private async void mainPage_Loaded(object sender, RoutedEventArgs e)
{
_console = Console.GetInstance();
_console.ConsoleBox = _textBoxConsole;
_console.Init();
SerialRaspberry raspberrySerial = SerialRaspberry.GetInstance();
await raspberrySerial.Init("UART0");
_camera = Camera.GetInstance();
_tcpIpManager = TcpIpManager.GetInstance();
while (true)
{
try
{
_captureElement.Source = _camera.CameraCapture;
break;
}
catch (COMException exception)
{
await Task.Delay(1);
}
}
_camera.StartSendingServiceAsync();
}
private void UdpTimerCallback(object state)
{
byte[] dataSend = Encoding.ASCII.GetBytes("TEST");
EndPoint ep = new IPEndPoint(IPAddress.Broadcast, 0);
_localUdpSocket.SendTo(dataSend, ep);
byte[] buffer = new byte[256];
EndPoint remoteEndPoint = new IPEndPoint(IPAddress.Any, 0);
Flush();
_localUdpSocket.ReceiveFrom(buffer, ref remoteEndPoint);
string data = Encoding.ASCII.GetString(buffer);
string[] parts = data.Split(_separator, StringSplitOptions.RemoveEmptyEntries);
if (parts[0] == "Motor")
{
byte dirA, dirB, speedA, speedB, time1, time2;
try
{
dirA = Convert.ToByte(parts[1]);
speedA = Convert.ToByte(parts[2]);
dirB = Convert.ToByte(parts[3]);
speedB = Convert.ToByte(parts[4]);
int time = Convert.ToInt32(parts[5]);
time1 = (byte)(time / 0xff);
time2 = (byte)(time % 0xff);
}
catch (Exception e)
{
Debug.WriteLine("Format error");
return;
}
SerialRaspberry st = SerialRaspberry.GetInstance();
byte[] tempBytes = new byte[]
{
0x01, dirA, speedA, dirB, speedB, time1, time2, 0xFF
};
st.Write(tempBytes);
}
else if (parts[0] == "Server")
{
}
else
{
throw new LogicErrorException();
}
}
public static SerialRaspberry GetInstance()
{
return(Instance ?? (Instance = new SerialRaspberry()));
}
