public MainWindow()
{
InitializeComponent();
serialPort1 = new ReliableSerialPort("COM9", 115200, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
serialPort1.Open();
serialPort1.DataReceived += SerialPort1_DataReceived;
timerAffichage = new System.Windows.Threading.DispatcherTimer();
timerAffichage.Tick += TimerAffichage_Tick;
timerAffichage.Interval = new TimeSpan(0, 0, 0, 0, 100);
timerAffichage.Start();
m_KeyboardHookManager = new KeyboardHookListener(new GlobalHooker());
m_KeyboardHookManager.Enabled = true;
m_KeyboardHookManager.KeyDown += HookManager_KeyDown;
WorldMap.Init(3.6, 2.4, 3, 2, "");
var robotShape = new WpfSimplifiedWorldMapDisplayNS.PolygonExtended();
robotShape.polygon.Points.Add(new Point(0.2, 0));
robotShape.polygon.Points.Add(new Point(0.1, 0.1));
robotShape.polygon.Points.Add(new Point(-0.1, 0.1));
robotShape.polygon.Points.Add(new Point(-0.1, -0.1));
robotShape.polygon.Points.Add(new Point(0.1, -0.1));
robotShape.polygon.Points.Add(new Point(0.2, 0));
WorldMap.SetRobotShape(robotShape);
WorldMap.UpdateRobotLocation(new WpfSimplifiedWorldMapDisplayNS.Location(robot.xpos, robot.ypos, robot.angle, 0, 0, 0));
//AsservDisplay.UpdatePolarSpeedConsigneValues(consigneX, consigneY, consigneTheta);
}
public void ConnectToSerialAvailable(string COM)
{
serialPort = new ReliableSerialPort(COM, 115200, Parity.None, 8, StopBits.One);
serialPort.OnDataReceivedEvent += SerialPort_OnDataReceived;
serialPort.Open();
OnSerialConnected(COM);
}
public MainWindow()
{
InitializeComponent();
Comport.DataReceived += Comport_DataReceived;
Comport.Open();
}
//updates the port when selected
private void listBox_avPorts_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
try
{
serialPort.Close();
serialPort.PortName = listBox_avPorts.SelectedItem.ToString();
serialPort.Open();
}
catch (Exception)
{ serialPort.PortName = " "; }
}
public MainWindow()
{
InitializeComponent();
serialPort1 = new ReliableSerialPort("COM4", 115200, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
serialPort1.DataReceived += SerialPort1_DataReceived1;
serialPort1.Open();
timerAffichage = new DispatcherTimer();
timerAffichage.Interval = new TimeSpan(0, 0, 0, 0, 100);
timerAffichage.Tick += TimerAffichage_Tick;
timerAffichage.Start();
}
static void Main(string[] args)
{
////block logic
SerialStream.DataReceived += MsgDecoder.DecodeMessage;
MsgDecoder.OnDataDecodedEvent += MsgProcessor.ProcessMessage;
//MsgEncoder.UartSendSpeedCommand(SerialStream, 0, 0);
if (usingRobotInterface)
{
StartRobotInterface();
}
SerialStream.Open();
ConsoleWriteColoredText("Initialized", ConsoleColor.Yellow);
while (appLocked)
{
Console.Write(">");
userInputCommand = Console.ReadLine();
splittedCommand = ProcessUserCommand(userInputCommand);
switch (splittedCommand[0])
{
case "SetSpeed":
robot.vitesseAngulaireConsigne = Convert.ToSByte(splittedCommand[1]);
MsgEncoder.UartSendSpeedCommand(SerialStream, Convert.ToSByte(splittedCommand[1]), Convert.ToSByte(splittedCommand[2]));
break;
case "anglSpeed":
robot.vitesseLineaireConsigne = Convert.ToSByte(splittedCommand[1]);
MsgEncoder.UartSendAngularSpeedConsigne(SerialStream, Convert.ToSByte(splittedCommand[1]));
break;
case "linSpeed":
MsgEncoder.UartSendLinearSpeedConsigne(SerialStream, Convert.ToSByte(splittedCommand[1]));
break;
case "st":
MsgEncoder.UartSendSpeedCommand(SerialStream, 0, 0);
break;
default:
ConsoleWriteColoredText("Unknown command : '" + splittedCommand[0] + "'", ConsoleColor.Red);
break;
}
}
//Thread.CurrentThread.Join();
}
public MainWindow()
{
InitializeComponent();
/*----------------------------Init du port série + évenement datareceived------------------------------------*/
