private void bnOpen_Click(object sender, EventArgs e)
{
Settings.BaudRate = Convert.ToInt32(cbBaudRate.Text);
Settings.PortName = cbCommPort.Text;
SP = new CommProtocol(Settings.PortName, Settings.BaudRate, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One, 1000, this);
SP.ResponseTimeout += new CommProtocol.ResponseTimeoutEventHandler(SP_ResponseTimeout);
SP.ExpectedResponseReceived += new CommProtocol.ExpectedResponseReceivedEventHandler(SP_ExpectedResponseReceived);
}
void ComProt_ExpectedResponseReceived(object sender, CommProtocol.ExpectedResponseReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
}
void ComProt_BatteryStatusPacketReceived(object sender, CommProtocol.BatteryStatusPacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
BattStat = e.BattStat;
BatteryVoltageGauge.Value = BattStat.Voltage;
BatteryTemperatureGauge.Value = BattStat.Temperature;
BatteryCurrentGauge.Value = BattStat.CurrentDraw;
}
void cp_AttitudePacketReceived(object sender, CommProtocol.AttitudePacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
attitude = e.attitude;
textBox1.AppendText("Attitude packet received: PITCH: " + attitude.Pitch + " ROLL: " + attitude.Roll + " YAW: " + attitude.Yaw + "\r\n");
if (!ManualMode)
{
InsertRowToReceived_packetsTable("Attitude", "PITCH: " + attitude.Pitch + " ROLL: " + attitude.Roll + " YAW: " + attitude.Yaw);
}
}
void SP_ResponseTimeout(object sender, CommProtocol.ResponseTimeoutEventArgs e)
{
string hexbuffer = "";
foreach (char c in e.BufferContents)
{ hexbuffer += string.Format("{0:x2} ", (int)c); }
/*bad_text += hexbuffer + "\r\n";*/
txt_bad.Text += hexbuffer + "\r\n";
}
private void btnConnect_Click(object sender, EventArgs e)
{
if (ComProt == null)
{
ComProt = new CommProtocol(
cbxComPortSelect.SelectedItem.ToString(),
19200, System.IO.Ports.Parity.None,
8,
System.IO.Ports.StopBits.One,
500,
this);
if (ComProt.SerialPortOpen)
{
//event handlers
ComProt.LocationPacketReceived += new CommProtocol.LocationPacketReceivedEventHandler(ComProt_LocationPacketReceived);
ComProt.BadPacketReceived += new CommProtocol.BadPacketReceivedEventHandler(ComProt_BadPacketReceived);
ComProt.OnBoardErrorPacketReceived += new CommProtocol.OnBoardErrorPacketReceivedEventHandler(ComProt_OnBoardErrorPacketReceived);
ComProt.ResponseTimeout += new CommProtocol.ResponseTimeoutEventHandler(ComProt_ResponseTimeout);
ComProt.BatteryStatusPacketReceived += new CommProtocol.BatteryStatusPacketReceivedEventHandler(ComProt_BatteryStatusPacketReceived);
ComProt.HeadingSpeedAltitudePacketReceived += new CommProtocol.HeadingSpeedAltitudePacketReceivedEventHandler(ComProt_HeadingSpeedAltitudePacketReceived);
ComProt.AttitudePacketReceived += new CommProtocol.AttitudePacketReceivedEventHandler(ComProt_AttitudePacketReceived);
ComProt.ExpectedResponseReceived += new CommProtocol.ExpectedResponseReceivedEventHandler(ComProt_ExpectedResponseReceived);
ComProt.HandShakeAckReceived += new CommProtocol.HandShakeAckReceivedEventHandler(ComProt_HandShakeAckReceived);
ComProt.PreFlightPacketReceived += new CommProtocol.PreFlightPacketReceivedEventHandler(ComProt_PreFlightPacketReceived);
ComProt.MotorRPMPacketReceived += new CommProtocol.MotorRPMPacketReceivedEventHandler(ComProt_MotorRPMPacketReceived);
RequestInfoTimer.Start();
