stoppen met draaien na het afsluiten
motorL.Off();
Lcd.Clear(); //het lcd scherm vrijmaken van de text en het vrijgemaakte scherm tonen
Lcd.Update();
}
public override void OnDrawContent()
{
string monoVersion = "Unknown";
Type type = Type.GetType("Mono.Runtime");
if (type != null)
{
MethodInfo displayName = type.GetMethod("GetDisplayName", BindingFlags.NonPublic | BindingFlags.Static);
if (displayName != null)
{
monoVersion = (string)displayName.Invoke(null, null);
}
}
string monoCLR = System.Reflection.Assembly.GetExecutingAssembly().ImageRuntimeVersion;
var currentVersion = UpdateHelper.InstalledVersion();
Point offset = new Point(0, (int)Font.MediumFont.maxHeight);
Point startPos = new Point(0, 0);
Lcd.Clear();
Lcd.WriteText(Font.MediumFont, startPos + offset * 0, "Firmware: " + currentVersion.Firmware, true);
Lcd.WriteText(Font.MediumFont, startPos + offset * 1, "Image: " + currentVersion.Image, true);
Lcd.WriteText(Font.MediumFont, startPos + offset * 2, "Mono version: " + monoVersion.Substring(0, 7), true);
Lcd.WriteText(Font.MediumFont, startPos + offset * 3, "Mono CLR: " + monoCLR, true);
Lcd.WriteText(Font.MediumFont, startPos + offset * 4, "IP: " + WiFiDevice.GetIpAddress(), true);
Lcd.Update();
}
//public static LiquidCrystalI2C Lcd;
private static void LCDFinish(Lcd lcd, string message)
{
lcd.SetCursorPosition(0, 1);
lcd.Write(message);
Thread.Sleep(600);
lcd.Clear();
}
private void DrawItemList()
{
if (!isItemSizeCalculated)
{
CalculateItemSize();
isItemSizeCalculated = true;
}
Lcd.Clear();
Rectangle currentPos = new Rectangle(new Point(0, 0), itemSize);
Rectangle arrowRect = new Rectangle(new Point(Lcd.Width / 2 - arrowWidth / 2, Lcd.Height - arrowHeight), new Point(Lcd.Width / 2 + arrowWidth / 2, Lcd.Height - 1));
Lcd.WriteTextBox(font, currentPos, title, true, Lcd.Alignment.Center);
int i = 0;
while (i != itemsOnScreen)
{
if (i + scrollPos >= items.Count)
{
break;
}
items [i + scrollPos].OnDrawTitle(font, currentPos + itemHeight * (i + 1), i != cursorPos);
i++;
}
Lcd.DrawArrow(arrowRect, Lcd.ArrowOrientation.Down, scrollPos + itemsOnScreen < items.Count);
Lcd.Update();
}
private void DisplayInputMessage(DisplayPiInputMessage message, TimeSpan?endDelay = null)
{
Lcd.Clear();
Lcd.SendMessage($"{message.Author}\n{message.Message}");
Debug.WriteLine(message.ToString());
Task.Delay(endDelay ?? TimeSpan.FromSeconds(3)).Wait();
}
static bool Information(Lcd lcd, Buttons btns)
{
string monoVersion = "Unknown";
Type type = Type.GetType("Mono.Runtime");
if (type != null)
{
MethodInfo displayName = type.GetMethod("GetDisplayName", BindingFlags.NonPublic | BindingFlags.Static);
if (displayName != null)
{
monoVersion = (string)displayName.Invoke(null, null);
}
}
string monoCLR = System.Reflection.Assembly.GetExecutingAssembly().ImageRuntimeVersion;
Point offset = new Point(0, (int)font.maxHeight);
Point startPos = new Point(0, 0);
lcd.Clear();
lcd.WriteText(font, startPos + offset * 0, versionString, true);
lcd.WriteText(font, startPos + offset * 1, "Mono version: " + monoVersion.Substring(0, 7), true);
lcd.WriteText(font, startPos + offset * 2, "Mono CLR: " + monoCLR, true);
lcd.WriteText(font, startPos + offset * 3, "IP: " + WiFiDevice.GetIpAddress(), true);
lcd.Update();
btns.GetKeypress();
return(false);
}
public LCDTest()
{
// RS,RW,E,D4,D5,D6,D7
RaspPiGPIOMemLcdTransferProvider lcdProvider = new RaspPiGPIOMemLcdTransferProvider(
GPIOPins.Pin_P1_07,
GPIOPins.Pin_P1_22,
GPIOPins.Pin_P1_11,
GPIOPins.Pin_P1_12,
GPIOPins.Pin_P1_15,
