void getTelemPortWithRadio(ref ICommsSerial comPort)
{
// try telem1
comPort = new MAVLinkSerialPort(MainV2.comPort, (int)MAVLink.SERIAL_CONTROL_DEV.TELEM1);
comPort.ReadTimeout = 4000;
comPort.Open();
}
void background_DoOpen(object state)
{
if (CoTStream == null)
{
return;
}
try
{
CoTStream.Open();
}
catch { CoTStream = null; } // don't care if we crash
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
comPort.PortName = CMB_serialport.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??");
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "Nmea output"
};
t12.Start();
}
}
private void start_NSHTerminal()
{
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
comPort = new MAVLinkSerialPort(MainV2.comPort, MAVLink.SERIAL_CONTROL_DEV.SHELL);
comPort.BaudRate = 0;
// 20 hz
((MAVLinkSerialPort)comPort).timeout = 50;
comPort.Open();
startreadthread();
}
}
catch
{
}
}
bool Connect()
{
try
{
if (MainV2.comPort.BaseStream.PortName.Contains("TCP"))
{
_comPort = new TcpSerial();
_comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
_comPort.ReadTimeout = 4000;
_comPort.Open();
}
else
{
_comPort = new SerialPort();
if (MainV2.comPort.BaseStream.IsOpen)
{
getTelemPortWithRadio(ref _comPort);
}
else
{
_comPort.PortName = MainV2.comPort.BaseStream.PortName;
_comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
}
_comPort.ReadTimeout = 4000;
_comPort.Open();
}
return(true);
}
catch
{
return(false);
}
}
private void Log_Load(object sender, EventArgs e)
{
if (MainV2.config["log_isarducopter"] != null)
{
CHK_arducopter.Checked = bool.Parse(MainV2.config["log_isarducopter"].ToString());
CHK_arduplane.Checked = bool.Parse(MainV2.config["log_isarduplane"].ToString());
CHK_ardurover.Checked = bool.Parse(MainV2.config["log_isardurover"].ToString());
}
status = serialstatus.Connecting;
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
comPort.DtrEnable = false;
comPort.RtsEnable = false;
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
if (!comPort.IsOpen)
comPort.Open();
Console.WriteLine("Log dtr");
comPort.toggleDTR();
Console.WriteLine("Log discard");
comPort.DiscardInBuffer();
Console.WriteLine("Log w&sleep");
try
{
// try provoke a responce
comPort.Write("\n\n?\r\n\n");
}
catch
{
}
// 10 sec
waitandsleep(10000);
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
readandsleep(100);
try
{
comPort.Write("\n\n\n\nexit\r\nlogs\r\n"); // more in "connecting"
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(10);
if (!comPort.IsOpen)
break;
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
}) {Name = "comport reader"};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
///// <summary>
///// Do full update - get firmware from internet
///// </summary>
///// <param name="temp"></param>
///// <param name="historyhash"></param>
//public bool update(string comport, software temp, string historyhash)
//{
// BoardDetect.boards board = BoardDetect.boards.none;
// try
// {
// updateProgress(-1, Strings.DetectingBoardVersion);
// board = BoardDetect.DetectBoard(comport);
// if (board == BoardDetect.boards.none)
// {
// CustomMessageBox.Show(Strings.CantDetectBoardVersion);
// return false;
// }
// int apmformat_version = -1; // fail continue
// if (board != BoardDetect.boards.px4 && board != BoardDetect.boards.px4v2 && board != BoardDetect.boards.vrbrainv40 && board != BoardDetect.boards.vrbrainv45 && board != BoardDetect.boards.vrbrainv50 && board != BoardDetect.boards.vrbrainv51 && board != BoardDetect.boards.vrbrainv52 && board != BoardDetect.boards.vrherov10 && board != BoardDetect.boards.vrubrainv51 && board != BoardDetect.boards.vrubrainv52 && board != BoardDetect.boards.vrgimbalv20 && board != BoardDetect.boards.vrugimbalv11)
// {
// try
// {
// apmformat_version = BoardDetect.decodeApVar(comport, board);
// }
// catch { }
// if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
// {
// if (DialogResult.No == CustomMessageBox.Show(Strings.EppromChanged, String.Format(Strings.EppromFormatChanged, apmformat_version, temp.k_format_version), MessageBoxButtons.YesNo))
// {
// CustomMessageBox.Show(Strings.PleaseConnectAndBackupConfig);
// return false;
// }
// }
// }
// log.Info("Detected a " + board);
// updateProgress(-1, Strings.DetectedA + board);
// string baseurl = "";
// if (board == BoardDetect.boards.b2560)
// {
// baseurl = temp.url2560.ToString();
// }
// else if (board == BoardDetect.boards.b1280)
// {
// baseurl = temp.url.ToString();
// }
// else if (board == BoardDetect.boards.b2560v2)
// {
// baseurl = temp.url2560_2.ToString();
// }
// else if (board == BoardDetect.boards.px4)
// {
// baseurl = temp.urlpx4v1.ToString();
// }
// else if (board == BoardDetect.boards.px4v2)
// {
// baseurl = temp.urlpx4v2.ToString();
// }
// else if (board == BoardDetect.boards.vrbrainv40)
// {
// baseurl = temp.urlvrbrainv40.ToString();
// }
// else if (board == BoardDetect.boards.vrbrainv45)
// {
// baseurl = temp.urlvrbrainv45.ToString();
// }
// else if (board == BoardDetect.boards.vrbrainv50)
// {
// baseurl = temp.urlvrbrainv50.ToString();
// }
// else if (board == BoardDetect.boards.vrbrainv51)
// {
// baseurl = temp.urlvrbrainv51.ToString();
// }
// else if (board == BoardDetect.boards.vrbrainv52)
// {
// baseurl = temp.urlvrbrainv52.ToString();
// }
// else if (board == BoardDetect.boards.vrherov10)
// {
// baseurl = temp.urlvrherov10.ToString();
// }
// else if (board == BoardDetect.boards.vrubrainv51)
// {
// baseurl = temp.urlvrubrainv51.ToString();
// }
// else if (board == BoardDetect.boards.vrubrainv52)
// {
// baseurl = temp.urlvrubrainv52.ToString();
// }
// else if (board == BoardDetect.boards.vrgimbalv20)
// {
// baseurl = temp.urlvrgimbalv20.ToString();
// }
// else if (board == BoardDetect.boards.vrugimbalv11)
// {
// baseurl = temp.urlvrugimbalv11.ToString();
// }
// else
// {
// CustomMessageBox.Show(Strings.InvalidBoardType);
// return false;
// }
// if (board < BoardDetect.boards.px4)
// {
// if (temp.name.ToLower().Contains("arducopter"))
// {
// CustomMessageBox.Show("This board has been retired, Mission Planner this will upload the last available version to your board","Note");
// }
// }
// if (historyhash != "")
// baseurl = getUrl(historyhash, baseurl);
// // update to use mirror url
// ReplaceMirrorUrl(ref baseurl);
// log.Info("Using " + baseurl);
// // Create a request using a URL that can receive a post.