}
else
{
ComProt.Dispose();
}
}
}
void ComProt_PreFlightPacketReceived(object sender, CommProtocol.PreFlightPacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
pfp = e.PFP;
}
void ComProt_MotorRPMPacketReceived(object sender, CommProtocol.MotorRPMPacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
RPM = e.RPM;
RPMGauge.Value = RPM;
}
void cp_MotorRPMPacketReceived(object sender, CommProtocol.MotorRPMPacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
textBox1.AppendText("RPM packet received. RPM:" + e.RPM + "\r\n");
if(!ManualMode)
{
InsertRowToReceived_packetsTable("RPM", e.RPM.ToString());
}
}
private void cp_LocationPacketReceived(object sender, CommProtocol.LocationPacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
Lat = e.Lat;
Lon = e.Long;
Double Longitude = -(Lon.Degrees + Lon.Minutes / 60.0 + (double)(Lon.FractionalMinutes) / 60000.0);
Double Latitude = Lat.Degrees + Lat.Minutes / 60.0 + (double)(Lat.FractionalMinutes) / 60000.0;
textBox1.AppendText("Location packet received: Location" +
" Lat degrees: " + Lat.Degrees +
" Lat minutes: " + Lat.Minutes +
" Lat minutes remainder: " + Lat.FractionalMinutes +
" North: " + Lat.North +
" floating Latitude: " + Latitude +
" Long degrees: " + Lon.Degrees +
" Long minutes: " + Lon.Minutes +
" Long minutes remainder: " + Lon.FractionalMinutes +
" East: " + Lon.East +
" floating Longitude: " + Longitude + "\r\n");
if (!ManualMode)
{
InsertRowToReceived_packetsTable("Location",
" Lat degrees: " + Lat.Degrees +
" Lat minutes: " + Lat.Minutes +
" Lat minutes remainder: " + Lat.FractionalMinutes +
" North: " + Lat.North +
" Long degrees: " + Lon.Degrees +
" Long minutes: " + Lon.Minutes +
" Long minutes remainder: " + Lon.FractionalMinutes +
" East: " + Lon.East);
}
}
void cp_HeadingSpeedAltitudePacketReceived(object sender, CommProtocol.HeadingSpeedAltitudePacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
HSA = e.HSA;
textBox1.AppendText("Heading/Speed/Altitude packet received: Altitude: " + HSA.Altitude + " Heading: " + HSA.Heading + " Speed: " + HSA.Speed + "\r\n");
if (!ManualMode)
{
InsertRowToReceived_packetsTable("HSA", "Altitude: " + HSA.Altitude + " Heading: " + HSA.Heading + " Speed: " + HSA.Speed);
}
}
void cp_GPDataReceived(object sender, CommProtocol.GPDataReceivedEventArgs e)
{
string data = "";
foreach(byte b in e.data)
{
data += string.Format("{0:x2}", b);
}
textBox1.AppendText("GP packet receieved: " + data + "\r\n");
}
void cp_ExpectedResponseReceived(object sender, CommProtocol.ExpectedResponseReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
//e.ReceivedPacket;
textBox1.AppendText("Expected response recieved: "+e.Name+"\r\n");
textBox1.ScrollToCaret();
if (!ManualMode)
{
string Received_Packet = "";
foreach(char c in e.ReceivedPacket)
{
Received_Packet += CharToHex(c);
}
InsertRowToReceived_packetsTable("Expected Response receieved " + e.Name, Received_Packet);
}
}
void cp_BatteryStatusPacketReceived(object sender, CommProtocol.BatteryStatusPacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
Battery_Status = e.BattStat;
textBox1.AppendText("Battery status packet received: Current: " + Battery_Status.CurrentDraw + " Temperature: " + Battery_Status.Temperature + " Voltage: " + Battery_Status.Voltage + "\r\n");
