/// <summary>
/// Reads and writes data to an arduino controller through a serialport to
/// </summary>
/// <param name="force">Force applied to point of rotation</param>
/// <returns>Returns current angle of pendulum</returns>
public double Calculate(double force)
{
// Read data from MPU6050
// Write data to DC Motor
// DC motor must not be based on velocity, the output should be based on torque change
// IE higher motor output doesn't just increase speed, it also increases torque
if (serialPort.IsOpen && serialPort.CanRead && serialPort.CanWrite)
{
//Write motor force to arduino
serialPort.WriteLine(force.ToString());
//Read current angle from arduino
Double.TryParse(serialPort.ReadLine(), out double arduinoMPUData);
theta = arduinoMPUData;
}
else
{
try
{
serialPort.Open();
}
catch (Exception ex) { }
//Use to test functionality of this application
//modifier -= force * 0.001;
//theta += modifier;
}
return(theta);
}
public void WriteLine(string text)
{
if (IsOpen)
{
sp.WriteLine(text);
}
}
static public List <List <double> > poll_for_data(SerialPortStream port, string user_input = "0")
{
// Send Command to Start, send it desired speed to run at
port.Write("<1>");
bool quick_three = true;
while (quick_three)
{
if (port.BytesToRead > 0)
{
string s = port.ReadLine();
s = Regex.Replace(s, @"\r", string.Empty);
// Either prompt user for input, or take in function line arugment for a desired RPM to run at
if (s == "give")
{
port.WriteLine(user_input);
quick_three = false;
break;
}
}
}
bool stop = true;
Console.WriteLine("Test Started");
//Collect data with this loop
List <double> temp = new List <double>();
List <List <double> > data = new List <List <double> >();
while (stop)
{
if (port.BytesToRead > 0)
{
string s = port.ReadLine();
s = Regex.Replace(s, @"\r", string.Empty);
if (s == "end")
{
stop = false;
break;
}
string[] message = s.Split(',');
//temp.Add(Convert.ToDouble(s));
foreach (string element in message)
{
//Console.WriteLine(element);
double value = Convert.ToDouble(element);
temp.Add(value);
Console.WriteLine(element);
}
data.Add(temp);
}
}
return(data);
}
public void SerialPortStream_WriteReadLine_Timeout2()
{
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One)) {
src.WriteTimeout = c_Timeout; src.ReadTimeout = c_Timeout;
dst.WriteTimeout = c_Timeout; dst.ReadTimeout = c_Timeout;
src.Open(); Assert.IsTrue(src.IsOpen);
dst.Open(); Assert.IsTrue(dst.IsOpen);
bool err = false;
string s;
src.Write("Test");
try {
s = dst.ReadLine();
} catch (System.Exception e) {
if (e is TimeoutException)
{
err = true;
}
}
Assert.IsTrue(err, "No timeout exception occurred");
src.WriteLine("String");
s = dst.ReadLine();
Assert.AreEqual("TestString", s);
}
}
private void SerialPortDataReceived(object sender, SerialDataReceivedEventArgs e)
{
string data = serialPort.ReadExisting();
try
{
if (data.Contains("ACK"))
{
data = data.Substring(5);
}
data = data.Substring(data.IndexOf('#') + 1, data.IndexOf('$') - data.IndexOf('#') - 1);
}
catch (Exception)
{
// throw;
}
if (data.StartsWith("DONE:"))
{
serialPort.Write("#SEND$");
}
else if (data.StartsWith("MAC:"))
{
serialPort.WriteLine("#ACK$");
}
Console.WriteLine(data);
}
private void WriteLine(SerialPortStream serialPort, string line)
{
if (serialPort == null || !serialPort.IsOpen)
{
return;
}
logger.Trace("Sending \"{0}\" to NTI XL2 on port {1}", line, portName);
serialPort.WriteLine(line);
}
public void SerialPortStream_SendAndFlush2()
{