// WebRequest request = WebRequest.Create(baseurl);
// request.Timeout = 10000;
// // Set the Method property of the request to POST.
// request.Method = "GET";
// // Get the request stream.
// Stream dataStream; //= request.GetRequestStream();
// // Get the response.
// WebResponse response = request.GetResponse();
// // Display the status.
// log.Info(((HttpWebResponse)response).StatusDescription);
// // Get the stream containing content returned by the server.
// dataStream = response.GetResponseStream();
// long bytes = response.ContentLength;
// long contlen = bytes;
// byte[] buf1 = new byte[1024];
// FileStream fs = new FileStream(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", FileMode.Create);
// updateProgress(0, Strings.DownloadingFromInternet);
// dataStream.ReadTimeout = 30000;
// while (dataStream.CanRead)
// {
// try
// {
// updateProgress(50, Strings.DownloadingFromInternet);
// }
// catch { }
// int len = dataStream.Read(buf1, 0, 1024);
// if (len == 0)
// break;
// bytes -= len;
// fs.Write(buf1, 0, len);
// }
// fs.Close();
// dataStream.Close();
// response.Close();
// updateProgress(100, Strings.DownloadedFromInternet);
// log.Info("Downloaded");
// }
// catch (Exception ex)
// {
// updateProgress(50, Strings.FailedDownload);
// CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString());
// return false;
// }
// MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
// return UploadFlash(comport, Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board);
//}
//void apmtype(object temp)
//{
// try
// {
// // Create a request using a URL that can receive a post.
// HttpWebRequest request = (HttpWebRequest)HttpWebRequest.Create("http://vps.oborne.me/axs/ax.pl?" + (string)temp);
// //request.AllowAutoRedirect = true;
// request.UserAgent = MainV2.instance.Text + " (res" + Screen.PrimaryScreen.Bounds.Width + "x" + Screen.PrimaryScreen.Bounds.Height + "; " + Environment.OSVersion.VersionString + "; cores " + Environment.ProcessorCount + ")";
// request.Timeout = 10000;
// // Set the Method property of the request to POST.
// request.Method = "GET";
// // Get the request stream.
// // Get the response.
// WebResponse response = request.GetResponse();
// }
// catch { }
//}
/// <summary>
/// upload to playuav standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPlayUAVOSD(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return(false);
}
try
{
//if (comPortosdbl.IsOpen())
comPortosdbl.Close();
try
{
comPortosdbl.PortName = PlayuavOSD.comPortName;
comPortosdbl.BaudRate = 115200;
comPortosdbl.ReadBufferSize = 1024 * 1024 * 4;
comPortosdbl.Open();
}
catch { MessageBox.Show("Error opening com port", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error); return(false); }
__syncbl();
__sendbl(new byte[] { (byte)Codebl.BL_UPLOAD, (byte)Codebl.EOC });
__getSyncbl();
//comPortosdbl.BaseStream.Flush();
if (comPortosdbl.IsOpen)
{
comPortosdbl.Close();
}
//CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
//// check if we are seeing heartbeats
//MainV2.comPort.BaseStream.Open();
//MainV2.comPort.giveComport = true;
//BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
//if (MainV2.comPort.getHeartBeat().Length > 0)
//{
// MainV2.comPort.doReboot(true);
// MainV2.comPort.Close();
// //specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
// if (board == BoardDetect.boards.vrbrainv40)
// {
// CustomMessageBox.Show("VRBRAIN 4 detected. Please unplug the board then press OK and plug back in.\n");
// }
//}
//else
//{
// MainV2.comPort.BaseStream.Close();
// CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
//}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
//System.Threading.Thread.Sleep(1);
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
// test if pausing here stops - System.TimeoutException: The write timed out.
