private void Form1_Load(object sender, EventArgs e)
{
try
{
// 일단 객체 생성을 시도해보고...
// (범위는 [0, 1000], 이동 비율은 0.2퍼센트씩 => 각 방향을 500단계로 나타내겠죠)
joystick = new USB_Joystick(0, 1000, .20, this);
}
catch (Exception) // 오류나면(아마도 조이스틱이 없는 경우) 예외처리
{
throw;
}
// 조이스틱 객체 사용을 위해 정해놓은 값 할당
joystick.PresetValues();
// 타이머 시작
timer2.Start();
txtComNum.Text = "COM26";
txtBaudRate.Text = "115200";
}
private void Connection(string IP, int port)
{
try
{
// 카메라
webControl1.Source = new System.Uri("http://" + IP + ":8080/?action=stream");
webControl2.Source = new System.Uri("http://" + IP + ":8081/?action=stream");
// 구글맵
webControl3.Source = new System.Uri("http://" + IP + ":8080/gmap.html");
// 서버 접속
Client = new TcpClient();
Client.Connect(IP, port);
stream = Client.GetStream();
Connected = true;
Reader = new StreamReader(stream);
Writer = new StreamWriter(stream);
ReceiveThread = new Thread(new ThreadStart(Receive));
ReceiveThread.Start();
button1.Text = "Disconnent";
textBox1.ReadOnly = true;
textBox2.ReadOnly = true;
textBox3.ReadOnly = true;
radioButton1.Checked = true;
radioButton1.Text = "서버 : Connected";
//조이스틱
joystick.PresetValues();
timer1.Start();
// APM 접속
comPort.BaseStream = new TcpSerial();
comPort.BaseStream.Host = IP;
comPort.BaseStream.Port = textBox3.Text;
comPort.MAV.cs.ResetInternals();
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.giveComport = false;
comPort.Open(true);
if (comPort.BaseStream.IsOpen)
{
radioButton2.Checked = true;
radioButton2.Text = "보드 : Connected";
System.Threading.ThreadPool.QueueUserWorkItem(mainloop);
hud1.Enabled = true;
hud1.Visible = true;
}
else
{
about_blank();
disconnect();
throw new Exception("APM 접속 실패");
}
mode = 1360; // 수동 조종 (1360: 수동조종, 1361: 자세제어)
flap = 1400; // OFF (1100: ON, 1400:OFF)
servo1 = 1700; // TRIM
servo2 = 1500; // TRIM
joystickthread = new Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
Priority = ThreadPriority.AboveNormal,
Name = "Main joystick sender"
};
joystickthread.Start();
// 시리얼 리더
serialreaderthread = new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader",
Priority = ThreadPriority.AboveNormal
};
serialreaderthread.Start();
}
catch (Exception e)
{
MessageBox.Show(e.Message);
}
}