if (!ManualMode)
{
InsertRowToReceived_packetsTable("BatteryStatus", "Current: " + Battery_Status.CurrentDraw + " Temperature: " + Battery_Status.Temperature + " Voltage: " + Battery_Status.Voltage);
}
}
private void cp_BadPacketReceived(object sender, CommProtocol.BadPacketReceivedEventArgs e)
{
if (ConsecutiveBadPackets >= 5)
{
mtimer.Period = 1000;
//back off the packet rate
ConsecutiveBadPackets = 0;
}
ConsecutiveBadPackets++;
string BadPacketHex = "";
textBox1.AppendText( e.ErrorMessage+ ". ");// + e.BadPacket);
foreach (char c in e.BadPacket)
{
BadPacketHex += CharToHex(c) + " ";
}
textBox1.AppendText(BadPacketHex + "\r\n");
textBox1.ScrollToCaret();
if (!ManualMode)
{
InsertRowToReceived_packetsTable("BadPacket", e.ErrorMessage + " " + BadPacketHex);
}
}
void ComProt_HeadingSpeedAltitudePacketReceived(object sender, CommProtocol.HeadingSpeedAltitudePacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
HSA = e.HSA;
SpeedGauge.Value = HSA.Speed;
HeadingGauge.Value = HSA.Heading;
AltitudeGauge.Value = HSA.Altitude;
}
void ComProt_LocationPacketReceived(object sender, CommProtocol.LocationPacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
if (e.Long.Degrees != 0 && e.Lat.Degrees != 0)
{
Lon = e.Long;
Lat = e.Lat;
double Longitude = -(Lon.Degrees + ((Lon.Minutes + (Lon.FractionalMinutes / 10000.0)) / 60.0));
double Latitude = Lat.Degrees + ((Lat.Minutes + (Lat.FractionalMinutes / 10000.0)) / 60.0);
GoogleMapCtrl.GotoLoc(Latitude, Longitude);
}
}
private void cp_OnBoardErrorPacketReceived(object sender, CommProtocol.OnBoardErrorPacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
textBox1.AppendText("Error received: "+ e.ErrorCode.ToString() + "\r\n");
textBox1.ScrollToCaret();
InsertRowToReceived_packetsTable("Error Packet", e.ErrorCode.ToString());
}
void ComProt_OnBoardErrorPacketReceived(object sender, CommProtocol.OnBoardErrorPacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
}
void cp_PreFlightPacketReceived(object sender, CommProtocol.PreFlightPacketReceivedEventArgs e)
{
ConsecutiveBadPackets = 0;
PFP = e.PFP;
textBox1.AppendText(" battery temperature: " + PFP.BatteryTemp +
" GPS Altitude: " + PFP.GPSAltitude +
" Lat degrees: " + PFP.Lat.Degrees +
" Lat minutes: " + PFP.Lat.Minutes +
" Lat minutes remainder: " + (float)(PFP.Lat.FractionalMinutes)/1000.0f +
" North degrees: " + PFP.Lat.North +
" Long degrees: " + PFP.Long.Degrees +
" Long minutes: " + PFP.Long.Minutes +
" Long minutes remainder: " + (float)(PFP.Long.FractionalMinutes) /1000.0f+
" East degrees: " + PFP.Long.East +
" sensor status: " + string.Format("{0:x2}", PFP.SensorStatus) +
" sonar altitude: " + PFP.SonarAltitude
+ "\r\n");
if (!ManualMode)
{
InsertRowToReceived_packetsTable("PreFlightPacket",
" battery temperature: " + PFP.BatteryTemp +
" GPS Altitude: " + PFP.GPSAltitude +
" Lat degrees: " + PFP.Lat.Degrees +
" Lat minutes: " + PFP.Lat.Minutes +
" Lat minutes remainder: " + (float)(PFP.Lat.FractionalMinutes) / 1000.0f +
" North degrees: " + PFP.Lat.North +
" Long degrees: " + PFP.Long.Degrees +
" Long minutes: " + PFP.Long.Minutes +
" Long minutes remainder: " + (float)(PFP.Long.FractionalMinutes) / 1000.0f +
" East degrees: " + PFP.Long.East +
" sensor status: " + string.Format("{0:x2}", PFP.SensorStatus) +
