public COMPortForm(SerialPortWrapper p)
{
if (p == null)
{
throw new NullReferenceException("Serial Port Wrapper object cannot be null");
}
InitializeComponent();
port = p;
t_Tick(null, EventArgs.Empty);
baudBox.Text = port.BaudRate.ToString();
SelectPortName(port.PortName);
if (port.IsOpen)
{
connect.Text = "Disconnect";
}
else
{
if (comboBox1.SelectedItem == null || comboBox1.SelectedItem == "")
{
connect.Enabled = false;
}
//if (listBox1.SelectedItem == null)
//{
// connect.Enabled = false;
//}
}
t = new Timer();
t.Interval = 100;
t.Tick += new EventHandler(t_Tick);
t.Start();
}
public Robot(SerialPortWrapper serial)
{
commandGenerator = null;
this.serial = serial;
serial.newDataAvailable += new SerialPortWrapper.newDataAvailableDelegate(NewDataAvailable);
t = new Timer();
t.Interval = 50;
t.Start();
t.Elapsed += new ElapsedEventHandler(t_Elapsed);
}
public Robot(SerialPortWrapper serial)
{
this.serial = serial;
serial.newDataAvailable += new SerialPortWrapper.newDataAvailableDelegate(NewDataAvailable);
serial.receiveDataError += new SerialPortWrapper.receiveDataErrorDelegate(ReceiveDataError);
t = new Timer();
t.Interval = 50;
t.Start();
t.Elapsed += new ElapsedEventHandler(t_Elapsed);
}
public RobotGUI(SerialPortWrapper serial, Router.Router router)
: base(serial)
{
this.router = router;
base.onRobotStatusChange += new EventHandler (RouterPositionUpdate);
}
public RobotControl()
{
InitializeComponent();
serial = new SerialPortWrapper();
}
private void NewDataAvailable(SerialPortWrapper.SimpleSerialPacket packet)
{
lock (thisLock)
{
if (currentCommand == null)
{
Console.WriteLine("Error: Received data, but no command was sent!");
foreach (byte b in packet.Data)
{
Console.Write(b.ToString("x") + ", ");
}
Console.WriteLine();
}
else
{
currentCommand.ProcessResponse(packet.Data);
if (currentCommand.IsDataValid())
{
// See if there's any state information in the command used to
// update location or other fields...
byte locations = MaxLocations;
if (currentCommand is StatusCommand)
{
StatusCommand c = currentCommand as StatusCommand;
currentPosition = Vector3.Divide (c.CurrentPosition.ToVector3(), ScaleFactors);
locations = c.Locations;
if (onPositionUpdate != null)
{
onPositionUpdate(this, EventArgs.Empty);
}
}
if (currentCommand is MoveCommand)
{
MoveCommand m = currentCommand as MoveCommand;
locations = m.Locations;
}
currentCommand = GetNextCommand(locations);
elapsedCounter = 0;
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
}
else
{
Console.WriteLine("Error: Did not process data correctly!");
}
}
}
}