GPIOPins.Pin_P1_16,
GPIOPins.Pin_P1_18);
string meintext = "Hello World, how are you?";
Lcd lcd = new Lcd(lcdProvider);
lcd.Begin(16, 2);
lcd.Clear();
lcd.Backlight = false;
lcd.SetCursorPosition(0, 0);
lcd.Write(meintext);
//System.Threading.Thread.Sleep (3);
//lcd.Clear();
//lcd.Write("Ahoj Bernie?!");
System.Threading.Thread.Sleep(2000);
int anzahl = meintext.Length;
while (anzahl > 0)
{
lcd.ScrollDisplayLeft();
System.Threading.Thread.Sleep(200);
anzahl--;
}
}
public static void Main()
{
var lcdProvider = new GpioLcdTransferProvider(Stm32F4Discovery.Pins.PD1, Stm32F4Discovery.Pins.PD2,
Stm32F4Discovery.Pins.PD9, Stm32F4Discovery.Pins.PD11,
Stm32F4Discovery.Pins.PD10, Stm32F4Discovery.Pins.PD8);
var lcd = new Lcd(lcdProvider);
lcd.Begin(16, 2); //columns, rows
//znaki specjalne
//http://www.quinapalus.com/hd44780udg.html
var customCharacters = new[]
{
new byte[] { 0x00, 0x0a, 0x15, 0x11, 0x11, 0x0a, 0x04, 0x00 }, //serce
new byte[] { 0x04, 0x02, 0x01, 0x1f, 0x01, 0x02, 0x04, 0x00 } //strzalka
};
//ladowanie znakow specjalnych
for (int i = 0; i < customCharacters.Length; i++)
{
lcd.CreateChar(i, customCharacters[i]);
}
lcd.Clear();
lcd.Write("* Hello World! *");
Thread.Sleep(3000);
// lcd.Clear();
// lcd.Encoding = Encoding.UTF8;
// lcd.Write("ĄąĆćĘꣳŃńÓ󌜯ż");
// Thread.Sleep(3000);
lcd.Clear();
lcd.WriteByte(0); //pierwszy znak specjalny
Thread.Sleep(2000);
lcd.WriteByte(1); //drugi znak specjalny
Thread.Sleep(3000);
//nastepna linia
lcd.SetCursorPosition(0, 1);
lcd.Write("# Bye... #");
}
public static void Main(string[] args)
{
new Motor(MotorPort.OutA).Off();
Lcd lcd = new Lcd();
lcd.ShowPicture(MonoPicture.Picture);
Font f = Font.MediumFont;
Point offset = new Point(0, 25);
Point p = new Point(10, Lcd.Height - 75);
Point boxSize = new Point(100, 24);
Rectangle box = new Rectangle(p, p + boxSize);
ButtonEvents buts = new ButtonEvents();
int val = 7;
buts.EnterPressed += () =>
{
lcd.Clear();
lcd.WriteTextBox(f, box + offset * 0, "Value = " + val.ToString(), true);
lcd.WriteTextBox(f, box + offset * 1, "Hello World!!", false);
lcd.WriteTextBox(f, box + offset * 2, "Hello World!!", true);
lcd.Update();
val++;
};
buts.UpPressed += () =>
{
lcd.Clear();
lcd.DrawBitmap(monoLogo, new Point((int)(Lcd.Width - monoLogo.Width) / 2, 10));
lcd.Update();
};
buts.DownPressed += () =>
{
lcd.TakeScreenShot();
lcd.Clear();
lcd.WriteTextBox(f, box + offset * 1, "Screen Shot", true);
lcd.Update();
};
buts.EscapePressed += () => stopped.Set();
stopped.WaitOne();
lcd.WriteTextBox(f, box + offset * 0, "Done!", true);
lcd.Update();
}
private void UpdateCalib()
{
var time = Clock.Instance.ElapsedMilliseconds / 1000;
var test = _bno.GetCalibration();
_lcd.Clear();
_lcd.Write("S:" + test[0] + " G:" + test[1] + " A:" + test[2] + " M:" + test[3]);
_lcd.SetCursorPosition(0, 1);
_lcd.Write("T+ " + time + " s");
Thread.Sleep(_delay);
}
private void OnExit(QuestionDialog dialog)
{
if (dialog.IsPositiveSelected)
{
Parent.SuspendButtonEvents();
Lcd.Clear();
Lcd.WriteText(Font.MediumFont, new Point(0, 0), "Shutting down...", true);
Lcd.Update();
Buttons.LedPattern(LedColor.Red, LedEffect.Normal);
Brick.TurnOff();
}
}
static bool ShowProgramOptions(string filename, Lcd lcd, Buttons btns)
{
string runString = "Run Program";
string runInDebugString = "Debug Program";
string deleteString = "Delete Program";
var dialog = new SelectDialog <string> (Font.MediumFont, lcd, btns, new string[] {
runString,
runInDebugString,
deleteString
}, "Options", true);
dialog.Show();
