private void Button_Disconnect_Click(object sender, EventArgs e)
{
COMport.Close();
RichTextBox_Log.Text = RichTextBox_Log.Text + Environment.NewLine + COMport.PortName + " closed";
GroupBox_SeriaL_Receive.Enabled = false;
GroupBox_Serial_Transmit.Enabled = false;
}
// Update is called once per frame
void Update()
{
if (init && Dropdowns.Count > 0)
{
Init();
init = false;
}
if (!getingData)
{
if (thread != null)
{
if (thread.IsAlive)
{
thread.Abort();
}
}
thread = new Thread(delegate()
{
getingData = true;
COMport.ReceiveData();
getingData = false;
});
thread.Start();
}
if (ScrollViews.Count > 0)
{
ScrollViews[0].text = COMport.getLastLog(10);
}
}
private void flushbutton_Click(object sender, EventArgs e)
{
try
{
COMport.DiscardInBuffer();
}
catch (Exception E)
{ }
}
private void flushbutton_Click(object sender, EventArgs e)
{
try
{
COMport.DiscardInBuffer();
}
catch (Exception E)
{
MessageBox.Show(E.ToString());
}
}
// Update is called once per frame
void Update()
{
if (COMport.isConnected())
{
transform.GetChild(0).GetComponent <Text>().text = COMport.getInfo();
}
else
{
transform.GetChild(0).GetComponent <Text>().text = "Not Connected";
}
}
public void ConnectBTN(int ID)
{
switch (Dropdowns[ID].value)
{
case 0: { thread.Abort(); COMport.Disconnect(); thread.Abort(); getingData = false; } break;
case 1: COMport.Connect(port); break;
default: break;
}
}
private static void Init()
{
PortNames.Clear();
PortNames.AddRange(COMport.getPortNames());
Dropdowns[1].options.Clear();
port = PortNames[0];
foreach (string item in PortNames)
{
Dropdowns[1].options.Add(new Dropdown.OptionData(item));
}
Dropdowns[1].value = 0;
}
private void parsePacket(string idata1)
{
if (idata1[0] == '1')
{
MessageBox.Show("Checksum fail");
}
if (idata1[0] == '4')
{
//Splitting string into two parts 30 bytes and 2 bytes for checksum
char[] result1 = idata1.ToCharArray();
// char[] rec2 = receive_data.Substring(30, 31).ToCharArray();
char[] new_result2 = new char[2];
//Again getting the checksum of received string
uint chkval = checksum(result1);
chkval = chkval % 256;
new_result2[0] = int2hex(chkval / 16);
new_result2[1] = int2hex(chkval % 16);
if ((new_result2[0] == result1[30] && new_result2[1] == result1[31])) //checksum validation
{
float theta = float.Parse(idata1.Substring(1, 4)) / 1000;
float Epsilon = float.Parse(idata1.Substring(7, 4)) / 1000;
th_Field.Text = theta.ToString();
bige_Field.Text = Epsilon.ToString();
}
else
{
MessageBox.Show("Checksum failed"); //if checksum char(s) validation fails, show fail
}
string feedback2 = "20000000000000000000000000000027";
char[] fee = feedback2.ToCharArray();
try
{
Thread.Sleep(300);
COMport.Write(fee, 0, 32);
}
catch (Exception e)
{
MessageBox.Show(e.ToString());
}
}
}
public bool writeport(char[] data, int len)
{
try
{
COMport.Write(data, 0, len);
}
catch (Exception E)
{
MessageBox.Show(E.ToString());
return(false);
}
return(true);
} // writeport
// Update is called once per frame
void Update()
{
for (int i = 0; i < 5; i++)
{
if (COMport.isConnected())
{
transform.GetChild(i).GetComponent <Text>().text = name[i] + ": " + COMport.getLight(i);
}
else
{
transform.GetChild(i).GetComponent <Text>().text = name[i] + ": " + 0;
}
}
}
private void Button_Connect_Click(object sender, EventArgs e)
{
string Port_Name = ComboBox_Available_SerialPorts.SelectedItem.ToString();
int Baud_Rate = Convert.ToInt32(ComboBox_Standard_Baudrates.SelectedItem);
string Data = "Neki";
COMport.BaudRate = Baud_Rate;
COMport.PortName = Port_Name;
try
{
COMport.Open();
}
catch (System.IO.IOException SerialException)
{
MessageBox.Show(SerialException.ToString());
COMport.Close();
}
catch (UnauthorizedAccessException SerialException)
{
MessageBox.Show(SerialException.ToString());
COMport.Close();
}
catch (InvalidOperationException SerialException)
{
MessageBox.Show(SerialException.ToString());
COMport.Close();
}
catch
{
MessageBox.Show("Unknown ERROR when opening serial port" + COMport);
COMport.Close();
}
if (COMport.IsOpen == true)
{
Label_COM_Status.Text = "Open";