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One)) {
// Required for com0com to send the data (the remote side must receive it)
dst.Open();
Trace.WriteLine("1. Open()");
src.Open();
Trace.WriteLine("2. WriteLine()");
src.WriteLine("Connected");
Trace.WriteLine("3. Sleep()");
System.Threading.Thread.Sleep(100);
Trace.WriteLine("4. WriteLine()");
src.WriteLine("Disconnected");
Trace.WriteLine("5. Flush()");
src.Flush();
Trace.WriteLine("6. Dispose()");
}
}
public void CanRead()
{
EnsureConnected();
var task = extension.ReadOnce();
ourPort.WriteTimeout = 1000;
ourPort.WriteLine("Hello, World!");
Task.WaitAny(task, Task.Delay(5000));
Assert.True(task.IsCompleted);
(string _, List <object> data) = task.Result;
Assert.AreEqual("Hello, World!", data[1]);
}
public void SerialPortStream_SendAndFlush1()
{
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One)) {
// Required for com0com to send the data (the remote side must receive it)
dst.Open();
src.Open();
src.WriteLine("Connected");
src.Flush();
}
}
public void SerialPortStream_WriteReadLine()
{
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One)) {
src.WriteTimeout = c_Timeout; src.ReadTimeout = c_Timeout;
dst.WriteTimeout = c_Timeout; dst.ReadTimeout = c_Timeout;
src.Open(); Assert.IsTrue(src.IsOpen);
dst.Open(); Assert.IsTrue(dst.IsOpen);
string s;
src.WriteLine("TestString");
s = dst.ReadLine();
Assert.AreEqual("TestString", s);
}
}
public void WriteLineReadLine()
{
using (SerialPortStream src = new SerialPortStream(SourcePort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream dst = new SerialPortStream(DestPort, 115200, 8, Parity.None, StopBits.One)) {
src.WriteTimeout = TimeOut; src.ReadTimeout = TimeOut;
dst.WriteTimeout = TimeOut; dst.ReadTimeout = TimeOut;
src.Open(); Assert.That(src.IsOpen, Is.True);
dst.Open(); Assert.That(dst.IsOpen, Is.True);
string s;
src.WriteLine("TestString");
s = dst.ReadLine();
Assert.That(s, Is.EqualTo("TestString"));
}
}
internal static void Send()
{
if (myPort == null)
{
init();
}
while (_queue.Count > 0)
{
var text = _queue[0];
_queue.RemoveAt(0);
myPort.WriteLine(text);
Console.WriteLine($"Sent message: {text}");
Thread.Sleep(250);
}
}
public async Task Execute()
{
if (_source != null || _destination != null)
{
Logger.Log($"Moving: {_source.Name} -> {_destination.Name}");
}
else
{
Logger.Log($"Moving: {_x} -> {_y}");
}
if (_x != 0 || _y != 0)
{
_serial.WriteLine($"G00 X{_x} Y{_y}");
await MoveFinished();
}
}
public Dictionary <string, int> GetAvailablePortsAndAutoDiscover()
{
trackers = new Dictionary <string, int>();
foreach (string portName in SerialPortStream.GetPortNames())
{
Console.WriteLine("Autodiscover port:");
Console.WriteLine(portName);
try
{
autoDiscoverPort = new SerialPortStream(portName, 115200, 8, Parity.None, StopBits.One)
{
StopBits = StopBits.One,
WriteTimeout = 1000,
ReadTimeout = 3000
};
stopWatch = new Stopwatch();
stopWatch.Start();
autoDiscoverPort.DataReceived += SerialPortAutoDiscover;
autoDiscoverPort.Open();
autoDiscoverPort.WriteLine(SerialMessageParser.Encode("DISCOVERY"));
}
catch (UnauthorizedAccessException)
{
autoDiscoverPort.Close();
}
catch (System.IO.IOException)
{
autoDiscoverPort.Close();
}
catch (TimeoutException)
{
autoDiscoverPort.Close();
}
while (autoDiscoverPort.IsOpen)
{
if (stopWatch.ElapsedMilliseconds >= 3000)
{
autoDiscoverPort.Close();
}
}
autoDiscoverPort.Dispose();
}
return(trackers);
}
public void SendData(string data)
{
_arduinoPort.WriteLine(data);
}