serialPort1 = new ReliableSerialPort("COM8", 115200, Parity.None, 8, StopBits.One); //entrée USB à droite
serialPort1.DataReceived += SerialPort1_DataReceived;
serialPort1.Open();
/*-----------------------------------------------------------------------------------------------------------*/
/*-----------------------------------Init Timer-------------------------*/
timerAffichage = new DispatcherTimer();
timerAffichage.Interval = new TimeSpan(0, 0, 0, 0, 100);
timerAffichage.Tick += TimerAffichage_Tick;
timerAffichage.Start();
} /*-----------------------------------------------------------------------*/
public MainWindow()
{
InitializeComponent();
serialPort1 = new ReliableSerialPort("COM5", 115200, Parity.None, 8, StopBits.One);
serialPort1.DataReceived += SerialPort1_DataReceived;
serialPort1.Open();
timerAffichage = new DispatcherTimer();
timerAffichage.Interval = new TimeSpan(0, 0, 0, 0, 100);
timerAffichage.Tick += TimerAffichage_Tick;
timerAffichage.Start();
m_KeyboardHookManager = new KeyboardHookListener(new GlobalHooker());
m_KeyboardHookManager.Enabled = true;
m_KeyboardHookManager.KeyDown += HookManager_KeyDown;
}
private void buttonSerial_Click(object sender, RoutedEventArgs e)
{
string select = comboSerial.Text;
if (select != "Null" && comboSerial.SelectedItem != null)
{
if (serialPort != null)
{
// Can't close the serial
//serialPort.Close();
}
else
{
serialPort = new ReliableSerialPort(select, 115200, Parity.None, 8, StopBits.One);
serialPort.DataReceived += SerialPort_DataReceived;
serialPort.Open();
}
}
}
public MainWindow()
{
InitializeComponent();
robot = new Robot();
serialPort = new ReliableSerialPort("COM19", 115200, Parity.None, 8, StopBits.One);
serialPort.DataReceived += SerialPort_DataReceived;
serialPort.Open();
timer = new DispatcherTimer();
timer.Interval = new TimeSpan(0, 0, 0, 0, 100);
timer.Tick += Timer_Tick;
timer.Start();
m_KeyboardHookManager = new KeyboardHookListener(new GlobalHooker());
m_KeyboardHookManager.Enabled = true;
m_KeyboardHookManager.KeyDown += M_KeyboardHookManager_KeyDown;
m_KeyboardHookManager.KeyUp += M_KeyboardHookManager_KeyUp;
}
private void Init()
{
_status = STATUS.Searching;
if (_stream != null)
{
// TODO: Remove write to logfile!
Console.WriteLine("Write to file");
_bw = new BinaryWriter(_stream);
}
if (_settingsSerial == null)
{
_settingsSerial = new SettingsSerial();
}
_serialPort = new ReliableSerialPort(_settingsSerial.PortName, _settingsSerial.BaudRate, _settingsSerial.Parity,
_settingsSerial.DataBits);
_serialPort.Open();
_stream = _serialPort.BaseStream;
}
private void comboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (isPortSelected == false)
{
if (serialPort1 == null && comboBox.SelectedItem != null && comboBox.Text != null)
{
serialPort1 = new ReliableSerialPort(comboBox.SelectedItem.ToString(), 115200, Parity.None, 8, StopBits.One); //entrée USB à droite
serialPort1.DataReceived += SerialPort1_DataReceived;
serialPort1.Open();
//On change la fonction de la comboBox
isPortSelected = true;
comboBox.Items.Clear();
comboBox.Items.Add("Text");
comboBox.Items.Add("Led");
comboBox.Items.Add("Speed");
comboBox.Items.Add("State");
comboBox.Items.Add("Single byte");
comboBox.SelectedItem = comboBox.Items[0];
AutomaticMode_Click(sender, e);
//UartEncodeAndSendMessage(0x0052, 1, new byte[] { (byte) 0});
}
}
else
{
}
/*----------------------------Init du port série + évenement datareceived------------------------------------*/
//serialPort1 = new ReliableSerialPort("COM7", 115200, Parity.None, 8, StopBits.One); //entrée USB à droite