if (!dialog.EscPressed)
{
string selection = dialog.GetSelection();
if (selection == runString)
{
lcd.Clear();
lcd.DrawBitmap(monoLogo, new Point((int)(Lcd.Width - monoLogo.Width) / 2, 5));
Rectangle textRect = new Rectangle(new Point(0, Lcd.Height - (int)Font.SmallFont.maxHeight - 2), new Point(Lcd.Width, Lcd.Height - 2));
lcd.WriteTextBox(Font.SmallFont, textRect, "Running...", true, Lcd.Alignment.Center);
lcd.Update();
MenuAction = () => RunAndWaitForProgram(filename, false);
}
if (selection == runInDebugString)
{
MenuAction = () => RunAndWaitForProgram(filename, true);
}
if (selection == deleteString)
{
var infoDialog = new InfoDialog(font, lcd, btns, "Deleting File. Please wait", false, "Deleting File");
infoDialog.Show();
if (ProcessHelper.RunAndWaitForProcess("rm", filename) == 0)
{
infoDialog = new InfoDialog(font, lcd, btns, "Program deleted", true, "Deleting File");
}
else
{
infoDialog = new InfoDialog(font, lcd, btns, "Error deleting program", true, "Deleting File");
}
infoDialog.Show();
}
}
else
{
return(false);
}
return(true);
}
private void OnUpdateCompleted(StepDialog dialog)
{
if (dialog.ExecutedOk)
{
Parent.SuspendButtonEvents();
Lcd.Clear();
Lcd.WriteText(Font.MediumFont, new Point(0, 0), "Shutting down...", true);
Lcd.Update();
Buttons.LedPattern(2);
Brick.TurnOff();
var whyAreYouHereDialog = new InfoDialog("Cut the power", "Reboot failed");
whyAreYouHereDialog.Show();
Lcd.Clear();
new ManualResetEvent(false).WaitOne();
}
}
private static void initializeLCD(I2CBus bus)
{
// Use I2C provider
// Default configuration coresponds to Adafruit's LCD backpack
// Initialize provider (multiple devices can be attached to same bus)
var lcdProvider = new MCP23008LcdTransferProvider(_bus);
// Create the LCD interface
LCD = new Lcd(lcdProvider);
// Set the LCD Color property = Led. This is for cleaner code only.
//LCD.Color = Led;
// Set up the LCD's number of columns and rows:
LCD.Begin(20, 4);
// Clear the LCD
LCD.Clear();
}
/// <summary>
/// LCD Thread
/// </summary>
private void LCDThread()
{
Thread.CurrentThread.IsBackground = true;
Font f = Font.MediumFont;
Point offset = new Point(0, 25);
Point p = new Point(10, Lcd.Height - 75);
Point boxSize = new Point(100, 24);
Rectangle box = new Rectangle(p, p + boxSize);
while (!stopLCDThread.WaitOne(lCDThreadSampleTime))
{
Lcd.Clear();
Lcd.WriteTextBox(f, box, "Light = " + reflectedLight, true);
Lcd.WriteTextBox(f, box + offset, "Steer " + currentSteeringAngle, false);
Lcd.Update();
}
}
private void StartProgram()
{
if (ProgramManager.RunningProgram == null)
{
if (!useEscToStop)
{
Parent.SuspendButtonEvents();
}
Lcd.Clear();
Lcd.Update();
ProgramManager.StartProgram(program, inAot, OnDone);
}
else
{
//Show some dialog
}
}
public static void Main(string[] args)
{
EventWaitHandle stopped = new ManualResetEvent(false);
int centerX = Lcd.Width / 2;
int centerY = Lcd.Height / 2;
Point center = new Point(centerX, centerY);
int refreshRate = 100;
bool run = true;
ButtonEvents buts = new ButtonEvents();
buts.EscapePressed += () => {
stopped.Set();
run = false;
};
while (run)
{
for (int k = 0; k < 4; k++)
{
for (int i = 1; i < centerY; i++)
{
Lcd.Clear();
Lcd.DrawCircle(center, (ushort)i, true, true);
Lcd.Update();
stopped.WaitOne(refreshRate);
}
for (int i = centerY - 1; i > 0; i--)
{
Lcd.Clear();
Lcd.DrawCircle(center, (ushort)i, true, true);
Lcd.Update();
stopped.WaitOne(refreshRate);
}
}
for (int k = 0; k < 20; k++)
{
Lcd.Clear();
Lcd.DrawHLine(center, centerX / 2, true);
