private void bt_closeall_Click(object sender, EventArgs e) { try { UDPComm.oktoReceive = false; closeThread(tstartMissonPlannerConn); closeThread(tstartmyServerConn); closeThread(tstartTrimaresConn); closeThread(tstartExoReadings); closeThread(Treadings); if (TCPClientConn != null) TCPClientConn = null; if (TCPClientData != null) TCPClientData = null; if (TCPMavLinkClient != null) TCPMavLinkClient = null; if (TrimaresUDPServerConn != null) TrimaresUDPServerConn = null; if (TrimaresUDPServerData != null) TrimaresUDPServerData = null; if (TrimaresUDPMavLinkServer != null) TrimaresUDPMavLinkServer = null; } catch { } //Application.ExitThread(); //Application.Exit(); }
private void Form1_FormClosing(object sender, FormClosingEventArgs e) { try { if (tstartMissonPlannerConn != null) { tstartMissonPlannerConn.Abort(); Thread.Sleep(100); tstartMissonPlannerConn = null; } closeThread(tstartMissonPlannerConn); closeThread(tstartmyServerConn); closeThread(tstartTrimaresConn); closeThread(tstartExoReadings); closeThread(Treadings); UDPComm.oktoReceive = false; if (MissionPlannerServer != null) { MissionPlannerServer.Close(); MissionPlannerServer = null; } if (TrimaresServer != null) { TrimaresServer.Close(); TrimaresServer = null; } if (TCPClientConn != null) { CloseStream(TCPClientConn.mydata.myLink.BaseStream); TCPClientConn = null; } if (TCPMavLinkClient != null) { TCPMavLinkClient = null; } if (TCPClientData != null) { TCPClientData = null; } if (TrimaresUDPServerConn != null) { CloseStream(TrimaresUDPServerConn.mydata.myLink.BaseStream); TrimaresUDPServerConn = null; } if (TrimaresUDPServerData != null) TrimaresUDPServerData = null; if (TrimaresUDPMavLinkServer != null) TrimaresUDPMavLinkServer = null; foreach (Process p in System.Diagnostics.Process.GetProcessesByName("AP_Mavlink_router.exe")) { p.Kill(); p.WaitForExit(); } } catch { Application.ExitThread(); Application.Exit(); } Application.ExitThread(); Application.Exit(); }
void startAPMsimulation() { try { TrimaresUDPServerData = new MainCrossData(); TrimaresUDPServerConn = new MavLinkConnection(tx_APcomport.Text, ref TrimaresUDPServerData); // TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer); TrimaresUDPServerConn.connect(); TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived; // TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages; TrimaresUDPServerConn.mydata.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude); } catch { TrimaresUDPMavLinkServer = null; TrimaresUDPServerData = null; TrimaresUDPServerConn = null; } //TCPClientData = new MainCrossData(); //TCPClientConn = new MavLinkConnection(tx_APcomport.Text, ref TCPClientData); //TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient); ////TCPClientConn.mydata.myLink.BaseStream.Open(); //TCPClientConn.connect(); //TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages; //TCPClientConn.PacketReceived += APSerialConn_PacketReceived; //TCPClientData.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude); gb_robot.Enabled = false; }
/// <summary> /// inicializa comunicacao do router com o trimares /// </summary> private void startTrimaresConn() { try { TrimaresServer = new MAVcomm.Comms.UdpSerialServer(); TrimaresServer.HostIP = tx_udpIP.Text; TrimaresServer.Port = tx_udpport.Text; TrimaresServer.newMsg += TrimaresUDP_PacketReceived; TrimaresServer.Open(); TrimaresServer.rMessage += showMessages; //TrimaresUDPServerData = new MainCrossData(); //TrimaresUDPServerConn = new MavLinkConnection("UDPSERVER", ref TrimaresUDPServerData); //TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer); //TrimaresUDPServerConn.mydata.myLink.BaseStream.HostIP = tx_udpIP.Text; //TrimaresUDPServerConn.mydata.myLink.BaseStream.Port = tx_udpport.Text; //TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived; //TrimaresUDPServerConn.mydata.myLink.BaseStream.Open(); //TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages; } catch { TrimaresServer.Close(); TrimaresServer = null; TrimaresUDPMavLinkServer = null; TrimaresUDPServerData = null; TrimaresUDPServerConn = null; } }
private void bt_client_Click(object sender, EventArgs e) { try { TCPClientData = new MainCrossData(); TCPClientConn = new MavLinkConnection("TCP", ref TCPClientData); TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient); TCPClientConn.mydata.myLink.BaseStream.HostIP = tx_clientIP.Text; TCPClientConn.mydata.myLink.BaseStream.Port = tx_clientPort.Text; TCPClientConn.PacketReceived += APSerialConn_PacketReceived; TCPClientConn.mydata.myLink.BaseStream.Open(); TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages; //MavLinkClient = new MAVLink(); //MavLinkClient.DefaultConnection("TCP", 115200); //MavLinkClient.BaseStream.HostIP = tx_clientIP.Text; //MavLinkClient.BaseStream.Port = tx_clientPort.Text; //MavLinkClient.BaseStream.newMsg += Client_PacketReceived; //MavLinkClient.BaseStream.Open(); gb_robot.Enabled = false; } catch { } }