System.Threading.Thread.Sleep(500);
try
{
up.verifyotp();
if (up.libre)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "libre", "");
}
else
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Pass", "");
}
}
catch (Org.BouncyCastle.Security.InvalidKeyException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "InvalidKeyException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (FormatException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "FormatException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (IOException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "IOException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch (TimeoutException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "TimeoutException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch (Exception ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Exception", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board. " + ex.ToString(), "lost comms");
up.close();
return(false);
}
try
{
up.currentChecksum(fw);
}
catch (IOException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return(true);
}
try
{
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return(false);
}
finally
{
up.close();
}
// wait for IO firmware upgrade and boot to a mavlink state
//CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
if (comPort.IsOpen)
{
comPort.Close();
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.Open();
comPort.toggleDTR();
var t11 = new Thread(delegate()
{
threadrun = true;
var start = DateTime.Now;
while ((DateTime.Now - start).TotalMilliseconds < 2000)
{
try
{
if (comPort.BytesToRead > 0)
{
comPort_DataReceived(null, null);
}
}
catch
{
return;
}
}
try
{
comPort.Write("\n\n\n");
}
catch
{
return;
}
while (threadrun)
{
try
{
Thread.Sleep(10);
if (!comPort.IsOpen)
{
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived(null, null);
}
}
catch
{
}
}
comPort.DtrEnable = false;
try
{
//if (sw != null)
// sw.Close();
}
catch
{
}
if (threadrun == false)
{
comPort.Close();
}
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
}
catch (Exception)
{
TXT_terminal.AppendText("Cant open serial port\r\n");
return;
}
TXT_terminal.Focus();
}
private static void mainloop()
{
DateTime lastrecv = DateTime.MinValue;
threadrun = true;
bool isrtcm = false;
bool issbp = false;
int reconnecttimeout = 10;
while (threadrun)
{
try
{
// reconnect logic - 10 seconds with no data, or comport is closed
try
{
if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
{
if (comPort is CommsNTRIP || comPort is UdpSerialConnect || comPort is UdpSerial)
{
}
else
{
log.Warn("Reconnecting");
// close existing
comPort.Close();
// reopen
comPort.Open();
}
// reset timer
lastrecv = DateTime.Now;
}
}
catch
{
log.Error("Failed to reconnect");
// sleep for 10 seconds on error
System.Threading.Thread.Sleep(10000);
}
// limit to 110 byte packets
byte[] buffer = new byte[110];
// limit to 180 byte packet if using new packet
if (rtcm_msg)
{
buffer = new byte[180];
}
while (comPort.BytesToRead > 0)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bytes += read;
bps += read;
try
{
if (basedata != null)
{
basedata.Write(buffer, 0, read);
}
}
catch
{
}
// if this is raw data transport of unknown packet types
if (!(isrtcm || issbp))
{
sendData(buffer, (byte)read);
}
// check for valid rtcm/sbp/ubx packets
for (int a = 0; a < read; a++)
{
int seenmsg = -1;
// rtcm
if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
{
sbp.resetParser();
ubx_m8p.resetParser();
nmea.resetParser();
isrtcm = true;
sendData(rtcm3.packet, (byte)rtcm3.length);
bpsusefull += rtcm3.length;
string msgname = "Rtcm" + seenmsg;
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
ExtractBasePos(seenmsg);
seenRTCM(seenmsg);
}
// sbp
if ((seenmsg = sbp.read(buffer[a])) > 0)
{
rtcm3.resetParser();
ubx_m8p.resetParser();
nmea.resetParser();
issbp = true;
sendData(sbp.packet, (byte)sbp.length);
bpsusefull += sbp.length;
string msgname = "Sbp" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
// ubx
if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
{
rtcm3.resetParser();
sbp.resetParser();
nmea.resetParser();
ProcessUBXMessage();
string msgname = "Ubx" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
// nmea
if ((seenmsg = nmea.Read(buffer[a])) > 0)
{
rtcm3.resetParser();
sbp.resetParser();
ubx_m8p.resetParser();
string msgname = "NMEA";
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
}
}
System.Threading.Thread.Sleep(10);
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
private void start_Terminal(bool px4)
{
setcomport();
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
if (comPort.IsOpen)
{
Console.WriteLine("Terminal Start - Close Port");
threadrun = false;
// if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
{
// return;
}
comPort.Close();
// allow things to cleanup
System.Threading.Thread.Sleep(400);
}
comPort.ReadBufferSize = 1024 * 1024 * 4;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting " + MainV2.comPortName + " at " + comPort.BaudRate + "\n");
// keep it local
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.BaseStream.PortName = MainV2.comPortName;
mine.BaseStream.BaudRate = comPort.BaudRate;
mine.giveComport = true;
mine.BaseStream.Open();
// check if we are a mavlink stream
byte[] buffer = mine.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
TXT_terminal.AppendText("Via Mavlink\n");
mine.doReboot(false);
try
{
mine.BaseStream.Close();
}
catch { }
}
else
{
log.Info("no packet - sending reboot via console");
TXT_terminal.AppendText("Via Console\n");
try
{
mine.BaseStream.Write("reboot\r");
