private void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (!comPort.IsOpen)
{
return;
}
try
{
lock (thisLock)
{
var data = comPort.ReadExisting();
//Console.Write(data);
if (sw != null)
{
sw.Write(data);
sw.Flush();
}
addText(data);
}
}
catch (Exception)
{
if (!threadrun)
{
return;
}
TXT_terminal.AppendText("Error reading com port\r\n");
}
}
void addText(string data)
{
this.BeginInvoke((System.Windows.Forms.MethodInvoker) delegate()
{
if (this.Disposing)
{
return;
}
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
data = data.TrimEnd('\r'); // else added \n all by itself
data = data.Replace("\0", "");
data = data.Replace((char)0x1b + "[K", ""); // remove control code
TXT_terminal.AppendText(data);
if (data.Contains("\b"))
{
TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
// erase to end of line. in our case jump to end of line
if (data.Contains((char)0x1b + "[K"))
{
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
inputStartPos = TXT_terminal.SelectionStart;
});
}
void addText(string data)
{
this.BeginInvoke((System.Windows.Forms.MethodInvoker) delegate()
{
if (this.Disposing)
{
return;
}
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
data = data.Replace("U3", "");
data = data.Replace("U$", "");
data = data.Replace(@"U""", "");
data = data.Replace("d'`F", "");
data = data.Replace("U.", "");
data = data.Replace("'`", "");
data = data.TrimEnd('\r'); // else added \n all by itself
data = data.Replace("\0", "");
TXT_terminal.AppendText(data);
if (data.Contains("\b"))
{
TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
inputStartPos = TXT_terminal.SelectionStart;
});
}
void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (!comPort.IsOpen)
{
return;
}
try
{
lock (thisLock)
{
System.Threading.Thread.Sleep(20);
byte[] buffer = new byte[256];
int a = 0;
while (comPort.BytesToRead > 0)
{
byte indata = (byte)comPort.ReadByte();
buffer[a] = indata;
if (buffer[a] >= 0x20 && buffer[a] < 0x7f || buffer[a] == (int)'\n' || buffer[a] == (int)'\r')
{
a++;
}
}
addText(ASCIIEncoding.ASCII.GetString(buffer, 0, a + 1));
}
}
catch (Exception) { if (!threadrun)
{
return;
}
TXT_terminal.AppendText("Error reading com port\r\n"); }
}
private void BUT_disconnect_Click(object sender, EventArgs e)
{
try
{
comPort.Close();
TXT_terminal.AppendText("Closed\n");
}
catch { }
}
private void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (!comPort.IsOpen)
{
return;
}
// if btr > 0 then this shouldnt happen
comPort.ReadTimeout = 300;
try
{
lock (thisLock)
{
var buffer = new byte[256];
var a = 0;
while (comPort.IsOpen && comPort.BytesToRead > 0 && !inlogview)
{
var indata = (byte)comPort.ReadByte();
buffer[a] = indata;
if (buffer[a] >= 0x20 && buffer[a] < 0x7f || buffer[a] == '\n' || buffer[a] == 0x1b)
{
a++;
}
if (indata == '\n')
{
break;
}
if (a == (buffer.Length - 1))
{
break;
}
}
addText(Encoding.ASCII.GetString(buffer, 0, a + 1));
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
if (!threadrun)
{
return;
}
TXT_terminal.AppendText("Error reading com port\r\n");
}
}
private void addText(string data)
{
BeginInvoke((MethodInvoker) delegate
{
if (this.Disposing)
{
return;
}
if (inputStartPos > TXT_terminal.Text.Length)
{
inputStartPos = TXT_terminal.Text.Length - 1;
}
if (inputStartPos == -1)
{
inputStartPos = 0;
}
// gather current typed data
string currenttypedtext = TXT_terminal.Text.Substring(inputStartPos,
TXT_terminal.Text.Length - inputStartPos);
// remove typed data
TXT_terminal.Text = TXT_terminal.Text.Remove(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
data = data.TrimEnd('\r'); // else added \n all by itself
data = data.Replace("\0", "");
data = data.Replace((char)0x1b + "[K", ""); // remove control code
TXT_terminal.AppendText(data);
if (data.Contains("\b"))
{
TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
// erase to end of line. in our case jump to end of line
if (data.Contains((char)0x1b + "[K"))
{
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
inputStartPos = TXT_terminal.SelectionStart;
