public MainForm()
{
InitializeComponent();
DebugDevice = new BoardDevice();
network = new NetworkController(DebugDevice);
network.Error += delegate(object s)
{
ConnectionNotify ErrorFunc = ConnectionError;
BeginInvoke(ErrorFunc);
};
network.ConnectionSuccess += delegate(object s)
{
ConnectionNotify SuccessFunc = ConnectionSucceeded;
BeginInvoke(SuccessFunc);
};
log = new LogWindow();
log.Show();
log.Hide();
PopulateCableDropdown();
}
/// <summary>
///
/// </summary>
/// <param name="ConnectionDelegate">连接通知委托</param>
/// <param name="interval"></param>
public Ras(ConnectionNotify ConnectionDelegate, double interval)
{
this.ConnectNotify = ConnectionDelegate;
this.NotifyTimer = new Timer(interval);
this.NotifyTimer.Elapsed += new ElapsedEventHandler(this.TimerEvent);
this.Rasconn = new RASCONN[1];
this.Rasconn[0].dwSize = Marshal.SizeOf(this.Rasconn[0]);
this.NotifyTimer.Start();
this.bConnected = false;
}
/// <summary>
///
/// </summary>
/// <param name="ConnectionDelegate">连接通知委托</param>
/// <param name="interval"></param>
public Ras(ConnectionNotify ConnectionDelegate, double interval)
{
this.ConnectNotify = ConnectionDelegate;
this.NotifyTimer = new Timer(interval);
this.NotifyTimer.Elapsed += new ElapsedEventHandler(this.TimerEvent);
this.Rasconn = new RASCONN[1];
this.Rasconn[0].dwSize = Marshal.SizeOf(this.Rasconn[0]);
this.NotifyTimer.Start();
this.bConnected = false;
}
public async Task Setup()
{
await ExecuteOnMainThread(() => _checkConnectiontimer.Stop());
IsReady = false;
await Task.Delay(2000);
ConnectionNotify?.Invoke(this, "Tentando se Conectar");
await Task.Delay(2000);
if (_bluetoothSerial != null)
{
Arduino?.Dispose();
Arduino = new RemoteDevice(_bluetoothSerial);
await Task.Delay(1000);
await ExecuteOnMainThread(() => _bluetoothSerial.begin(57600, SerialConfig.SERIAL_8N1));
}
else
{
Arduino?.Dispose();
Arduino = new RemoteDevice(_usbSerial);
await Task.Delay(1000);
await ExecuteOnMainThread(() => _usbSerial.begin(57600, SerialConfig.SERIAL_8N1));
}
SerialOut = new SerialOutController(Arduino, 12, 8, 7);
Arduino.DeviceConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "Conexão Arduino Perdida: " + message);
};
Arduino.DeviceConnectionFailed += async message =>
{
ConnectionNotify?.Invoke(this, "Conexão Arduino Falhou: " + message);
await Task.Delay(5000);
};
Arduino.DeviceReady += async() => await ArduinoOnDeviceReady();
Servos = new Dictionary <ETinBotServo, ServoController>()
{
[ETinBotServo.ServoHand] = new ServoController(Arduino, 09),
[ETinBotServo.ServoHeadX] = new ServoController(Arduino, 05),
[ETinBotServo.ServoHeadY] = new ServoController(Arduino, 06),
[ETinBotServo.ServoLeftArm] = new ServoController(Arduino, 03, true),
[ETinBotServo.ServoRightArm] = new ServoController(Arduino, 11),
[ETinBotServo.ServoTorso] = new ServoController(Arduino, 10)
};
await ExecuteOnMainThread(() => _checkConnectiontimer.Start());
}
private async Task ArduinoOnDeviceReady()
{
ConnectionNotify?.Invoke(this, "Arduino Ready");
await SerialOut.Reset(false);
await Task.Delay(300);
await AttachServos();
Arduino.SafePinMode(_phoneChargePin, PinMode.OUTPUT);
IsReady = true;
}
public Body(UsbSerial usbSerial)
{
_usbSerial = usbSerial;
_usbSerial.ConnectionEstablished += () => ConnectionNotify?.Invoke(this, "USB estabelecido");
_usbSerial.ConnectionFailed += message =>
{
ConnectionNotify?.Invoke(this, "USB falhou: " + message);
Setup();
};
_usbSerial.ConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "USB perdido: " + message);
};
_checkConnectiontimer.Interval = TimeSpan.FromSeconds(90);
_checkConnectiontimer.Tick += CheckConnectiontimerOnTick;
}
public Body(BluetoothSerial bluetoothSerial)
{
_bluetoothSerial = bluetoothSerial;
_bluetoothSerial.ConnectionEstablished += () => ConnectionNotify?.Invoke(this, "Bluetooth estabelecido");
_bluetoothSerial.ConnectionFailed += async message =>
{
ConnectionNotify?.Invoke(this, "Bluetooth falhou: " + message);
await Task.Delay(5000);
Setup();
};
_bluetoothSerial.ConnectionLost += message =>
{
ConnectionNotify?.Invoke(this, "Bluetooth perdido: " + message);
Setup();
};
_checkConnectiontimer.Interval = TimeSpan.FromSeconds(30);
_checkConnectiontimer.Tick += CheckConnectiontimerOnTick;
}