public void SerialPortStream_SendAndFlush1()
{
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One)) {
// Required for com0com to send the data (the remote side must receive it)
dst.Open();
src.Open();
src.WriteLine("Connected");
src.Flush();
}
}
public void SerialPortStream_SendAndFlush2()
{
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One)) {
// Required for com0com to send the data (the remote side must receive it)
dst.Open();
Trace.WriteLine("1. Open()");
src.Open();
Trace.WriteLine("2. WriteLine()");
src.WriteLine("Connected");
Trace.WriteLine("3. Sleep()");
System.Threading.Thread.Sleep(100);
Trace.WriteLine("4. WriteLine()");
src.WriteLine("Disconnected");
Trace.WriteLine("5. Flush()");
src.Flush();
Trace.WriteLine("6. Dispose()");
}
}
public void SerialPortStream_WriteReadLine()
{
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One)) {
src.WriteTimeout = c_Timeout; src.ReadTimeout = c_Timeout;
dst.WriteTimeout = c_Timeout; dst.ReadTimeout = c_Timeout;
src.Open(); Assert.IsTrue(src.IsOpen);
dst.Open(); Assert.IsTrue(dst.IsOpen);
string s;
src.WriteLine("TestString");
s = dst.ReadLine();
Assert.AreEqual("TestString", s);
}
}
public void SerialPortStream_WriteReadLine_Timeout2()
{
using (SerialPortStream src = new SerialPortStream(c_SourcePort, 115200, 8, Parity.None, StopBits.One))
using (SerialPortStream dst = new SerialPortStream(c_DestPort, 115200, 8, Parity.None, StopBits.One)) {
src.WriteTimeout = c_Timeout; src.ReadTimeout = c_Timeout;
dst.WriteTimeout = c_Timeout; dst.ReadTimeout = c_Timeout;
src.Open(); Assert.IsTrue(src.IsOpen);
dst.Open(); Assert.IsTrue(dst.IsOpen);
bool err = false;
string s;
src.Write("Test");
try {
s = dst.ReadLine();
} catch (System.Exception e) {
if (e is TimeoutException) err = true;
}
Assert.IsTrue(err, "No timeout exception occurred");
src.WriteLine("String");
s = dst.ReadLine();
Assert.AreEqual("TestString", s);
}
}
static void Main(string[] args)
{
Boolean bPortSet = false;
Boolean bCommandSet = false;
String comTarget = "";
String comCommand = "";
Console.WriteLine("");
Console.WriteLine("----------------------------------------------");
Console.WriteLine(" Welcome to the CraftComputing Epson HMD tool");
Console.WriteLine("----------------------------------------------");
Console.WriteLine("");
if (args.Length != 2)
{
}
else
{
comTarget = args[0];
bPortSet = int.TryParse(comTarget, out _);
if (args[1].ToLower().Equals("3don"))
{
comCommand = "set2d3d 1";
bCommandSet = true;
}
if (args[1].ToLower().Equals("3doff"))
{
comCommand = "set2d3d 0";
bCommandSet = true;
}
}
if (bCommandSet && bPortSet)
{
var serialPort = new SerialPortStream("COM" + comTarget);
try
{
Console.WriteLine("Opening COM" + comTarget);
serialPort.OpenDirect();
Console.WriteLine("Sending " + comCommand);
serialPort.WriteLine(comCommand);
}catch (Exception e)
{
Console.WriteLine("There was an error");
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
Console.WriteLine(e.Source);
Console.WriteLine(e.InnerException);
}
serialPort.Close();
}
else
{
Console.WriteLine("You did not provide the correct arguments.");
Console.WriteLine("");
Console.WriteLine("The syntax is: Epson3DSwitcher <port> <command>");
Console.WriteLine("Where <port> is the number of the COM port the headset is attached to");
Console.WriteLine("and <command> is the command which can be 3DOn or 3DOff");
}
}
static async Task Main(string[] args)
{
var port = new SerialPortStream(Credential.SerialPortDeviceName, 115200);
port.NewLine = "\r\n";
