private void RichTextBoxTxData_KeyPress(object sender, KeyPressEventArgs e)
{
try
{
if (_appConfig.SendOnKeyPress)
{
var keyval = (byte)e.KeyChar;
_serialCom.Write(new byte[] { keyval });
var txstr = "";
if (keyval > 32 && keyval < 127)
{
txstr = e.KeyChar.ToString();
}
else
{
txstr = "0x" + keyval.ToString("X2");
}
AppendEventLog(txstr, Color.DarkGreen);
}
else if (e.KeyChar == '\n') //CTRL+ENTER
{
e.Handled = true;
buttonSend.PerformClick();
}
}
catch (Exception ex)
{
PopupException(ex.Message);
}
}
public void Move(int x, int y, int moveTime)
{
if (x < 0 || x > 180)
{
throw new Exception($"X not between 0 and 180, value: {x}");
}
if (y < 0 || y > 180)
{
throw new Exception($"Y not between 0 and 180, value: {y}");
}
if (IsActive == false)
{
throw new Exception("Turret not active");
}
_com.Write(new PriorityMessage($"m:{x},{y}", 2, moveTime));
}
/// <summary>
/// Send a SIP (Slave Interrupt Packet) to a master computer.
/// </summary>
/// <param name="deviceId">Id of the slave device who answered.</param>
/// <param name="InterrupCode">The code of the interruption (0 to 255).</param>
/// <returns>The error check data.</returns>
public int SendInterruption(int deviceId, int InterrupCode)
{
byte[] hex;
byte[] pkt = new byte[14];
int ecd;
//Packet Type
pkt[0] = (byte)'!';
pkt[1] = (byte)'!';
//ECA
hex = Encoding.Default.GetBytes(((int)ErrorCheckType).ToString("X1"));
pkt[2] = hex[0];
//Device ID
hex = Encoding.Default.GetBytes(deviceId.ToString("X3"));
pkt[3] = hex[0];
pkt[4] = hex[1];
pkt[5] = hex[2];
//Interruption Code
hex = Encoding.Default.GetBytes(InterrupCode.ToString("X2"));
pkt[6] = hex[0];
pkt[7] = hex[1];
//CRC
ecd = ErrorCheck(pkt, 8, ErrorCheckType);
hex = Encoding.Default.GetBytes(ecd.ToString("X4"));
pkt[8] = hex[0];
pkt[9] = hex[1];
pkt[10] = hex[2];
pkt[11] = hex[3];
//Packet End
pkt[12] = (byte)'\r';
pkt[13] = (byte)'\n';
SerialCom.Write(pkt, 0, 14);
return(ecd);
}
/// <summary>
/// Send a MRP packet to a slave computer.
/// </summary>
/// <param name="deviceId">Id of the requested device in slave.</param>
/// <param name="message">The message in bytes to be send.</param>
/// <param name="msgLength">The message length.</param>
/// <returns>The error check data.</returns>
public int SendRequest(int deviceId, byte[] message, int msgLength)
{
byte[] hex;
int ecd;
if (message.Length < msgLength)
{
msgLength = message.Length; //saturating
}
//mounting the packet
byte[] pkt = new byte[msgLength + 15];
//Packet Type
pkt[0] = (byte)'!';
pkt[1] = (byte)'?';
//ECA
hex = Encoding.Default.GetBytes(((int)ErrorCheckType).ToString("X1"));
//hex = Encoding.Default.GetBytes(String.Format("{0:X1}", ErrorCheckType));
pkt[2] = hex[0];
//device Id
hex = Encoding.Default.GetBytes(deviceId.ToString("X3"));
pkt[3] = hex[0];
pkt[4] = hex[1];
pkt[5] = hex[2];
//Message length
hex = Encoding.Default.GetBytes(msgLength.ToString("X3"));
pkt[6] = hex[0];
pkt[7] = hex[1];
pkt[8] = hex[2];
//Message (payload)
for (int i = 0; i < msgLength; i++)
{
pkt[9 + i] = message[i];
}
//Error checking
ecd = ErrorCheck(pkt, msgLength + 9, ErrorCheckType);
hex = Encoding.Default.GetBytes(ecd.ToString("X4"));
pkt[9 + msgLength] = hex[0];
pkt[9 + msgLength + 1] = hex[1];
pkt[9 + msgLength + 2] = hex[2];
pkt[9 + msgLength + 3] = hex[3];
//Packet End
pkt[9 + msgLength + 4] = (byte)'\r';
pkt[9 + msgLength + 5] = (byte)'\n';
//Sending request
SerialCom.Write(pkt, 0, 15 + msgLength);
return(ecd);
}