private void StopPlayButton_Click(object sender, EventArgs e)
{
if (SerPort.IsOpen)
{
bot_busy = true;
byte[] b = new byte[1];
b[0] = 3;
SerPort.Write(b, 0, 5);
}
}
private void SendCmd(int cmd)
{
if (SerPort.IsOpen)
{
byte[] b = new byte[1] {
Convert.ToByte(cmd)
};
SerPort.Write(b, 0, 1);
}
}
private void AbortButton_Click(object sender, EventArgs e)
{
is_playing = false;
byte[] b = new byte[5];
b[0] = 0;
b[1] = 3;
b[2] = 0;
b[3] = 0;
b[4] = 0xFF;
SerPort.Write(b, 0, 5);
}
private void SendNextInstruct()
{
if (SerPort.BytesToWrite < 8)
{
byte[] b = new byte[5];
b[0] = 0;
b[1] = (byte)dev_event[event_cnt].sp_code;
int delay = dev_event[event_cnt].delay;
delay += dev_event[event_cnt].delay_manualadj;
if (is_cali == false)
{
delay += dev_event[event_cnt].delay_autoadj;
}
delay = Convert.ToInt32(Math.Round((double)delay * percent_adj));
b[3] = Convert.ToByte(delay % 256);
b[2] = Convert.ToByte((delay - Convert.ToInt32(b[3])) / 256);
b[4] = (byte)dev_event[event_cnt].bitmask;
SerPort.Write(b, 0, 5);
event_cnt++;
if (b[1] == 3)
{
is_playing = false;
if (is_cali)
{
CalcAutoAdj();
ApplyToList();
}
}
}
}
private void ProcessSend()
{
if (SerPort.IsOpen == false || bootload_enabled == false)
{
Thread.Sleep(250);
return;
}
while (SerPort.BytesToRead >= 2)
{
while (SerPort.BytesToRead != 2)
{
SerPort.ReadByte();
}
int c0 = SerPort.ReadByte();
int c1 = SerPort.ReadByte();
int addr = c0 + (c1 << 8);
if (addr == 0xFFFF)
{
stopwatch.Start();
byte[] b = new byte[2] {
(byte)(page_num % 256), (byte)(page_num >> 8),
};
SerPort.Write(b, 0, 2);
Log("MCU Sent Ready Signal");
Log("Replied Number of Pages: " + Convert.ToString(page_num, 10));
}
else if (addr == page_num)
{
stopwatch.Stop();
long time_ms = stopwatch.ElapsedMilliseconds;
stopwatch.Reset();
double time_s = (double)time_ms / 1000.0;
Log("Bootloader Finished in " + Convert.ToString(time_s) + " Seconds");
bootload_enabled = false;
ButtonsSet(true, true, false);
}
else
{
if (previous_addr == addr)
{
Log("Page Re-requested: " + Convert.ToString(addr, 10));
retry_cnt++;
}
else
{
retry_cnt = 0;
}
if ((previous_addr == addr || previous_addr + 1 == addr) && retry_cnt < 3)
{
previous_addr = (short)addr;
checksum = 0;
byte[] b = new byte[256];
while ((SerPort.WriteBufferSize - 256) < SerPort.BytesToWrite)
{
;
}
if (page_num < 6)
{
for (int i = addr * 256, j = 0; j < 256; i++, j++)
{
b[0] = (byte)flash_data[i];
checksum += flash_data[i];
SerPort.Write(b, 0, 1);
ProgressSet(Convert.ToInt32(Math.Min(i, LoadProgress.Maximum)));
}
}
else
{
for (int i = addr * 256, j = 0; j < 256; i++, j++)
{
b[j] = (byte)flash_data[i];
checksum += flash_data[i];
}
SerPort.Write(b, 0, 256);
ProgressSet(Convert.ToInt32(Math.Min((addr * 256) + 256, LoadProgress.Maximum)));
}
b[0] = (byte)(checksum % 256);
b[1] = (byte)(checksum >> 8);