stopped.WaitOne(refreshRate);
Lcd.Clear();
Lcd.DrawVLine(center, centerY / 2, true);
}
}
}
const int PWM_ABS_MAX = 60; //完全停止用モータ制御PWM絶対最大値
public static void Main()
{
// 構造体の宣言と初期化
var body = new EV3body();
EV3body.init(ref body);
// Bluetooth関係のETロボコン拡張機能を有効にする
Brick.InstallETRoboExt();
// センサーおよびモータに対して初回アクセスをしておく
body.color.Read();
body.gyro.Read();
body.motorL.SetPower(0);
body.motorR.SetPower(0);
body.motorT.SetPower(0);
body.motorL.ResetTacho();
body.motorR.ResetTacho();
body.motorT.ResetTacho();
Balancer.init();
// スタート待ち
wait_start(body);
try{
run(body);
}catch (Exception) {
var dialogE = new InfoDialog("Exception.");
dialogE.Show(); //Wait for enter to be pressed
}
body.motorL.Off();
body.motorR.Off();
body.motorT.Off();
Lcd.Clear();
Lcd.Update();
if (Debugger.IsAttached)
{
Brick.ExitToMenu(); // MonoBrickメインメニューへ戻る
}
}
public void ShowError(string message)
{
if (message == null)
{
throw new ArgumentNullException("message");
}
bool split = message.Length > Columns;
string line1 = split ? message.Substring(0, Columns) : message;
_lcd.Clear();
_lcd.Write(line1);
if (split)
{
string line2 = message.Substring(Columns, message.Length - Columns);
_lcd.SetCursorPosition(0, 1);
_lcd.Write(line2);
}
}
static bool Shutdown(Lcd lcd, Buttons btns)
{
var dialog = new QuestionDialog(Font.MediumFont, lcd, btns, "Are you sure?", "Shutdown EV3");
dialog.Show();
if (dialog.IsPositiveSelected)
{
lcd.Clear();
lcd.WriteText(font, new Point(0, 0), "Shutting down...", true);
lcd.Update();
using (UnixDevice dev = new UnixDevice("/dev/lms_power"))
{
dev.IoCtl(0, new byte[0]);
}
btns.LedPattern(2);
MenuAction = () => ProcessHelper.RunAndWaitForProcess("/lejos/bin/exit");
return(true);
}
return(false);
}
private void RedrawMenu()
{
lcd.Clear();
Rectangle currentPos = new Rectangle(new Point(0, 0), itemSize);
Rectangle arrowRect = new Rectangle(new Point(Lcd.Width / 2 - arrowWidth / 2, Lcd.Height - arrowHeight), new Point(Lcd.Width / 2 + arrowWidth / 2, Lcd.Height - 1));
lcd.WriteTextBox(font, currentPos, title, true, Lcd.Alignment.Center);
int i = 0;
while (i != itemsOnScreen)
{
if (i + scrollPos >= menuItems.Length)
{
break;
}
menuItems [i + scrollPos].Draw(font, currentPos + itemHeight * (i + 1), i != cursorPos);
i++;
}
lcd.DrawArrow(arrowRect, Lcd.ArrowOrientation.Down, scrollPos + itemsOnScreen < menuItems.Length);
lcd.Update();
}
public static void Main(string[] args)
{
Bitmap monoLogo = Bitmap.FromResouce(Assembly.GetExecutingAssembly(), "monologo.bitmap");
EventWaitHandle stopped = new ManualResetEvent(false);
Lcd.ShowPicture(MonoPicture.Picture);
Font f = Font.MediumFont;
Point offset = new Point(0, 25);
Point p = new Point(10, Lcd.Height - 75);
Point boxSize = new Point(100, 24);
Rectangle box = new Rectangle(p, p + boxSize);
using (ButtonEvents buts = new ButtonEvents())
{
int val = 7;
buts.EnterPressed += () => {
Lcd.Clear();
Lcd.WriteTextBox(f, box + offset * 0, "Value = " + val.ToString(), true);
Lcd.WriteTextBox(f, box + offset * 1, "Hello EV3!!", false);
Lcd.WriteTextBox(f, box + offset * 2, "Hello World!!", true);
Lcd.Update();
val++;
};
buts.UpPressed += () => {
Lcd.Clear();
Lcd.DrawBitmap(monoLogo, new Point((int)(Lcd.Width - monoLogo.Width) / 2, 10));
Lcd.Update();
};
buts.DownPressed += () => {
Lcd.TakeScreenShot();
Lcd.Clear();
Lcd.WriteTextBox(f, box + offset * 1, "Screen Shot", true);
Lcd.Update();
};
buts.EscapePressed += () => stopped.Set();
stopped.WaitOne();
}
Lcd.WriteTextBox(f, box + offset * 0, "Done!", true);
Lcd.Update();