port.Encoding = Encoding.ASCII;
port.Open();
{
port.WriteLine("SKVER");
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
port.WriteLine("SKINFO");
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
port.WriteLine("SKSETPWD C " + Credential.BRouteId);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
port.WriteLine("SKSETRBID " + Credential.BRoutePasscode);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
}
var httpClient = new HttpClient();
scanretry:
var duration = 4;
var map = new Dictionary <string, string>();
while (!map.ContainsKey("Channel"))
{
port.WriteLine("SKSCAN 2 FFFFFFFF " + duration++);
var scanEnd = false;
while (!scanEnd)
{
var line = port.ReadLine();
Console.WriteLine(line);
if (line.StartsWith("EVENT 22"))
{
scanEnd = true;
}
else if (line.StartsWith(" "))
{
var str = line.Trim().Split(':');
map[str[0]] = str[1];
}
}
if (duration > 8)
{
Console.WriteLine("Duration Exceeded");
goto scanretry;
}
}
port.WriteLine("SKSREG S2 " + map["Channel"]);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
port.WriteLine("SKSREG S3 " + map["Pan ID"]);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
port.WriteLine("SKLL64 " + map["Addr"]);
Console.WriteLine(port.ReadLine());
var ipv6 = port.ReadLine().Trim();
Console.WriteLine(ipv6);
port.WriteLine("SKJOIN " + ipv6);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
var pana = false;
while (!pana)
{
var line = port.ReadLine();
Console.WriteLine(line);
if (line.StartsWith("EVENT 24"))
{
Console.WriteLine("失敗");
break;
}
else if (line.StartsWith("EVENT 25"))
{
pana = true;
}
}
port.ReadTimeout = 2000;
port.WriteTimeout = 2000;
while (pana)
{
retry:
try {
var echonetFrame = "";
echonetFrame += "\x10\x81";
echonetFrame += "\x00\x01";
echonetFrame += "\x05\xFF\x01";
echonetFrame += "\x02\x88\x01";
echonetFrame += "\x62";
echonetFrame += "\x01";
echonetFrame += "\xE7";
echonetFrame += "\x00";
var memory = new MemoryStream();
var writer = new BinaryWriter(memory);
var tt = $"SKSENDTO 1 {ipv6} 0E1A 1 {echonetFrame.Length.ToString("X4")} ";
writer.Write(Encoding.ASCII.GetBytes(tt));
writer.Write((byte)0x10);
writer.Write((byte)0x81);
writer.Write((byte)0x00);
writer.Write((byte)0x01);
writer.Write((byte)0x05);
writer.Write((byte)0xFF);
writer.Write((byte)0x01);
writer.Write((byte)0x02);
writer.Write((byte)0x88);
writer.Write((byte)0x01);
writer.Write((byte)0x62);
writer.Write((byte)0x01);
writer.Write((byte)0xE7);
writer.Write((byte)0x00);
var b = memory.ToArray();
port.Write(b, 0, b.Length);
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
Console.WriteLine(port.ReadLine());
var erxudp = port.ReadLine();
Console.WriteLine(erxudp);
if (erxudp.StartsWith("ERXUDP"))
{
var str = erxudp.Split(' ');
var res = str[8];
var seoj = res.Substring(8, 6);
var esv = res.Substring(20, 2);
if (seoj == "028801" && esv == "72")
{
var epc = res.Substring(24, 2);
if (epc == "E7")
{
var wat = int.Parse(erxudp.Substring(erxudp.Length - 8), NumberStyles.HexNumber);
var request = new HttpRequestMessage(HttpMethod.Post, Credential.ApiEndpoint);
request.Headers.Authorization = new AuthenticationHeaderValue("Bearer", Credential.BearerToken);
var pairs = new List <KeyValuePair <string, string> >();
pairs.Add(new KeyValuePair <string, string>("wat", wat.ToString()));
request.Content = new FormUrlEncodedContent(pairs);
await httpClient.SendAsync(request);
Console.WriteLine("瞬時電力計測値：" + wat + " W");
}
}
}
} catch (TimeoutException) {
goto retry;
}
}
}