mine.BaseStream.Write("exit\rreboot\r");
}
catch { }
try
{
mine.BaseStream.Close();
}
catch { }
}
}
TXT_terminal.AppendText("Waiting for reboot\n");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
DateTime deadline = DateTime.Now.AddSeconds(9);
while (DateTime.Now < deadline)
{
System.Threading.Thread.Sleep(500);
Application.DoEvents();
}
int a = 0;
while (a < 5)
{
try
{
if (!comPort.IsOpen)
{
comPort.Open();
}
}
catch { }
System.Threading.Thread.Sleep(200);
a++;
}
}
else
{
log.Info("About to open " + comPort.PortName);
comPort.Open();
log.Info("toggle dtr");
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch { }
Console.WriteLine("Terminal_Load run " + threadrun + " " + comPort.IsOpen);
BUT_disconnect.Enabled = true;
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start run run " + threadrun + " " + comPort.IsOpen);
try
{
comPort.Write("\r");
}
catch { }
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1 run " + threadrun + " " + comPort.IsOpen);
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2 run " + threadrun + " " + comPort.IsOpen);
try
{
if (!inlogview && comPort.IsOpen)
{
comPort.Write("\n\n\n");
}
// 1 secs
if (!inlogview && comPort.IsOpen)
{
readandsleep(1000);
}
if (!inlogview && comPort.IsOpen)
{
comPort.Write("\r\r\r?\r");
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); ChangeConnectStatus(false); threadrun = false; return; }
Console.WriteLine("Terminal thread 3 run " + threadrun + " " + comPort.IsOpen);
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (!threadrun)
{
break;
}
if (this.Disposing)
{
break;
}
if (inlogview)
{
continue;
}
if (!comPort.IsOpen)
{
Console.WriteLine("Comport Closed");
ChangeConnectStatus(false);
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close run " + threadrun + " " + comPort.IsOpen);
ChangeConnectStatus(false);
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close run " + threadrun);
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
if (this.IsDisposed || this.Disposing)
{
return;
}
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception ex) { log.Error(ex); TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = GCSViews.Terminal.comPort;
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
if (!comPort.IsOpen)
comPort.Open();
//Console.WriteLine("Log dtr");
//comPort.toggleDTR();
Console.WriteLine("Log discard");
comPort.DiscardInBuffer();
Console.WriteLine("Log w&sleep");
try
{
// try provoke a response
comPort.Write("\n\n?\r\n\n");
}
catch
{
}
// 10 sec
waitandsleep(10000);
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
return;
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
if (comPort.IsOpen)
readandsleep(100);
try
{
if (comPort.IsOpen)
comPort.Write("\n\n\n\nexit\r\nlogs\r\n"); // more in "connecting"
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(1);
if (!comPort.IsOpen)
break;
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object) null, (SerialDataReceivedEventArgs) null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
}) {Name = "comport reader", IsBackground = true};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
}
}
private void mainloop()
{
DateTime lastrecv = DateTime.MinValue;
threadrun = true;
bool isrtcm = false;
bool issbp = false;
while (threadrun)
{
try
{
// reconnect logic - 10 seconds with no data, or comport is closed
try
{
if ((DateTime.Now - lastrecv).TotalSeconds > 10 || !comPort.IsOpen)
{
log.Info("Reconnecting");
// close existing
comPort.Close();
// reopen
comPort.Open();
// reset timer
lastrecv = DateTime.Now;
}
}
catch
{
log.Error("Failed to reconnect");
// sleep for 10 seconds on error
System.Threading.Thread.Sleep(10000);
}
// limit to 110 byte packets
byte[] buffer = new byte[110];
while (comPort.BytesToRead > 0)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bytes += read;
bps += read;
if (!(isrtcm || issbp))
{
sendData(buffer, (byte)read);
}
// check for valid rtcm packets
for (int a = 0; a < read; a++)
{
int seen = -1;
// rtcm
if ((seen = rtcm3.Read(buffer[a])) > 0)
{
isrtcm = true;
sendData(rtcm3.packet, (byte)rtcm3.length);
if (!msgseen.ContainsKey(seen))
{
msgseen[seen] = 0;
}
msgseen[seen] = (int)msgseen[seen] + 1;
}
// sbp
if ((seen = sbp.read(buffer[a])) > 0)
{
issbp = true;
sendData(sbp.packet, (byte)sbp.length);
if (!msgseen.ContainsKey(seen))
{
msgseen[seen] = 0;
}
msgseen[seen] = (int)msgseen[seen] + 1;
}
}
}
System.Threading.Thread.Sleep(10);
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
MainV2.givecomport = true;
if (comPort.IsOpen)
{
comPort.Close();
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comportname;
comPort.Open();
comPort.toggleDTR();
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
DateTime start = DateTime.Now;
while ((DateTime.Now - start).TotalMilliseconds < 2000)
{
try
{
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch { return; }
}
comPort.Write("\n\n\n");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (inlogview)
{
continue;
}
if (!comPort.IsOpen)
{
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch { }
}
comPort.DtrEnable = false;
if (threadrun == false)
{
comPort.Close();
}
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
private void start_NSHTerminal()
{
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
comPort = new MAVLinkSerialPort(MainV2.comPort, MAVLink.SERIAL_CONTROL_DEV.SHELL);
comPort.BaudRate = 0;
// 20 hz
((MAVLinkSerialPort)comPort).timeout = 50;
comPort.Open();
startreadthread();
}
}
catch
{
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
try
{
basedata.Close();
basedata = null;
}
catch { }
}
else
{
status_line3 = null;