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
string fbToken = "CAACpSl1Qm3cBAHAMyZAY...";//This is not valied
var fb = new FacebookClient(fbToken);
Lcd lcd = new Lcd();
Font f = Font.MediumFont;
Point offset = new Point(0, 25);
Point p = new Point(10, Lcd.Height - 75);
Point boxSize = new Point(100, 24);
Rectangle box = new Rectangle(p, p + boxSize);
var colorSensor = new ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Enter post value");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.EnterPressed += () => {
Color color = colorSensor.ReadColor();
lcd.Clear();
lcd.WriteTextBox(f, box + offset * 0, "Color: " + color, true);
lcd.WriteTextBox(f, box + offset * 1, "Send to Facebook" + color, true);
lcd.Update();
colorSensor.ReadColor();
var me = fb.Get("monobrick.dk") as JsonObject;
var uid = me["id"];
string url = string.Format("{0}/{1}", uid, "feed");
var argList = new Dictionary <string, object>();
argList["message"] = "A program running MonoBrick Firmware was aked to read the color sensor. Color read: " + colorSensor.ReadColor().ToString();
fb.Post(url, argList);
};
terminateProgram.WaitOne();
}
public static void Main()
{
var bus = new I2CBus();
var lcdProvider = new MCP23008LcdTransferProvider(bus);
var lcd = new Lcd(lcdProvider);
lcd.Begin(16, 2);
lcd.Backlight = true;
lcd.Write("Payload McPayload Face v1.0");
for (int i = 0; i < 12; i++)
{
lcd.ScrollDisplayLeft();
Thread.Sleep(200);
}
Thread.Sleep(1000);
lcd.Clear();
LCDFinish(lcd, "ACC DemoSat 2016");
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
//Lcd = new LiquidCrystalI2C(0x01, 16, 2);
//Lcd.write("Testing!");
lcd.Write("Starting logger.");
var logger = new Logger();
Debug.Print("Starting logger.");
logger.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Starting clock...");
Rebug.Print("Starting clock.");
Clock.Instance.Start();
LCDFinish(lcd, "Done.");
//THIS SECTION CREATES/INITIALIZES THE PRESSURE SENSOR
//lcd.Write("Init BMP sensor.");
//Rebug.Print("Initializing BMP Sensor ");
//var bmploop = new PressureTempAltitudeUpdater(bus, delay: 1000);
//LCDFinish(lcd);
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
lcd.Write("Init BNO sensor...");
Rebug.Print("Initializing BNO Sensor ");
var bno = new SerialBno(SerialPorts.COM1, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
var bnoloop = new SerialBnoUpdater(bno, delay: 1000);
LCDFinish(lcd, "Done.");
////Starts up the expensive mag
lcd.Write("Init exp. mag...");
Rebug.Print("Initializing expensive magnetometer on com3");
var expensiveMagLoop = new ExpensiveMagUpdater(delay: 1000);
LCDFinish(lcd, "Done.");
lcd.Write("Init calib disp.");
Rebug.Print("Initializing BNO calibration display loop");
var printBnoCalib = new BNOCalibUpdate(bno, lcd, delay: 1000);
LCDFinish(lcd, "Done.");
//////THIS SECTION CREATES/INITIALIZES THE MAGNETOMETER UPDATER
var mag_dump_size = 18432;
lcd.Write("Init fast mag...");
Rebug.Print("Initializing fast mag dump collector with a size of " + mag_dump_size + "bytes.");
var customMagLoop = new CustomMagUpdater(mag_dump_size, AnalogChannels.ANALOG_PIN_A0);
LCDFinish(lcd, "Done.");
//Thread.Sleep(5000);
lcd.Write("Init complete...");
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
LCDFinish(lcd, "Continuing boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
lcd.Write("Start memory monitor...");
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
LCDFinish(lcd, "Done.");
////THIS STARTS THE Mag dump update
lcd.Write("Start f.mag loop...");
