// event handler for getting serial data
private void ProcessCOMRx(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(COMRx))
{
string[] parsed = COMRx.Split(',');
int curveNo;
if (parsed.Count() > ZedGraphControl1.GraphPane.CurveList.Count())
{
curveNo = ZedGraphControl1.GraphPane.CurveList.Count();
}
else
{
curveNo = parsed.Count();
}
for (int k = 0; k < curveNo; k++)
{
for (int j = ZedGraphControl1.GraphPane.CurveList[k].NPts - 1; j > 0; j--)
{
ZedGraphControl1.GraphPane.CurveList[k].Points[j].Y = ZedGraphControl1.GraphPane.CurveList[k].Points[j - 1].Y;
}
double temp = 0;
try
{
temp = double.Parse(parsed[k]);
}
catch
{
RawTextBox.AppendText("Parse Error\n");
}
//RawTextBox.AppendText(temp.ToString() + "-" + k.ToString() + ", ");
ZedGraphControl1.GraphPane.CurveList[k].Points[0].X = 0;
ZedGraphControl1.GraphPane.CurveList[k].Points[0].Y = temp;
}
//RawTextBox.AppendText("\n");
RawTextBox.AppendText(COMRx + '\n');
//COMRx = "";
}
}
private void ReadLineError(object sender, EventArgs e)
{
RawTextBox.AppendText("Read Line Error\n");
}
// event handler for getting serial data
private void ProcessCOMRx(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(COMRx))
{
// handel incoming info from bot
if (COMRx.Contains("#")) // Hande non-series date here
//Console.WriteLine("COMRx:" + COMRx);
{
var vDataValue = COMRx.Substring(2, COMRx.IndexOf("#") - 2);
//Console.WriteLine("vDataValue:" + vDataValue);
if (COMRx.StartsWith("bv"))
{
BattVoltsLabel.Text = vDataValue + " Volts";
Console.WriteLine("got back bv");
}
if (COMRx.StartsWith("lt"))
{
lapTimeTextBox.Text = vDataValue;
Console.WriteLine("got back lap-time");
}
if (COMRx.StartsWith("ss"))
{
if (vDataValue == MyConstants.Stop)
{
Console.WriteLine("got back Stop");
bStopReceived = true;
}
else
{
Console.WriteLine("got back Start");
bStartReceived = true;
}
}
if (COMRx.StartsWith("kp"))
{
// Check off that speed was sent
bKpReceived = true;
Console.WriteLine("got back kp");
}
if (COMRx.StartsWith("ki"))
{
// Check off that speed was sent
bKiReceived = true;
Console.WriteLine("got back ki");
}
if (COMRx.StartsWith("kd"))
{
// Check off that speed was sent
bKdReceived = true;
Console.WriteLine("got back kd");
}
if (COMRx.StartsWith("sp"))
{
// Check off that speed was sent
bSpeedReceived = true;
Console.WriteLine("got back sp");
}
//return;// exit because rest of code here is for series data
}
if (!COMRx.Contains("#")) // parse incoming series data
{
string[] parsed = COMRx.Split(',');
int curveNo;
if (parsed.Count() > ZedGraphControl1.GraphPane.CurveList.Count())
{
// data series count is more than stated - good
curveNo = ZedGraphControl1.GraphPane.CurveList.Count();
}
else
{
// data series count is not more than stated - bad
curveNo = parsed.Count();
}
for (int k = 0; k < curveNo; k++)
{
for (int j = ZedGraphControl1.GraphPane.CurveList[k].NPts - 1; j > 0; j--)
{
ZedGraphControl1.GraphPane.CurveList[k].Points[j].Y = ZedGraphControl1.GraphPane.CurveList[k].Points[j - 1].Y;
}
double temp = 0;
try {
temp = double.Parse(parsed[k]);
}
catch {
RawTextBox.AppendText("Parse Error\n");
}
ZedGraphControl1.GraphPane.CurveList[k].Points[0].X = 0;
ZedGraphControl1.GraphPane.CurveList[k].Points[0].Y = temp;
}
RawTextBox.AppendText(COMRx + '\n');
COMRx = "";
}
}// end if (!string.IsNullOrEmpty(COMRx))