RichTextBox_Log.Text = RichTextBox_Log.Text + Environment.NewLine + Port_Name + " opened at " + ComboBox_Standard_Baudrates.SelectedItem.ToString() + " baudrate";
GroupBox_SeriaL_Receive.Enabled = true;
GroupBox_Serial_Transmit.Enabled = true;
}
else
{
COMport.Close();
RichTextBox_Log.Text = RichTextBox_Log.Text + Environment.NewLine + Port_Name + " failed to open";
}
}
private void Health_Button_Click(object sender, EventArgs e)
{
char[] feedbackchar = new char[32];
if (COMport.IsOpen == true)
{
string healthreq = "500000000000000000000000000000";
char[] reqh = new char[32];
for (int i = 0; i < 30; i++)
{
reqh[i] = healthreq[i];
}
char[] ckval = new char[2];
//Again getting the checksum of received string
uint chkval = checksum(reqh);
chkval = chkval % 256;
ckval[0] = int2hex(chkval / 16);
ckval[1] = int2hex(chkval % 16);
reqh[30] = ckval[0];
reqh[31] = ckval[1];
try
{
Thread.Sleep(300);
COMport.Write(reqh, 0, 32);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
var CurDate = DateTime.Now;
Time_Field.Text = CurDate.Hour.ToString() + " : " + CurDate.Minute.ToString() + " : " + CurDate.Millisecond.ToString();
}
else
{
Log_Box.Text = "Unable to write to PORT";
}
}
// Update is called once per frame
void Update()
{
if (COMport.isConnected())
{
transform.GetChild(0).GetComponent <Text>().text = "Winkel:" + COMport.getServoAngle(ID);
}
else
if (Direktion == 'X' || Direktion == 'x')
{
transform.GetChild(0).GetComponent <Text>().text = "Winkel:" + (Main.Gelenk[ID].GetComponent <Gelenk_Parameter>().transform.eulerAngles.x).ToString();
}
else
if (Direktion == 'Y' || Direktion == 'y')
{
transform.GetChild(0).GetComponent <Text>().text = "Winkel:" + (Main.Gelenk[ID].GetComponent <Gelenk_Parameter>().transform.eulerAngles.y).ToString();
}
else
if (Direktion == 'Z' || Direktion == 'z')
{
transform.GetChild(0).GetComponent <Text>().text = "Winkel:" + (Main.Gelenk[ID].GetComponent <Gelenk_Parameter>().transform.eulerAngles.z).ToString();
}
}
private void Health_Button_Click(object sender, EventArgs e)
{
char[] feedbackchar = new char[32];
if (COMport.IsOpen == true)
{
char[] reqh = new char[32];
reqh = "500000000000000000000000000000".ToCharArray();
char[] ckval = new char[2];
//Again getting the checksum of received string
uint chkval = checksum(reqh);
chkval = chkval % 256;
ckval[0] = int2hex(chkval / 16);
ckval[1] = int2hex(chkval % 16);
reqh[30] = ckval[0];
reqh[31] = ckval[1];
try
{
Thread.Sleep(300);
COMport.Write(reqh, 0, 32);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
COMport.ReadTimeout = 3500;
}
else
{
Log_Box.Text = "Unable to write to PORT";
}
}
// Update is called once per frame
void Update()
{
if (!COMport.isConnected())
{
if (Direktion == 'X' || Direktion == 'x')
{
RotateVector.x = RotateSpeed;
}
if (Direktion == 'Y' || Direktion == 'y')
{
RotateVector.y = RotateSpeed;
}
if (Direktion == 'Z' || Direktion == 'z')
{
RotateVector.z = RotateSpeed;
}
transform.Rotate(RotateVector);
RotateAngles = transform.localEulerAngles;
}
else
{
if (Direktion == 'X' || Direktion == 'x')
{
RotateAngles.x = (float)Angle;
}
if (Direktion == 'Y' || Direktion == 'y')
{
RotateAngles.y = (float)Angle;
}
if (Direktion == 'Z' || Direktion == 'z')
{
RotateAngles.z = (float)Angle;
}
double schritt = (COMport.getServoAngle(ID) - OldAngle) / 12;//Interval;
Angle += schritt;
if (schritt > 0)
{
if (Angle >= COMport.getServoAngle(ID))
{
Angle = COMport.getServoAngle(ID);
}
}
if (schritt < 0)
{
if (Angle <= COMport.getServoAngle(ID))
{
Angle = COMport.getServoAngle(ID);
}
}
//if (Math.Round(Angle, 4) == Math.Round(COMport.getServoAngle(ID)))
// Angle = COMport.getServoAngle(ID);
if (TempAngle != COMport.getServoAngle(ID))
{
Interval = IntervalCounter;
IntervalCounter = 0;
OldAngle = TempAngle;
TempAngle = COMport.getServoAngle(ID);
}
IntervalCounter++;
transform.localEulerAngles = RotateAngles;
}
}
private void COMport_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
string indata = COMport.ReadLine();
RichTextBox_Log.Text = RichTextBox_Log.Text + Environment.NewLine + indata;
}
void OnApplicationQuit()
{
thread.Abort();
COMport.Disconnect();
}