//add back typed text
TXT_terminal.AppendText(currenttypedtext);
});
}
private void addText(string data)
{
Invoke((MethodInvoker) delegate
{
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
data = data.TrimEnd('\r'); // else added \n all by itself
data = data.Replace("\0", " ");
TXT_terminal.AppendText(data);
if (data.Contains("\b"))
{
TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
}
});
}
private void TXT_terminal_KeyDown(object sender, KeyEventArgs e)
{
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
/* if (e.KeyData == Keys.Up || e.KeyData == Keys.Down || e.KeyData == Keys.Left || e.KeyData == Keys.Right)
* {
* e.Handled = true; // ignore it
* }*/
lock (thisLock)
{
switch (e.KeyData)
{
case Keys.Up:
if (history > 0)
{
TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
TXT_terminal.SelectedText = "";
TXT_terminal.AppendText(cmdHistory[--history]);
}
e.Handled = true;
break;
case Keys.Down:
if (history < cmdHistory.Count - 1)
{
TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
TXT_terminal.SelectedText = "";
TXT_terminal.AppendText(cmdHistory[++history]);
}
e.Handled = true;
break;
case Keys.Left:
case Keys.Back:
if (TXT_terminal.SelectionStart <= inputStartPos)
{
e.Handled = true;
}
break;
//case Keys.Right:
// break;
}
}
}
private void startreadthread()
{
Console.WriteLine("Terminal_Load run " + threadrun + " " + comPort.IsOpen);
BUT_disconnect.Enabled = true;
var t11 = new 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);
ChangeConnectStatus(false);
threadrun = false;
return;
}
Console.WriteLine("Terminal thread 3 run " + threadrun + " " + comPort.IsOpen);
while (threadrun)
{
try
{
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(null, null);
}
if (comPort is MAVLinkSerialPort)
{
if (lastsend.AddMilliseconds(500) > DateTime.Now)
{
// 20 hz
((MAVLinkSerialPort)comPort).timeout = 50;
}
else
{
// 5 hz
((MAVLinkSerialPort)comPort).timeout = 200;
}
}
}
catch (Exception ex)
{
Console.WriteLine("Terminal thread 4 " + ex);
}
}
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 (IsDisposed || Disposing)
{
return;
}
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
TXT_terminal.Focus();
}
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 Terminal_Load(object sender, EventArgs e)
{
try
{
if (comPort.IsOpen)
{
comPort.Close();
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.Open();
comPort.toggleDTR();
var t11 = new Thread(delegate()
{
threadrun = true;
var start = DateTime.Now;
while ((DateTime.Now - start).TotalMilliseconds < 2000)
{
try
{
if (comPort.BytesToRead > 0)
{
comPort_DataReceived(null, null);
}
}
catch
{
return;
}
}
try
{
comPort.Write("\n\n\n");
}
catch
{
return;
}
while (threadrun)
{
try
{
Thread.Sleep(10);
if (!comPort.IsOpen)
{
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived(null, null);
}
}
catch
{
}
}
comPort.DtrEnable = false;
try
{
//if (sw != null)
// sw.Close();
}
catch
{
}
if (threadrun == false)
{
comPort.Close();
}
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");
}
catch (Exception)
{
TXT_terminal.AppendText("Cant open serial port\r\n");
return;
}
TXT_terminal.Focus();
}
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();
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
MainV2.givecomport = true;
if (comPort.IsOpen)
{
comPort.Close();
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comportname;
comPort.Open();
comPort.toggleDTR();
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
DateTime start = DateTime.Now;
while ((DateTime.Now - start).TotalMilliseconds < 2000)
{
try
{
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch { return; }
}
comPort.Write("\n\n\n");
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 { }
}
comPort.DtrEnable = false;
if (threadrun == false)
{
comPort.Close();
}
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
MainV2.threads.Add(t11);
// 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 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();
}