if (bDataSentToBot == true) // check if all data sent to bot got sent, resent if not
{
if (!bSpeedReceived)
{
SerialPort.WriteLine("sp" + SpeedNumericUpDown.Value + "#");
Console.WriteLine("resent sp");
}
if (!bKpReceived)
{
SerialPort.WriteLine("kp" + PTermNumericUpDown.Value + "#");
Console.WriteLine("resent kp");
}
if (!bKiReceived)
{
SerialPort.WriteLine("ki" + ITermNumericUpDown.Value + "#");
Console.WriteLine("resent ki");
}
if (!bKdReceived)
{
SerialPort.WriteLine("kd" + DTermNumericUpDown.Value + "#");
Console.WriteLine("resent kd");
}
if (bSpeedReceived && bKiReceived && bKdReceived && bKpReceived)
{
// Everything came back so reset the flag
bDataSentToBot = false;
Console.WriteLine("got back all and reset bDataSentToBot flag");
COMSendStatusLight.Value = MyConstants.Green;
}
}
}
// event handler for getting serial data
private void ProcessCOMRx(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(COMRx))
{
// handel incoming info from bot
if (COMRx.Contains("#"))
{
//Console.WriteLine("COMRx:" + COMRx);
var vDataValue = COMRx.Substring(2, COMRx.IndexOf("#") - 2);
//Console.WriteLine("vDataValue:" + vDataValue);
if (COMRx.StartsWith("kp"))
{
// Check off that speed was sent
bKpReceived = true;
Console.WriteLine("got back kp");
}
if (COMRx.StartsWith("ki"))
{
// Check off that speed was sent
bKiReceived = true;
Console.WriteLine("got back ki");
}
if (COMRx.StartsWith("kd"))
{
// Check off that speed was sent
bKdReceived = true;
Console.WriteLine("got back kd");
}
if (COMRx.StartsWith("sp"))
{
// Check off that speed was sent
bSpeedReceived = true;
Console.WriteLine("got back sp");
}
return;
}
// parse incoming data for graphing
string[] parsed = COMRx.Split(',');
int curveNo;
if (parsed.Count() > ZedGraphControl1.GraphPane.CurveList.Count())
{
// data count is more than stated - good
curveNo = ZedGraphControl1.GraphPane.CurveList.Count();
}
else
{
// data count is not more than stated - bad
curveNo = parsed.Count();
}
for (int k = 0; k < curveNo; k++)
{
for (int j = ZedGraphControl1.GraphPane.CurveList[k].NPts - 1; j > 0; j--)
{
ZedGraphControl1.GraphPane.CurveList[k].Points[j].Y = ZedGraphControl1.GraphPane.CurveList[k].Points[j - 1].Y;
}
double temp = 0;
try {
temp = double.Parse(parsed[k]);
} catch {
RawTextBox.AppendText("Parse Error\n");
}
//RawTextBox.AppendText(temp.ToString() + "-" + k.ToString() + ", ");
ZedGraphControl1.GraphPane.CurveList[k].Points[0].X = 0;
ZedGraphControl1.GraphPane.CurveList[k].Points[0].Y = temp;
}
//RawTextBox.AppendText("\n");
RawTextBox.AppendText(COMRx + '\n');
COMRx = "";
}
if (bDataSentToBot == true)
{
if (!bSpeedReceived)
{
SerialPort.WriteLine("sp" + SpeedNumericUpDown.Value + "#");
Console.WriteLine("resent sp");
}
if (!bKpReceived)
{
SerialPort.WriteLine("kp" + PTermNumericUpDown.Value + "#");
Console.WriteLine("resent kp");
}
if (!bKiReceived)
{
SerialPort.WriteLine("ki" + ITermNumericUpDown.Value + "#");
Console.WriteLine("resent ki");
}
if (!bKdReceived)
{
SerialPort.WriteLine("kd" + DTermNumericUpDown.Value + "#");
Console.WriteLine("resent kd");
}
if (bSpeedReceived && bKiReceived && bKdReceived && bKpReceived)
{
// Everything came back so reset the flags
bDataSentToBot = false;
Console.WriteLine("got back all and reset bDataSentToBot flag");
COMPortSendStatusLight.Value = 0;
}
}
}