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
Settings.Instance["SerialInjectGPS_port"] = CMB_serialport.Text;
Settings.Instance["SerialInjectGPS_baud"] = CMB_baudrate.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.ReadBufferSize = 1024 * 64;
comPort.Open();
try
{
basedata = new BinaryWriter(new BufferedStream(
File.Open(
Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".gpsbase", FileMode.CreateNew,
FileAccess.ReadWrite, FileShare.None)));
}
catch (Exception ex2)
{
CustomMessageBox.Show("Error creating file to save base data into " + ex2.ToString());
}
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
// inject init strings - m8p
if (chk_m8pautoconfig.Checked)
{
this.LogInfo("Setup M8P");
ubx_m8p.SetupM8P(comPort, basepos, int.Parse(txt_surveyinDur.Text), double.Parse(txt_surveyinAcc.Text));
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
}
}
private void mainloop()
{
DateTime lastrecv = DateTime.MinValue;
threadrun = true;
bool isrtcm = false;
bool issbp = false;
while (threadrun)
{
try
{
// reconnect logic - 10 seconds with no data, or comport is closed
try
{
if ((DateTime.Now - lastrecv).TotalSeconds > 10 || !comPort.IsOpen)
{
this.LogInfo("Reconnecting");
// close existing
comPort.Close();
// reopen
comPort.Open();
// reset timer
lastrecv = DateTime.Now;
}
}
catch
{
this.LogError("Failed to reconnect");
// sleep for 10 seconds on error
System.Threading.Thread.Sleep(10000);
}
// limit to 110 byte packets
byte[] buffer = new byte[110];
// limit to 180 byte packet if using new packet
if (rtcm_msg)
{
buffer = new byte[180];
}
while (comPort.BytesToRead > 0)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bytes += read;
bps += read;
try
{
if (basedata != null)
{
basedata.Write(buffer, 0, read);
}
}
catch { }
if (!(isrtcm || issbp))
{
sendData(buffer, (byte)read);
}
// check for valid rtcm packets
for (int a = 0; a < read; a++)
{
int seenmsg = -1;
// rtcm
if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
{
isrtcm = true;
sendData(rtcm3.packet, (byte)rtcm3.length);
string msgname = "Rtcm" + seenmsg;
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
ExtractBasePos(seenmsg);
}
// sbp
if ((seenmsg = sbp.read(buffer[a])) > 0)
{
issbp = true;
sendData(sbp.packet, (byte)sbp.length);
string msgname = "Sbp" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
// ubx
if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
{
ProcessUBXMessage();
string msgname = "Ubx" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
}
}
System.Threading.Thread.Sleep(10);
}
catch (Exception ex)
{
this.LogError(ex);
}
}
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
if (comPort.IsOpen)
{
comPort.Close();
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.Open();
comPort.toggleDTR();
MainV2.comPort.doReboot();
comPort.DiscardInBuffer();
Console.WriteLine("Terminal_Load");
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1");
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2");
try
{
if (!inlogview)
{
comPort.Write("\n\n\n");
}
// 1 secs
if (!inlogview)
{
readandsleep(1000);
}
if (!inlogview)
{
comPort.Write("\r\r\r?\r");
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); threadrun = false; return; }
Console.WriteLine("Terminal thread 3");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (inlogview)
{
continue;
}
if (!comPort.IsOpen)
{
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close");
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
private void but_cotstart_Click(object sender, EventArgs e)
{
if (listenerCoT != null)
{
listenerCoT.Stop();
listenerCoT = null;
}
if (CoTStream.IsOpen)
{
CoTthreadrun = false;
CoTStream.Close();
but_cotstart.Text = Strings.Connect;
}
else
{
try
{
switch (cmb_cotport.Text)
{
case "TCP Host - 14551":
case "TCP Host":
CoTStream = new TcpSerial();
int portt = int.Parse(Settings.Instance["cot_tcphostport", "14551"]);
InputBox.Show("Enter Port", "Please enter a listen port", ref portt);
cmb_cotbaud.SelectedIndex = 0;
listenerCoT = new TcpListener(System.Net.IPAddress.Any, portt);
listenerCoT.Start(0);
listenerCoT.BeginAcceptTcpClient(new AsyncCallback(DoAcceptCoTTcpClientCallback), listenerCoT);
break;
case "TCP Client":
CoTStream = new TcpSerial()
{
retrys = 999999, autoReconnect = true
};
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host - 14551":
case "UDP Host":
int portu = int.Parse(Settings.Instance["cot_udphostport", "10011"]);
InputBox.Show("Enter Port", "Please enter a listen port", ref portu);
Settings.Instance["cot_udphostport"] = portu.ToString();
CoTStream = new UdpSerial()
{
ConfigRef = "cot", Port = portu.ToString(), client = new UdpClient(portu), IsOpen = true
};
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
CoTStream = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
CoTStream = new SerialPort();
CoTStream.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
CoTStream.BaudRate = int.Parse(cmb_cotbaud.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
if (listenerCoT == null)
{
CoTStream.Open();
}
}
catch
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??");
return;
}
CoTThread = new System.Threading.Thread(new System.Threading.ThreadStart(CoTmainloop))
{
IsBackground = true,
Name = "CoT output"
};
CoTThread.Start();
but_cotstart.Text = Strings.Stop;
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
// inject init strings - m8p
if (true)
{
var ubloxm8p_timepulse_60s_1m = new byte[]
{
0xB5, 0x62, 0x06, 0x71, 0x28, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00,
0x00, 0x00, 0x20, 0x4E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4A, 0x53
};