Rebug.Print("Starting fast mag dump...");
customMagLoop.Start();
LCDFinish(lcd, "Done.");
////THIS STARTS THE BNO SENSOR UPDATE
lcd.Write("Start bno loop...");
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
LCDFinish(lcd, "Done.");
//THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bmp loop");
//Rebug.Print("Starting bmp sensor updates...");
//bmploop.Start();
//LCDFinish(lcd);
//THIS STARTS THE EXPENSIVE MAG UPDATE
lcd.Write("Start e.mag loop...");
Rebug.Print("Starting expensive mag updates...");
expensiveMagLoop.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Boot successful!");
LCDFinish(lcd, "Entering run state.");
Rebug.Print("Flight computer boot successful.");
printBnoCalib.Start();
}
static void Main(string[] args)
{
ButtonEvents buttons = new ButtonEvents();
TcpListener server = null;
TcpClient client = null;
bool run = true;
buttons.EscapePressed += () =>
{
if (server != null)
{
server.Stop();
}
if (client != null)
{
client.Close();
}
run = false;
};
Log("KinematicServer 1.5");
float mainRatio = 46.667f;
float secondaryRatio = 40.0f;
float handRatio = 8f;
#if DUMPLOGS
StringBuilder logs = new StringBuilder();
#endif
using (RobotMotors motors = new RobotMotors(MotorPort.OutA, MotorPort.OutB, MotorPort.OutC)
{
MainMotorRatio = mainRatio, SecondaryMotorRatio = secondaryRatio, HandMotorRatio = handRatio
})
{
EV3TouchSensor sensor1 = new EV3TouchSensor(SensorPort.In1);
EV3ColorSensor sensor2 = new EV3ColorSensor(SensorPort.In2);
sensor2.Mode = ColorMode.Reflection;
int sensor2max = -1;
int pause = 0;
buttons.EnterReleased += () =>
{
pause++;
};
int currentPause = 0;
motors.Calibrate((RobotMotors.CalibrationSteps step) =>
{
if (!run)
{
return(true);
}
switch (step)
{
case RobotMotors.CalibrationSteps.Main:
if (sensor1.IsPressed())
{
return(true);
}
break;
case RobotMotors.CalibrationSteps.Pause:
if (currentPause != pause)
{
currentPause = pause;
return(true);
}
break;
case RobotMotors.CalibrationSteps.Secondary:
int sensor2reading = sensor2.ReadRaw();
if (sensor2reading > 19 &&
sensor2reading < sensor2max) // moving away from sweet spot (but remove noise)
{
#if DUMPLOGS
logs.Append(string.Format("{0}:{1}:{2}\n\n", motors.GetRawTacho(MotorPort.OutB), sensor2reading, sensor2max));
logs.Append("-----------------\n\n");
#endif
return(true);
}
else if (sensor2reading > sensor2max)
{
sensor2max = sensor2reading; // keep going when it increases
}
#if DUMPLOGS
logs.Append(string.Format("{0}:{1}:{2}\n\n", motors.GetRawTacho(MotorPort.OutB), sensor2reading, sensor2max));
#endif
break;
case RobotMotors.CalibrationSteps.SecondaryReset:
sensor2max = -1;
#if DUMPLOGS
logs.Append("***********************\n\n");
#endif
break;
}
/*
* Lcd.Clear();
* int line = 0;
* Lcd.WriteText(Font.MediumFont, new Point(0, line), "Calibrating...", true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Refl.: {0} / {1}", sensor2.ReadRaw(), sensor2max), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("A: {0}", motors.GetRawTacho(MotorPort.OutA)), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("B: {0}", motors.GetRawTacho(MotorPort.OutB)), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.Update();
*/
return(false);
});
}
// stop here
if (!run)
{
return;
}
// main loop
Lcd.Clear();
Lcd.Update();
Log("Starting...");
try
{
using (RobotMotors motors = new RobotMotors(MotorPort.OutA, MotorPort.OutB, MotorPort.OutC)
{
MainMotorRatio = mainRatio, SecondaryMotorRatio = secondaryRatio, HandMotorRatio = handRatio
})
{
// Set the TcpListener on port 13000.
