static void FindDeviceDt()
{
if (IsFindDeviceDt)
{
return;
}
WriteBuf = WriteBuf_6;
BytesSucceed = 0;
// Send output data out to the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Write(SLUSBXpressDLL.hUSBDevice, ref WriteBuf[0], BytesWriteRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesWriteRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_WRITE_TIMED_OUT)
{
return;
}
Debug.Log("Error writing to USB. Wrote " + BytesSucceed.ToString() + " of " + BytesWriteRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
//clear out bytessucceed for the next read
BytesSucceed = 0;
//read data from the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Read(SLUSBXpressDLL.hUSBDevice, ref ReadBuf[0], BytesReadRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesReadRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_READ_TIMED_OUT)
{
return;
}
Debug.Log("Error reading to USB. Read " + BytesSucceed.ToString() + " of " + BytesReadRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
if (ReadBuf[0] == 0x65)
{
IsFindDeviceDt = true;
Debug.Log("FindDeviceDt over...");
}
/*SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_FlushBuffers(SLUSBXpressDLL.hUSBDevice, 1, 1);
* if (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS) {
* Debug.Log("SI_FlushBuffers was wrong!");
* IsOpenDevice = false;
* Application.Quit();
* return;
* }*/
}
static void FindDevice()
{
if (!IsOpenDevice)
{
return;
}
//clear out bytessucceed for the next read
BytesSucceed = 0;
//read data from the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Read(SLUSBXpressDLL.hUSBDevice, ref ReadBuf[0], BytesReadRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesReadRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_READ_TIMED_OUT)
{
return;
}
Debug.Log("Error reading to USB. Read " + BytesSucceed.ToString() + " of " + BytesReadRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
if (ReadBuf[0] == 0x65 && ReadBuf[20] == 0x01)
{
IsFindDevice = true;
string readStr = "ReadBuf: ";
for (int i = 0; i < BytesReadRequest; i++)
{
readStr += ReadBuf[i].ToString("X2");
readStr += " ";
}
//Debug.Log(readStr);
Debug.Log("find device...");
}
BytesSucceed = 0;
// Send output data out to the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Write(SLUSBXpressDLL.hUSBDevice, ref WriteBuf[0], BytesWriteRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesWriteRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_WRITE_TIMED_OUT)
{
return;
}
Debug.Log("Error writing to USB. Wrote " + BytesSucceed.ToString() + " of " + BytesWriteRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
}
public static void TimerTick()
{
if (!IsOpenDevice)
{
return;
}
if (!IsFindDeviceDt)
{
if (!IsFindDevice)
{
FindDevice();
return;
}
if (!IsCheckDevice)
{
CheckDevice();
return;
}
FindDeviceDt();
return;
}
WriteBuf = PcvrWriteByte;
WriteBuf[17] = (byte)(LastWriteByte == 0x01 ? 0x02 : 0x01);
if (WriteBuf[17] == 0x02)
{
WriteBuf[14] = 0x02;
WriteBuf[15] = 0;
for (int i = 6; i < 14; i++)
{
WriteBuf[15] ^= WriteBuf[i];
}
}
else
{
WriteBuf[17] = 0x01;
}
BytesSucceed = 0;
// Send output data out to the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Write(SLUSBXpressDLL.hUSBDevice, ref WriteBuf[0], BytesWriteRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesWriteRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_WRITE_TIMED_OUT)
{
return;
}
Debug.Log("Error writing to USB. Wrote " + BytesSucceed.ToString() + " of " + BytesWriteRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
LastWriteByte = WriteBuf[17];
//clear out bytessucceed for the next read
BytesSucceed = 0;