comPort.Write(ubloxm8p_timepulse_60s_1m, 0, ubloxm8p_timepulse_60s_1m.Length);
var ubloxm8p_msg_f5_05_5s = new byte[]
{ 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00, 0x13, 0x96 };
comPort.Write(ubloxm8p_msg_f5_05_5s, 0, ubloxm8p_msg_f5_05_5s.Length);
var ubloxm8p_msg_f5_4d_1s = new byte[]
{ 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x4D, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x53, 0x6E };
comPort.Write(ubloxm8p_msg_f5_4d_1s, 0, ubloxm8p_msg_f5_4d_1s.Length);
var ubloxm8p_msg_f5_57_1s = new byte[]
{ 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x57, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x5D, 0xB4 };
comPort.Write(ubloxm8p_msg_f5_57_1s, 0, ubloxm8p_msg_f5_57_1s.Length);
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
}
}
private void Log_Load(object sender, EventArgs e)
{
if (MainV2.config["log_isarducopter"] != null)
{
CHK_arducopter.Checked = bool.Parse(MainV2.config["log_isarducopter"].ToString());
CHK_arduplane.Checked = bool.Parse(MainV2.config["log_isarduplane"].ToString());
CHK_ardurover.Checked = bool.Parse(MainV2.config["log_isardurover"].ToString());
}
status = serialstatus.Connecting;
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
comPort.DtrEnable = false;
comPort.RtsEnable = false;
if (comPort.IsOpen)
{
comPort.Close();
}
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
// 4mb
comPort.ReadBufferSize = 1024 * 1024 * 4;
if (!comPort.IsOpen)
{
comPort.Open();
}
Console.WriteLine("Log dtr");
comPort.toggleDTR();
Console.WriteLine("Log discard");
comPort.DiscardInBuffer();
Console.WriteLine("Log w&sleep");
try
{
// try provoke a responce
comPort.Write("\n\n?\r\n\n");
}
catch
{
}
// 10 sec
waitandsleep(10000);
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
readandsleep(100);
try
{
comPort.Write("\n\n\n\nexit\r\nlogs\r\n"); // more in "connecting"
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(1);
if (!comPort.IsOpen)
{
break;
}
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
})
{
Name = "comport reader", IsBackground = true
};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
private void start_Terminal(bool px4)
{
try
{
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
if (comPort.IsOpen)
{
threadrun = false;
// if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
{
// return;
}
comPort.Close();
// allow things to cleanup
System.Threading.Thread.Sleep(200);
}
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
log.Info("About to open " + comPort.PortName);
comPort.Open();
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting");
// check if we are a mavlink stream
byte[] buffer = MainV2.comPort.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
MainV2.comPort.giveComport = true;
MainV2.comPort.doReboot(false);
try
{
comPort.Close();
}
catch { }
}
else
{
log.Info("no packet - sending reboot via console");
MainV2.comPort.giveComport = true;
MainV2.comPort.BaseStream.Write("exit\rreboot\r");
try
{
comPort.Close();
}
catch { }
}
MainV2.comPort.giveComport = true;
TXT_terminal.AppendText("Waiting for reboot");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
DateTime deadline = DateTime.Now.AddSeconds(8);
while (DateTime.Now < deadline)
{
System.Threading.Thread.Sleep(100);
Application.DoEvents();
}
int a = 0;
// while (a < 5)
{
try
{
comPort.Open();
}
catch { }
System.Threading.Thread.Sleep(200);
a++;
}
}
else
{
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch { }
Console.WriteLine("Terminal_Load");
BUT_disconnect.Enabled = true;
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1");
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2");
try
{
if (!inlogview)
comPort.Write("\n\n\n");
// 1 secs
if (!inlogview)
readandsleep(1000);
if (!inlogview)
comPort.Write("\r\r\r?\r");
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); ChangeConnectStatus(false); threadrun = false; return; }
Console.WriteLine("Terminal thread 3");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
ChangeConnectStatus(comPort.IsOpen);
if (this.Disposing)
break;
if (inlogview)
continue;
if (!comPort.IsOpen)
{
Console.WriteLine("Comport Closed");
ChangeConnectStatus(false);
break;
}
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close");
ChangeConnectStatus(false);
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception ex) { log.Error(ex); TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
break;
case "UDP Host":
comPort = new UdpSerial();
break;
case "UDP Client":
comPort = new UdpSerialConnect();
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" + ex.ToString());
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
private void start_Terminal(bool px4)
{
setcomport();
try
{
if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
if (comPort.IsOpen)
{
Console.WriteLine("Terminal Start - Close Port");
threadrun = false;
// if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
{
// return;
}
comPort.Close();
// allow things to cleanup
Thread.Sleep(400);
}
comPort.ReadBufferSize = 1024 * 1024 * 4;
comPort.PortName = MainV2.comPortName;
// test moving baud rate line
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
if (px4)
{
TXT_terminal.AppendText("Rebooting " + MainV2.comPortName + " at " + comPort.BaudRate + "\n");
// keep it local
using (var mine = new MAVLinkInterface())
{
mine.BaseStream.PortName = MainV2.comPortName;
mine.BaseStream.BaudRate = comPort.BaudRate;
mine.giveComport = true;
mine.BaseStream.Open();
// check if we are a mavlink stream
var buffer = mine.readPacket();
if (buffer.Length > 0)
{
log.Info("got packet - sending reboot via mavlink");
TXT_terminal.AppendText("Via Mavlink\n");