Int32 port = 13000;
// TcpListener server = new TcpListener(port);
server = new TcpListener(IPAddress.Any, port);
// Start listening for client requests.
server.Start();
// Buffer for reading data
Byte[] bytes = new Byte[256];
String data = null;
// Enter the listening loop.
while (run)
{
Log("Waiting for a connection... ");
// Perform a blocking call to accept requests.
// You could also user server.AcceptSocket() here.
client = server.AcceptTcpClient();
Log("Connected!");
#if DUMPLOGS
// DEBUG
byte[] logBuffer = Encoding.ASCII.GetBytes(logs.ToString());
client.GetStream().Write(logBuffer, 0, logBuffer.Length);
#endif
motors.MainMotorSpeed = 64;
motors.SecondaryMotorSpeed = 64;
motors.HandMotorSpeed = 127;
data = null;
// Get a stream object for reading and writing
NetworkStream stream = client.GetStream();
int read;
string message = "";
// Loop to receive all the data sent by the client.
int commandCount = 0;
while (run && (read = stream.Read(bytes, 0, bytes.Length)) != 0)
{
// Translate data bytes to a ASCII string.
data = System.Text.Encoding.ASCII.GetString(bytes, 0, read);
for (int i = 0; i < read; i++)
{
char c = data[i];
if (c != '\0')
{
message += c;
}
else
{
String[] rawCommand = message.Split(';');
// get message type
switch (rawCommand[0])
{
case "UP":
motors.Queue(new HandCommand(true));
commandCount = 0;
break;
case "DWN":
motors.Queue(new HandCommand(false));
commandCount = 0;
break;
case "MOV":
commandCount++;
float mainRotation = float.Parse(rawCommand[1]);
float secondaryRotation = float.Parse(rawCommand[2]);
motors.Queue(
new MoveCommand {
MainRotation = (int)Math.Round(mainRotation, MidpointRounding.AwayFromZero),
SecondaryRotation = (int)Math.Round(secondaryRotation, MidpointRounding.AwayFromZero)
});
break;
}
//
Lcd.Clear();
int line = 0;
Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Count: {0}", commandCount), true);
line += (int)(Font.MediumFont.maxHeight);
Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Last: {0}", message), true);
line += (int)(Font.MediumFont.maxHeight);
Lcd.Update();
//
message = "";
}
}
}
}
}
}
catch (Exception ex)
{
Log(ex.Message);
if (client.Connected)
{
byte[] buffer = Encoding.ASCII.GetBytes(ex.Message);
client.GetStream().Write(buffer, 0, buffer.Length);
}
throw;
}
finally
{
// Stop listening for new clients.
server.Stop();
}
}
public static void Main()
{
serialPort.ReadTimeout = 0;
string InitMessage = "Initializing...";
// set up the LCD's number of columns and rows:
lcd.Begin(columns: 16, lines: 2);
lcd.Backlight = true;
lcd.Clear();
lcd.Clear();
lcd.SetCursorPosition(0, 0);
// Print a message to the LCD.
lcd.Write(" *** ARMING ***");
Thread.Sleep(250);
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("HomeAlarmPlus Pi");
Thread.Sleep(1600);
lcd.Clear();
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write(InitMessage);
Thread.Sleep(1600);
for (int i = 0; i < InitMessage.Length; i++)
{
lcd.ScrollDisplayLeft();
Thread.Sleep(85);
}
lcd.Clear();
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write("HomeAlarmPlus Pi");
MonitorZonesDelegate monitorZones = new MonitorZonesDelegate(MonitorZones);
MonitorMotionSensorDelegate monitorMotion = new MonitorMotionSensorDelegate(MonitorSensors);
SdCardEventLogger.parseConfigFileContents(Alarm.User_Definitions.Constants.ALARM_CONFIG_FILE_PATH);
syncHttpEvents = Stopwatch.StartNew();
InitArrays();
IPAddress = Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress;
Console.DEBUG_ACTIVITY(IPAddress);
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("IP: " + IPAddress + " ");
Thread.Sleep(1000);
SdCardEventLogger.SDCardAccess();
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("Port: " + Alarm.ConfigDefault.Data.Http_port + " ");
Thread.Sleep(1000);
new Thread(Alarm.WebServer.startHttp).Start();
//Time from Raspberry Pi
Debug.Print("Setting Date and Time from Network");
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("Finding RPi-srvr");
Notification.PushingBox.Connect("vPUSHINGBOX");
//Let's notify Pushover
//With extension.replace spaces are replaced with %20 so that is recognized by PHP when posting parameters.
