private void ScanArduino_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
ArduinoMessage += ArduinoSerialPort.ReadExisting();
ArduinoReadText.Invoke(new MethodInvoker(delegate
{
ArduinoReadText.Text += ArduinoMessage;
}));
if (ArduinoMessage.Contains("\n"))
{
measurementData.Add(Convert.ToInt32(ArduinoMessage));
ArduinoMessage = "";
ScanProgress.Invoke(new MethodInvoker(delegate
{
ScanProgress.Value = 1 / scanLength;
}));
if (measurementData.Count < scanLength)
{
SDMC1SerialPort.Write("+1\r");
}
else
{
SDMC1SerialPort.DataReceived -= ScanSDMC1_DataReceived;
SDMC1SerialPort.DataReceived += SDMC1SerialPort_DataReceived;
ArduinoSerialPort.DataReceived -= ScanArduino_DataReceived;
ArduinoSerialPort.DataReceived += ArduinoSerialPort_DataReceived;
SDMC1SerialPort.Write("R" + scanStartPosition + "\r");
HomeButton.Invoke(new MethodInvoker(delegate
{
HomeButton.Enabled = true;
}));
ScanButton.Invoke(new MethodInvoker(delegate
{
ScanButton.Enabled = true;
}));
}
moves++;
}
}
catch (Exception error)
{
MessageText.Invoke(new MethodInvoker(delegate
{
MessageText.Text = error.Message;
}));
ArduinoMessage = "";
}
}
private void HomeSDMC1_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
int StartPosition = -1;
int EndPosition = -1;
try
{
SDMC1Message += SDMC1SerialPort.ReadExisting();
if (SDMC1Message.Contains("\r"))
{
//if it says it just moved, check the limit switches
if (SDMC1Message.Contains("-1"))
{
SDMC1Message = "";
SDMC1SerialPort.Write("]\r");
}
//if it reports the limit switch, check if it's home, if not move
else if (SDMC1Message.Contains("]"))
{
// get only the numeric part of the input by starting at the first character, looking for the first digit, then looking for the first non-digit after that
for (int i = 0; i < SDMC1Message.Length; i++)
{
if (Char.IsDigit(SDMC1Message[i]))
{
StartPosition = i - 1;
break;
}
}
for (int i = StartPosition + 1; i < SDMC1Message.Length; i++)
{
if (!Char.IsDigit(SDMC1Message[i]))
{
EndPosition = i - 1;
break;
}
}
if (StartPosition > 0 && EndPosition > 0)
{
SDMC1Message = SDMC1Message.Substring(StartPosition, EndPosition);
}
else if (StartPosition > 0)
{
SDMC1Message = SDMC1Message.Substring(StartPosition);
}
Boolean home = (Convert.ToInt32(SDMC1Message) & 128) > 0;
if (!home && moves < homeDistance)
{
SDMC1SerialPort.Write("-1\r");
moves++;
}
else
{
if (moves > homeDistance - 1)
{
MessageText.Invoke(new MethodInvoker(delegate {
MessageText.Text = "Over allowed home distance";
}));
}
SDMC1SerialPort.DataReceived -= HomeSDMC1_DataReceived;
SDMC1SerialPort.DataReceived += SDMC1SerialPort_DataReceived;
HomeButton.Invoke(new MethodInvoker(delegate {
HomeButton.Enabled = true;
}));
ScanButton.Invoke(new MethodInvoker(delegate {
ScanButton.Enabled = true;
}));
SDMC1SerialPort.Write("O0\r");
}
SDMC1Message = "";
}
}
}
catch (Exception error)
{
SDMC1SerialPort.DataReceived -= HomeSDMC1_DataReceived;
SDMC1SerialPort.DataReceived += SDMC1SerialPort_DataReceived;
MessageText.Invoke(new MethodInvoker(delegate {
MessageText.Text = error.Message + " home 2 " + StartPosition + ", " + EndPosition;
}));
SDMC1Message = "";
}
}