mine.doReboot(false);
try
{
mine.BaseStream.Close();
}
catch
{
}
}
else
{
log.Info("no packet - sending reboot via console");
TXT_terminal.AppendText("Via Console\n");
try
{
mine.BaseStream.Write("reboot\r");
mine.BaseStream.Write("exit\rreboot\r");
}
catch
{
}
try
{
mine.BaseStream.Close();
}
catch
{
}
}
}
TXT_terminal.AppendText("Waiting for reboot\n");
// wait 7 seconds for px4 reboot
log.Info("waiting for reboot");
var deadline = DateTime.Now.AddSeconds(9);
while (DateTime.Now < deadline)
{
Thread.Sleep(500);
Application.DoEvents();
}
var a = 0;
while (a < 5)
{
try
{
if (!comPort.IsOpen)
{
comPort.Open();
}
}
catch
{
}
Thread.Sleep(200);
a++;
}
}
else
{
log.Info("About to open " + comPort.PortName);
comPort.Open();
log.Info("toggle dtr");
comPort.toggleDTR();
}
try
{
comPort.DiscardInBuffer();
}
catch
{
}
startreadthread();
}
catch (Exception ex)
{
log.Error(ex);
TXT_terminal.AppendText("Cant open serial port\r\n");
return;
}
}
private void Terminal_Load(object sender, EventArgs e)
{
try
{
MainV2.comPort.giveComport = true;
comPort = MainV2.comPort.BaseStream;
if (comPort.IsOpen)
comPort.Close();
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);
comPort.Open();
comPort.toggleDTR();
comPort.DiscardInBuffer();
Console.WriteLine("Terminal_Load");
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
Console.WriteLine("Terminal thread start");
// 10 sec
waitandsleep(10000);
Console.WriteLine("Terminal thread 1");
// 100 ms
readandsleep(100);
Console.WriteLine("Terminal thread 2");
try
{
if (!inlogview)
comPort.Write("\n\n\n");
// 1 secs
if (!inlogview)
readandsleep(1000);
if (!inlogview)
comPort.Write("\r\r\r?\r");
}
catch (Exception ex) { Console.WriteLine("Terminal thread 3 " + ex.ToString()); threadrun = false; return; }
Console.WriteLine("Terminal thread 3");
while (threadrun)
{
try
{
System.Threading.Thread.Sleep(10);
if (inlogview)
continue;
if (!comPort.IsOpen)
break;
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("Terminal thread 4 " + ex.ToString()); }
}
threadrun = false;
try
{
comPort.DtrEnable = false;
}
catch { }
try
{
Console.WriteLine("term thread close");
comPort.Close();
}
catch { }
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
TXT_terminal.AppendText("Opened com port\r\n");
inputStartPos = TXT_terminal.SelectionStart;
}
catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
TXT_terminal.Focus();
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
comPort.PortName = CMB_serialport.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName, Strings.ERROR);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate, Strings.ERROR);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorConnecting + "\n" + ex.ToString(), Strings.ERROR);
return;
}
string alt = "100";
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
alt = (10 * CurrentState.multiplierdist).ToString("0");
}
else
{
alt = (100 * CurrentState.multiplierdist).ToString("0");
}
if (DialogResult.Cancel == InputBox.Show("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
{
return;
}
intalt = (int)(100 * CurrentState.multiplierdist);
if (!int.TryParse(alt, out intalt))
{
CustomMessageBox.Show(Strings.InvalidAlt, Strings.ERROR);
return;
}
intalt = (int)(intalt / CurrentState.multiplierdist);
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "followme Input"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
threadrun = false;
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
try
{
basedata.Close();
basedata = null;
}
catch
{
}
}
else
{
status_line3 = null;
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
((CommsNTRIP)comPort).lat = MainV2.comPort.MAV.cs.HomeLocation.Lat;
((CommsNTRIP)comPort).lng = MainV2.comPort.MAV.cs.HomeLocation.Lng;
((CommsNTRIP)comPort).alt = MainV2.comPort.MAV.cs.HomeLocation.Alt;
chk_m8pautoconfig.Checked = false;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
Settings.Instance["SerialInjectGPS_port"] = CMB_serialport.Text;
Settings.Instance["SerialInjectGPS_baud"] = CMB_baudrate.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.ReadBufferSize = 1024 * 64;
try
{
comPort.Open();
}
catch (ArgumentException ex)
{
log.Error(ex);
// try pipe method
comPort = new CommsSerialPipe();
comPort.PortName = CMB_serialport.Text;
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
try
{
comPort.Open();
}
catch
{
comPort.Close();
throw;
}
}
try
{
basedata = new BinaryWriter(new BufferedStream(
File.Open(
Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".gpsbase", FileMode.CreateNew,
FileAccess.ReadWrite, FileShare.None)));
}
catch (Exception ex2)
{
CustomMessageBox.Show("Error creating file to save base data into " + ex2.ToString());
}
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
// inject init strings - m8p
if (chk_m8pautoconfig.Checked)
{
this.LogInfo("Setup M8P");
ubx_m8p.SetupM8P(comPort, chk_m8p_130p.Checked, chk_movingbase.Checked);
if (basepos != PointLatLngAlt.Zero)
{
ubx_m8p.SetupBasePos(comPort, basepos, 0, 0, false, chk_movingbase.Checked);
}
CMB_baudrate.Text = "115200";
this.LogInfo("Setup M8P done");
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
invalidateRTCMStatus();
panel1.Controls.Clear();
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "TCP Host - 14551":
case "TCP Host":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
listener = new TcpListener(System.Net.IPAddress.Any, 14551);
listener.Start(0);
listener.BeginAcceptTcpClient(new AsyncCallback(DoAcceptTcpClientCallback), listener);
BUT_connect.Text = Strings.Stop;
break;
case "TCP Client":
comPort = new TcpSerial()
{
retrys = 999999, autoReconnect = true
};