string time = DateTime.Now.ToString();
string ttime = Extension.Replace(time, " ", "%20");
Notification.Pushover.Connect(ttime, Extension.Replace("Netduino Plus Time set", " ", "%20"), Extension.Replace("Time set from Raspberry Pi", " ", "%20"), false);
LastResetCycle = DateTime.Now.ToString("ddd, d MMM yyyy hh:mm:ss tt\r\n");
dLastResetCycle = DateTime.Now;
Thread.Sleep(2000);
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write("Syncing data ");
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("Wunderground ");
parseWeatherData(ttime);
Thread.Sleep(2000);
lcd.Clear();
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write("HomeAlarmPlus Pi");
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("Temp: " + Alarm.Common.Weather_Info.current_temperature + " ");
Thread.Sleep(2000);
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write("SYSTEM READY ");
Debug.Print("ARMED!");
Thread.Sleep(560);
ATTINYx5.Write(true);
lcd.Clear();
int count = 0, sub_count = 0;
while (true)
{
Console.DEBUG_ACTIVITY("Main Method - Memory available: " + Debug.GC(true));
monitorZones();
//monitorMotion();
lcd.Clear();
if (count % 2 == 0)
{
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write(" Date Time");
lcd.SetCursorPosition(column: 0, row: 1);
lcd.Write(DateTime.Now.ToString("MMM dd/yy h:mmtt ").ToUpper());
}
else
{
lcd.SetCursorPosition(column: 0, row: 0);
lcd.Write(" Current Temp");
lcd.SetCursorPosition(column: 0, row: 1);
if (sub_count % 2 == 0)
{
lcd.Write(Alarm.Common.Weather_Info.current_temperature + " " + Alarm.Common.Weather_Info.current_conditions);
}
else
{
lcd.Write("Hi: " + Alarm.Common.Weather_Info.today_high + " Lo: " + Alarm.Common.Weather_Info.today_low);
}
sub_count++;
}
Thread.Sleep(Alarm.Common.Alarm_Constants.ALARM_DELAY_TIME);
double eHours = syncHttpEvents.ElapsedHours;
if (eHours >= Alarm.ConfigDefault.Data.WUNDERGROUND_SYNC_FREQUENCY)
{
parseWeatherData(Extension.Replace(DateTime.Now.ToString(), " ", "%20"));
syncHttpEvents = Stopwatch.StartNew();
}
count++;
}
}
public void Clear()
{
lcd.Clear();
}
private static bool Start(Lcd lcd, Buttons btns)
{
if (taskID == taskFind)
{
t = new Find();
}
else if (taskID == taskEscape)
{
t = new Escape();
}
else
{
//unknown task ID
return(false);
}
//clear previous log messages
LcdConsole.Clear();
//set enemy color
t.enemyColor = enemyColor;
//init
int oldLog = Log.level;
Log.level = Log.LEVEL_ERROR;
lcd.Clear();
Rectangle textRect = new Rectangle(new Point(0, Lcd.Height - (int)font.maxHeight - 2), new Point(Lcd.Width, Lcd.Height - 2));
lcd.WriteTextBox(font, textRect, "initializing...", true, Lcd.Alignment.Center);
lcd.Update();
t.Init();
InfoDialog InitFinishedDialog = new InfoDialog(font, lcd, btns, "Press ENTER to start", true, "Init finished");
InitFinishedDialog.Show();
Log.level = oldLog;
running = true;
ButtonEvents be = new ButtonEvents();
be.EscapePressed += Stop;
try {
t.Start();
}
catch (Exception e) {
InfoDialog dialog = new InfoDialog(font, lcd, btns, e + " Exception caught.", true, "Init finished");
dialog.Show();
return(false);
}
//wait for task to finish
while (running)
{
Thread.Sleep(50);
}
be.EscapePressed -= delegate() {
t.Stop();
running = false;
};
//unregister event
be.EscapePressed -= Stop;
//let the GC free the memory
t = null;
return(true);
}
private static bool Exit(Lcd lcd, Buttons btns)
{
lcd.Clear();
exit = true;
return(true);
}