//***********************************************************
// User written functions
//***********************************************************
// get_reply : Read a status reply from the MBED
//
// All commands will return a status reply on completing the specified command.
// A returned valur of 0 will indicate that all is well
public int get_reply()
{
string reply;
int status;
serialPort1.DiscardInBuffer();
serialPort1.ReadTimeout = READ_TIMEOUT;
try
{
reply = serialPort1.ReadLine();
}
catch (TimeoutException)
{
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Readline timeout fail" + Environment.NewLine);
}
else
{
Debug_window.AppendText("Brak odpowiedzi systemu" + Environment.NewLine);
}
return(-1);
}
status = Convert.ToInt32(reply);
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Status = " + reply + Environment.NewLine);
}
else
{
Debug_window.AppendText(" Status " + reply + Environment.NewLine);
}
return(status);
}
private void Motor_control_Click(object sender, EventArgs e)
{
try
{
string command = "b"
+ Convert.ToString(SensorUpDown.Value);
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Reading reply " + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
int status = get_reply();
//Debug_window.Text = serialPort1.ReadLine();
}
catch (TimeoutException)
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Timeout Exception" + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
}
}
private void Read_Distance_Click(object sender, EventArgs e)
{
try
{
string command = "d";
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Reading reply" + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
int status = get_reply();
//Debug_window.Text = serialPort1.ReadLine();
if (status == 0)
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Reading data" + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
string data = serialPort1.ReadLine();
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Data = " + data + Environment.NewLine);
}
else
{
Debug_window.AppendText(" = " + data + Environment.NewLine);
}
}
}
catch (TimeoutException)
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Timeout exception" + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
}
}
private void Read_Sensor_Click(object sender, EventArgs e)
{
try
{
string command = "c";
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Reading reply " + Environment.NewLine);
}
else
{
Debug_window.AppendText("Odpowiedz systemu" + Environment.NewLine);
}
int status = get_reply();
//Debug_window.Text = serialPort1.ReadLine();
if (status == 0)
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Reading data" + Environment.NewLine);
}
else
{
Debug_window.AppendText("Odpowiedz systemu" + Environment.NewLine);
}
string data = serialPort1.ReadLine();
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Data = " + data + Environment.NewLine);
}
else
{
Debug_window.AppendText(" Otrzymane wartosci " + data + Environment.NewLine);
}
}
}
catch (TimeoutException)
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Timeout Exception" + Environment.NewLine);
}
else
{
Debug_window.AppendText("System wykryl problem" + Environment.NewLine);
}
}
}
// Executed when form is first loaded. Main activity is to get a list of the available COM ports
// on the computer and add them to the dropdown box (comboBox1).
//
/*private void Servo_Load(object sender, EventArgs e)
* {
*
*
* comboBox1.Items.Clear();
* foreach (string s in SerialPort.GetPortNames())
* {
* comboBox1.Items.Add(s);
* }
* comboBox1.SelectedIndex = 0;
* serialPort1.BaudRate = COM_BAUD;
* global_error = OK;
* Thread.Sleep(2000); // sleep 2 seconds
* }
*/
private void Com_Choice_Click(object sender, EventArgs e)
{
string com_port = comboBox1.SelectedItem.ToString();
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Selected COM Port = " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText(" wybierz port " + com_port + Environment.NewLine);
}
try
{
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Trying to open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Proba wybrania portu" + com_port + Environment.NewLine);
}
serialPort1.PortName = com_port;
serialPort1.Open();
}
catch
{
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Cannot open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Nie mozna otworzyc portu" + com_port + Environment.NewLine);
}
return;
}
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText(com_port + " now open" + Environment.NewLine);
}
else
{
Debug_window.AppendText(com_port + "Port otwarty" + Environment.NewLine);
}
}
private void Com_Choice_Click(object sender, EventArgs e)
{
string com_port = comboBox1.SelectedItem.ToString();
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Selected COM Port = " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Wybor poru = " + com_port + Environment.NewLine);