//read data from the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Read(SLUSBXpressDLL.hUSBDevice, ref ReadBuf[0], BytesReadRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesReadRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_READ_TIMED_OUT)
{
return;
}
Debug.Log("Error reading to USB. Read " + BytesSucceed.ToString() + " of " + BytesReadRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
if (ReadBuf[0] == 0x65)
{
/*string testReadBt = "解码前: ";
* for (int i = 0; i < 21; i++) {
* testReadBt += ReadBuf[i].ToString("X2");
* testReadBt += " ";
* }*/
//StrTest2 = testReadBt;
//Debug.Log(testReadBt);
byte[] getDt = new byte[8];
for (int i = 0; i < 8; i++)
{
getDt[i] = ReadBuf[i + 1];
}
byte[] byteTmp = EncryptHelper.TripleDesDecryptIOData(getDt);
byte[] byteReadTmp = ReadBuf;
for (int i = 0; i < 8; i++)
{
byteReadTmp[i + 1] = byteTmp[i];
}
//testReadBt = "解码后: ";
for (int i = 0; i < 21; i++)
{
ReadInfo[i] = (uint)byteReadTmp[i];
//testReadBt += ReadInfo[i].ToString("X2");
//testReadBt += " ";
}
//Debug.Log("ReadInfo[0] "+ReadInfo[0]);
//StrTest3 = testReadBt;
//Debug.Log(testReadBt);
//uint SteerValCur = ((ReadInfo[4]&0x03) << 8) + ReadInfo[3];
//StrTest1 = "方向: "+SteerValCur+", byte[3] "+ReadInfo[3].ToString("X2")+", byte[4] "+ReadInfo[4].ToString("X2");
//Debug.Log(StrTest1);
}
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_FlushBuffers(SLUSBXpressDLL.hUSBDevice, 1, 1);
if (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS)
{
Debug.Log("SI_FlushBuffers was wrong!");
IsOpenDevice = false;
Application.Quit();
return;
}
}
void OpenDevice()
{
int DevNum = 0;
StringBuilder DevStr = new StringBuilder(SLUSBXpressDLL.SI_MAX_DEVICE_STRLEN);
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_GetNumDevices(ref DevNum);
if (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS || DevNum <= 0)
{
return;
}
int HidIndex = 0;
bool isFoundHid = false;
for (int i = 0; i < DevNum; i++)
{
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_GetProductString(i, DevStr, SLUSBXpressDLL.SI_RETURN_SERIAL_NUMBER);
if (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS)
{
continue;
}
if (DevicesName == "")
{
isFoundHid = true;
HidIndex = i;
DevicesName = DevStr.ToString();
break;
}
else if (DevicesName == DevStr.ToString())
{
HidIndex = i;
isFoundHid = true;
break;
}
}
if (isFoundHid)
{
Debug.Log("DevicesName: " + DevStr);
}
else
{
Debug.Log("not find hid...");
}
SLUSBXpressDLL.SI_SetTimeouts(10, 10);
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Open(HidIndex, ref SLUSBXpressDLL.hUSBDevice);
if (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS)
{
Debug.Log("Error opening device: " + DevicesName + ". Application is aborting. Reset hardware and try again.");
Application.Quit();
return;
}
else
{
Debug.Log("open device...");
IsOpenDevice = true;
ReadInfo = new uint[BytesReadRequest];
ReadBuf = new byte[BytesReadRequest];
WriteBuf = new byte[BytesWriteRequest];
PcvrWriteByte = new byte[BytesWriteRequest];
WriteBuf[0] = 0xff;
WriteBuf[1] = 0x01;
WriteBuf[17] = 0x01;
BytesSucceed = 0;
// Send output data out to the board
SLUSBXpressDLL.Status = SLUSBXpressDLL.SI_Write(SLUSBXpressDLL.hUSBDevice, ref WriteBuf[0], BytesWriteRequest, ref BytesSucceed, 0);
if ((BytesSucceed != BytesWriteRequest) || (SLUSBXpressDLL.Status != SLUSBXpressDLL.SI_SUCCESS))
{
if (SLUSBXpressDLL.Status == SLUSBXpressDLL.SI_WRITE_TIMED_OUT)
{
return;
}
Debug.Log("Error writing to USB. Wrote " + BytesSucceed.ToString() + " of " + BytesWriteRequest.ToString() + " bytes. Application is aborting. Reset hardware and try again.");
Debug.Log("Status " + SLUSBXpressDLL.Status);
IsOpenDevice = false;
Application.Quit();
return;
}
}
}