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host - 14551":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate, Strings.ERROR);
return;
}
try
{
if (listener == null)
{
comPort.Open();
}
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorConnecting + "\n" + ex.ToString(), Strings.ERROR);
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "movingbase Input"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (listener != null)
{
listener.Stop();
listener = null;
}
if (NmeaStream.IsOpen)
{
threadrun = false;
NmeaStream.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "TCP Host - 14551":
case "TCP Host":
NmeaStream = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
listener = new TcpListener(System.Net.IPAddress.Any, 14551);
listener.Start(0);
listener.BeginAcceptTcpClient(new AsyncCallback(DoAcceptTcpClientCallback), listener);
BUT_connect.Text = Strings.Stop;
break;
case "TCP Client":
NmeaStream = new TcpSerial()
{
retrys = 999999, autoReconnect = true
};
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host - 14551":
NmeaStream = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
NmeaStream = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
NmeaStream = new SerialPort();
NmeaStream.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
NmeaStream.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
if (listener == null)
{
NmeaStream.Open();
}
}
catch
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??");
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "Nmea output"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
// inject init strings - m8p
if (true)
{
var ubloxm8p_timepulse_60s_1m = new byte[]
{
0xB5, 0x62, 0x06, 0x71, 0x28, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00,
0x00, 0x00, 0x20, 0x4E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4A, 0x53
};
comPort.Write(ubloxm8p_timepulse_60s_1m, 0, ubloxm8p_timepulse_60s_1m.Length);
var ubloxm8p_msg_f5_05_5s = new byte[]
{0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00, 0x13, 0x96};
comPort.Write(ubloxm8p_msg_f5_05_5s, 0, ubloxm8p_msg_f5_05_5s.Length);
var ubloxm8p_msg_f5_4d_1s = new byte[]
{0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x4D, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x53, 0x6E};
comPort.Write(ubloxm8p_msg_f5_4d_1s, 0, ubloxm8p_msg_f5_4d_1s.Length);
var ubloxm8p_msg_f5_57_1s = new byte[]
{0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF5, 0x57, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x5D, 0xB4};
comPort.Write(ubloxm8p_msg_f5_57_1s, 0, ubloxm8p_msg_f5_57_1s.Length);
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
}
}
private void Log_Load(object sender, EventArgs e)
{
status = serialstatus.Connecting;
comPort = GCSViews.Terminal.comPort;
try
{
Console.WriteLine("Log_load " + comPort.IsOpen);
if (!comPort.IsOpen)
{
comPort.Open();
}
//Console.WriteLine("Log dtr");
//comPort.toggleDTR();
Console.WriteLine("Log discard");
comPort.DiscardInBuffer();
Console.WriteLine("Log w&sleep");
try
{
// try provoke a response
comPort.Write("\n\n?\r\n\n");
}
catch
{
}
// 10 sec
waitandsleep(10000);
}
catch (Exception ex)
{
log.Error("Error opening comport", ex);
CustomMessageBox.Show("Error opening comport");
return;
}
var t11 = new System.Threading.Thread(delegate()
{
var start = DateTime.Now;
threadrun = true;
if (comPort.IsOpen)
{
readandsleep(100);
}
try
{
if (comPort.IsOpen)
{
comPort.Write("\n\n\n\nexit\r\nlogs\r\n"); // more in "connecting"
}
}
catch
{
}
while (threadrun)
{
try
{
updateDisplay();
System.Threading.Thread.Sleep(1);
if (!comPort.IsOpen)
{
break;
}
while (comPort.BytesToRead >= 4)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
log.Info("Comport thread close");
})
{
Name = "comport reader", IsBackground = true
};
t11.Start();
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
try
{
basedata.Close();
basedata = null;
}
catch
{
}
}
else
{
status_line3 = null;
try
{
switch (CMB_serialport.Text)
{
case "NTRIP":
comPort = new CommsNTRIP();
CMB_baudrate.SelectedIndex = 0;
((CommsNTRIP) comPort).lat = MainV2.comPort.MAV.cs.lat;
((CommsNTRIP) comPort).lng = MainV2.comPort.MAV.cs.lng;
((CommsNTRIP) comPort).alt = MainV2.comPort.MAV.cs.altasl;
break;
case "TCP Client":
comPort = new TcpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Host":
comPort = new UdpSerial();
CMB_baudrate.SelectedIndex = 0;
break;
case "UDP Client":
comPort = new UdpSerialConnect();
CMB_baudrate.SelectedIndex = 0;
break;
default:
comPort = new SerialPort();
comPort.PortName = CMB_serialport.Text;
break;
}
Settings.Instance["SerialInjectGPS_port"] = CMB_serialport.Text;
Settings.Instance["SerialInjectGPS_baud"] = CMB_baudrate.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate);
return;
}
try
{
comPort.ReadBufferSize = 1024*64;
comPort.Open();
try
{
basedata = new BinaryWriter(new BufferedStream(
File.Open(
Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".gpsbase", FileMode.CreateNew,
FileAccess.ReadWrite, FileShare.None)));
}
catch (Exception ex2)
{
CustomMessageBox.Show("Error creating file to save base data into " + ex2.ToString());
}
}
catch (Exception ex)
{
CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" +
ex.ToString());
return;
}
// inject init strings - m8p
if (chk_m8pautoconfig.Checked)
{
this.LogInfo("Setup M8P");
ubx_m8p.SetupM8P(comPort, basepos, int.Parse(txt_surveyinDur.Text, CultureInfo.InvariantCulture),
double.Parse(txt_surveyinAcc.Text, CultureInfo.InvariantCulture));
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "injectgps"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
msgseen.Clear();
bytes = 0;
}
}
