private void button1_Click(object sender, EventArgs e)
{
float DeF_X = Convert.ToSingle(AxisX.Text);
float DeF_Y = Convert.ToSingle(AxisY.Text);
CarPosition.Refresh();
SSHInfo.Clear();
DrawingPlot();
DrawingRectangle((int)Math.Floor(DeF_X / 10), (int)Math.Floor(DeF_Y / 10));
DrawingLine((int)Math.Floor(DeF_X / 10), (int)Math.Floor(DeF_Y / 10));
previousX = CarPosition.Width / 2;
previousY = CarPosition.Height / 2;
RPi = new SshClient(IPBox.Text, UsernameBox.Text, PasswordBox.Text);
RPi.Connect();
shell = RPi.CreateShellStream("shell", 100, 100, 100, 100, 1024);
shell.Write("python3 /home/pi/Documents/fuzzy/fuzzy_script.py \n");
shell.Write(Convert.ToString(DeF_X) + "\n");
shell.Write(Convert.ToString(DeF_Y) + "\n");
shell.Flush();
bool fl = true;
int counter = 0;
while (fl)
{
if (shell != null && shell.DataAvailable)
{
string[] info;
string data = shell.Read();
if (counter > 56)
{
char[] deter = { '\r', '\n' };
info = data.Split(deter);
foreach (string s in info)
{
if (s == "")
{
continue;
}
SSHInfo.AppendText(s + "\r\n");
if (s == "DONE" || s == "Terminated")
{
fl = false;
shell.Close();
RPi.Disconnect();
break;
}
if (s[0] == 'D')
{
SensorReading.Clear();
SensorReading.ForeColor = Color.Black;
SensorReading.AppendText(s);
}
if (s[0] == 'P')
{
PWM.Clear();
PWM.AppendText(s);
}
if (s[0] == 'S')
{
Speed.Clear();
Speed.AppendText(s);
}
if (s[0] == 'T')
{
TraveledDistance.Clear();
TraveledDistance.AppendText(s);
}
if (s[0] == 'X')
{
drawRobotWay(Convert.ToSingle(s.Substring(4, s.IndexOf(':') - 4)), Convert.ToSingle(s.Substring(s.IndexOf(':') + 5)));
}
}
}
else
{
counter++;
data = null;
}
}
}
}