}
try
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Trying to open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Sporobuj otworzyc port " + com_port + Environment.NewLine);
}
serialPort1.PortName = com_port;
serialPort1.Open();
}
catch
{
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText("Cannot open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Port niedostepny " + com_port + Environment.NewLine);
}
return;
}
if (label2.Text.Equals("Sensor Control"))
{
Debug_window.AppendText(com_port + " now open" + Environment.NewLine);
}
else
{
Debug_window.AppendText(com_port + " otworz teraz" + Environment.NewLine);
}
}
//
// send 's' servo command to MBED
//
private void Servo_Detail_Click(object sender, EventArgs e)
{
string command = "s "
+ Convert.ToString(numericUpDown1.Value)
+ " "
+ Convert.ToString(numericUpDown2.Value);
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Reading reply" + Environment.NewLine);
}
else
{
Debug_window.AppendText("" + Environment.NewLine);
}
int status = get_reply();
}
private void Stock_set_Click(object sender, EventArgs e)
{
string command = "w "
+ Convert.ToString(numericUpDown1.Value)
+ " "
+ Convert.ToString(numericUpDown2.Value)
+ " "
+ Convert.ToString(numericUpDown3.Value);
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText("Stock level set" + Environment.NewLine);
}
else
{
Debug_window.AppendText("Poziom kolummn ustalony" + Environment.NewLine);
}
}
//
// send 'r' read command to MBED
//
private void Servo_Read_Click(object sender, EventArgs e)
{
String command = "r";
Debug_window.AppendText(command + Environment.NewLine);
serialPort1.WriteLine(command);
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Reading reply" + Environment.NewLine);
}
else
{
Debug_window.AppendText("Odczyt systemu" + Environment.NewLine);
}
int status = get_reply();
//
// only read data if status reply was 0 (i.e. was successful)
//
if (status == 0)
{
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Reading data" + Environment.NewLine);
}
else
{
Debug_window.AppendText("Odczyt systemu" + Environment.NewLine);
}
string data = serialPort1.ReadLine();
if (Servo_Detail.Text.Equals("Go"))
{
Debug_window.AppendText("Data = " + data + Environment.NewLine);
}
else
{
Debug_window.AppendText("Dane odczytu" + data + Environment.NewLine);
}
}
}
private void clearToolStripMenuItem_Click(object sender, EventArgs e)
{
Debug_window.Clear();
}
private void Com_Choice_Click(object sender, EventArgs e)
{
string com_port = comboBox1.SelectedItem.ToString();
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText("Selected COM Port = " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText(" Wybierz port" + com_port + Environment.NewLine);
}
try
{
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText("Trying to open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Odczyt portu" + com_port + Environment.NewLine);
}
serialPort1.PortName = com_port;
serialPort1.Open();
}
catch
{
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText("Cannot open " + com_port + Environment.NewLine);
}
else
{
Debug_window.AppendText("Nie mozna otworzyc" + com_port + Environment.NewLine);
}
return;
}
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText(com_port + " now open" + Environment.NewLine);
}
else
{
Debug_window.AppendText(com_port + "System otwarty" + Environment.NewLine);
}
//Check Stock Levels------------------
string command = "q";
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText("Checking stock levels..." + Environment.NewLine);
}
else
{
Debug_window.AppendText("Spradzanie poziomu kolumn" + Environment.NewLine);
}
serialPort1.WriteLine(command);
int status = get_reply();
//
// only read data if status reply was 0 (i.e. was successful)
//
if (status == 0)
{
string data = serialPort1.ReadLine();
string[] stock;
stock = data.Split();
if (label1.Text.Equals("Red"))
{
Debug_window.AppendText(Environment.NewLine + "STOCK" + Environment.NewLine + Environment.NewLine
+ "Red = " + stock[0] + Environment.NewLine
+ "Green = " + stock[1] + Environment.NewLine
+ "Blue = " + stock[2] + Environment.NewLine + Environment.NewLine);
}
else
{
Debug_window.AppendText(Environment.NewLine + "Zasob" + Environment.NewLine + Environment.NewLine
+ " Czerwony " + stock[0] + Environment.NewLine
+ " Zielony " + stock[1] + Environment.NewLine
+ " Niebieski " + stock[2] + Environment.NewLine + Environment.NewLine);
}
numericUpDown1.Value = Int32.Parse(stock[0]);
numericUpDown1.Minimum = Int32.Parse(stock[0]);
numericUpDown2.Value = Int32.Parse(stock[1]);
numericUpDown2.Minimum = Int32.Parse(stock[1]);
numericUpDown3.Value = Int32.Parse(stock[2]);
numericUpDown3.Minimum = Int32.Parse(stock[2]);
}
//------------------------------------
}
private void Clear_Click(object sender, EventArgs e)
{
Debug_window.Clear();
}