" sonar altitude: " + PFP.SonarAltitude);
}
}
void ComProt_ResponseTimeout(object sender, CommProtocol.ResponseTimeoutEventArgs e)
{
PacketTimeoutLight.BlinkRate = 1500;
PacketTimeoutLight.OneShot = true;
PacketTimeoutLight.Blink = true;
}
void cp_ResponseTimeout(object sender, CommProtocol.ResponseTimeoutEventArgs e)
{
string _BufferContents = "";
textBox1.AppendText("Timeout for " + e.ExpectedResponse.Name + ".");
if (e.ExpectedResponse.ExpectedPacket != "UNDEFINED")
{
textBox1.AppendText(" Expected: ");
foreach (char c in e.ExpectedResponse.ExpectedPacket)
{
textBox1.AppendText(CharToHex(c) + " ");
}
}
textBox1.AppendText(" Buffer contents:");
foreach (char c in e.BufferContents)
{
_BufferContents += CharToHex(c) + " ";
}
textBox1.AppendText(_BufferContents + "\r\n");
textBox1.ScrollToCaret();
if (!ManualMode)
{
InsertRowToTimeoutTable(_BufferContents);
}
}
void SP_ExpectedResponseReceived(object sender, CommProtocol.ExpectedResponseReceivedEventArgs e)
{
string hexbuffer = "";
foreach (char c in e.ReceivedPacket)
{ hexbuffer += string.Format("{0:x2} ", (int)c); }
//text += e.Name + "\t" + hexbuffer + "\r\n";
txt_rcvd.Text += e.Name + "\t" + hexbuffer + "\r\n";
}
void ComProt_AttitudePacketReceived(object sender, CommProtocol.AttitudePacketReceivedEventArgs e)
{
CommPacketRXLight.On = true;
PacketReceived = true;
Att = e.attitude;
compass.Angle = Att.Yaw;
if (Att.Roll > 128)
{
Arthorizon.Roll = -(255 - Att.Roll);
}
else
{
Arthorizon.Roll = Att.Roll;
}
if (Att.Pitch > 128)
{
Arthorizon.Pitch = -(255 - Att.Pitch);
}
else
{
Arthorizon.Pitch = Att.Pitch;
}
}
void ComProt_BadPacketReceived(object sender, CommProtocol.BadPacketReceivedEventArgs e)
{
BadPacketLight.BlinkRate = 500;
BadPacketLight.OneShot = true;
BadPacketLight.Blink = true;
}
private void btnConnect_Click(object sender, EventArgs e)
{
cp = new CommProtocol(comboBox1.SelectedItem.ToString(),19200, Parity.None, 8, StopBits.One, 200, this);
if (cp != null)
{
//event handlers
cp.LocationPacketReceived += new CommProtocol.LocationPacketReceivedEventHandler(cp_LocationPacketReceived);
cp.BadPacketReceived += new CommProtocol.BadPacketReceivedEventHandler(cp_BadPacketReceived);
cp.OnBoardErrorPacketReceived += new CommProtocol.OnBoardErrorPacketReceivedEventHandler(cp_OnBoardErrorPacketReceived);
cp.ResponseTimeout += new CommProtocol.ResponseTimeoutEventHandler(cp_ResponseTimeout);
cp.BatteryStatusPacketReceived += new CommProtocol.BatteryStatusPacketReceivedEventHandler(cp_BatteryStatusPacketReceived);
cp.HeadingSpeedAltitudePacketReceived += new CommProtocol.HeadingSpeedAltitudePacketReceivedEventHandler(cp_HeadingSpeedAltitudePacketReceived);
cp.AttitudePacketReceived += new CommProtocol.AttitudePacketReceivedEventHandler(cp_AttitudePacketReceived);
cp.ExpectedResponseReceived += new CommProtocol.ExpectedResponseReceivedEventHandler(cp_ExpectedResponseReceived);
cp.HandShakeAckReceived += new CommProtocol.HandShakeAckReceivedEventHandler(cp_HandShakeAckReceived);
cp.PreFlightPacketReceived += new CommProtocol.PreFlightPacketReceivedEventHandler(cp_PreFlightPacketReceived);
cp.MotorRPMPacketReceived += new CommProtocol.MotorRPMPacketReceivedEventHandler(cp_MotorRPMPacketReceived);
cp.GPDataReceived += new CommProtocol.GPDataReceivedEventHandler(cp_GPDataReceived);
}
}