SerPort.Write(b, 0, 2);
}
else
{
Log("Fatal Error, Received: 0x" + Convert.ToString(addr, 16).ToUpper() + ", Checksum was: 0x" + Convert.ToString(checksum, 16).ToUpper() + ", Retried: " + Convert.ToString(retry_cnt));
bootload_enabled = false;
ButtonsSet(true, true, false);
}
}
}
}
void BotCtrl()
{
if (bot_status == 0)
{
}
else if (bot_status == 1)
{
bot_busy = false;
bot_do_not_disturb = false;
SongStatusLabel.Text = "Robot Wants File Name";
if (FileListBox.Items[FileListBox.SelectedIndex].Length != 0)
{
string str = "";
int i;
for (i = 0; i < 8 && i < FileListBox.Items[FileListBox.SelectedIndex].Length; i++)
{
str += FileListBox.Items[FileListBox.SelectedIndex].SubString(i, 1);
}
for (int j = i; j < 8; j++)
{
str += "_";
}
SerPort.Write(str);
bot_status = 0;
SongStatusLabel.Text = "Robot is Waiting for Command";
}
}
else if (bot_status == 2)
{
bot_do_not_disturb = true;
bot_busy = true;
byte[] b = new byte[2];
b[0] = event_length % 256;
b[1] = Convert.ToByte((event_length - (int)b[0]) / 256);
SerPort.Write(b, 0, 2);
f_ptr = 0;
bot_status = 0;
}
else if (bot_status == 3)
{
SongStatusLabel.Text = "Robot is Loading New Chart";
bot_busy = true;
bot_do_not_disturb = true;
if (SerPort.BytesToWrite < 8)
{
byte[] b = new byte[5];
b[0] = 0;
b[1] = (byte)dev_event[f_ptr].sp_code;
int delay = dev_event[f_ptr].delay;
delay += dev_event[f_ptr].delay_manualadj;
delay = Convert.ToInt32(Math.Round((double)delay * percent_adj));
b[3] = Convert.ToByte(delay % 256);
b[2] = Convert.ToByte((delay - Convert.ToInt32(b[3])) / 256);
b[4] = (byte)dev_event[f_ptr].bitmask;
SerPort.Write(b, 0, 5);
f_ptr++;
ProgBar.Value = f_ptr;
bot_status = 0;
}
}
else if (bot_status == 4)
{
bot_busy = false;
bot_do_not_disturb = false;
SongStatusLabel.Text = "Robot is Finished Loading";
bot_status = 0;
}
else if (bot_status == 5)
{
bot_busy = true;
SongStatusLabel.Text = "Robot is Playing";
bot_status = 0;
}
else if (bot_status == 6)
{
bot_busy = true;
SongStatusLabel.Text = "Robot is Finished Playing";
bot_status = 0;
}
else if (bot_status == 7)
{
stop_watch.Reset();
stop_watch.Start();
bot_status = 0;
}
else if (bot_status == 8)
{
stop_watch.Stop();
time_taken = (double)stop_watch.ElapsedMilliseconds / (double)1000;
TimeTakenLabel.Text = Convert.ToString(time_taken);
bot_status = 0;
}
else if (bot_status == 128)
{
SongStatusLabel.Text = "File Missing on Disk";
bot_status = 0;
}
else if (bot_status == 255)
{
SongStatusLabel.Text = "Disk Error on Robot";
}
if (bot_busy)
{
PlayButton.Enabled = false;
LoadFileButton.Enabled = false;
FileListBox.Enabled = false;
}
else
{
PlayButton.Enabled = true;
LoadFileButton.Enabled = true;
FileListBox.Enabled = true;
}
if (bot_do_not_disturb)
{
StopPlayButton.Enabled = false;
}
else
{
StopPlayButton.Enabled = true;
}
}