//serialPort1.DataReceived += SerialPort1_DataReceived;
//serialPort1.Open();
/*-----------------------------------------------------------------------------------------------------------*/
}
public HerkulexController(string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits)
{
serialPort = new ReliableSerialPort(portName, baudRate, parity, dataBits, stopBits);
decoder = new HerkulexDecoder();
DequeueThread = new Thread(new ThreadStart(DequeueFrames));
DequeueThread.Start();
serialPort.DataReceived += decoder.DecodePacket;
decoder.OnRamReadAckEvent += Decoder_OnRamReadAckEvent;
decoder.OnRamWriteAckEvent += Decoder_OnRamWriteAckEvent;
decoder.OnIjogAckEvent += Decoder_OnIjogAckEvent;
decoder.OnSjogAckEvent += Decoder_OnSjogAckEvent;
decoder.OnStatAckEvent += Decoder_OnStatAckEvent;
serialPort.Open();
Task TaskA = Task.Run(() =>
{
while (true)
{
Thread.Sleep(10);
}
});
//starts 500ms after instanciation
PollingTimer = new System.Threading.Timer((c) =>
{
PollingTimerThreadBlock.WaitOne();
foreach (var key in Servos.Keys)
{
RAM_READ(key, HerkulexDescription.RAM_ADDR.Absolute_Position, 2);
RamReadAckReceivedEvent.WaitOne(AckTimeout);
}
}, null, 500, PollingInterval);
}
public MainWindow()
{
InitializeComponent();
SerialStream = new ReliableSerialPort("COM6", 115200, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
FrameDecoder = new msgDecoder();
FrameProcessor = new msgProcessor();
UI_Updater = new DispatcherTimer();
UI_Updater.Interval = new TimeSpan(0, 0, 0, 0, 100); //100ms tick
RobotModel = new robot();
//block logic
UI_Updater.Tick += UpdateUI;
SerialStream.DataReceived += FrameDecoder.DecodeMessage;
FrameDecoder.OnDataDecodedEvent += FrameProcessor.ProcessMessage;
FrameProcessor.OnTextMessageProcessedEvent += FrameProcessor_OnTextMessageProcessedEvent;
FrameProcessor.OnCheckSumErrorOccuredEvent += FrameProcessor_OnCheckSumErrorOccuredEvent;
FrameProcessor.OnIrMessageProcessedEvent += FrameProcessor_OnIrMessageProcessedEvent;
FrameProcessor.OnSpeedMessageProcessedEvent += FrameProcessor_OnSpeedMessageProcessedEvent;
SerialStream.Open();
UI_Updater.Start();
}
static void Main(string[] args)
{
HrController.port = ComPort;
ComPort.DataReceived += HrDecoder.DecodePacket;
HrDecoder.OnDataDecodedEvent += HrDecoder.ProcessPacket;
HrDecoder.OnStatAckEvent += HrDecoder_OnStatAckEvent;
HrDecoder.OnIjogAckEvent += HrDecoder_OnIjogAckEvent;
HrDecoder.OnSjogAckEvent += HrDecoder_OnSjogAckEvent;
HrDecoder.OnRamReadAckEvent += HrDecoder_OnRamReadAckEvent;
HrDecoder.OnEepReadAckEvent += HrDecoder_OnEepReadAckEvent;
ComPort.Open();
while (lockShell)
{
Console.Write('>');
string[] parsedCmd = ParseShellCmd(Console.ReadLine());
switch (parsedCmd[0])
{
case "REBOOT":
if (parsedCmd.Length == 1)
{
Console.WriteLine("REBOOT <pID>");
}
else
{
HrController.REBOOT(Convert.ToByte(parsedCmd[1]));
}
break;
case "ROOLBACK":
if (parsedCmd.Length == 1)
{
Console.WriteLine("ROLLBACK <ID>");
}
else
{
HrController.ROLLBACK(Convert.ToByte(parsedCmd[1]));
}
break;
case "EEP_WRITE":
if (parsedCmd.Length == 1)
{
Console.WriteLine("EEP_WRITE <pID> <StartAddr> <Length> <DataDecimal>");
}
else
{
HrController.EEP_WRITE(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]),
Convert.ToByte(parsedCmd[3]), Convert.ToUInt16(parsedCmd[4]));
}
break;
case "EEP_READ":
if (parsedCmd.Length == 1)
{
Console.WriteLine("EEP_READ <pID> <StartAddr> <Length>");
}
else
{
HrController.EEP_READ(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]), Convert.ToByte(parsedCmd[3]));
}
break;
case "STAT":
if (parsedCmd.Length == 1)
{
Console.WriteLine("STAT <pID>");
}
else
{
HrController.STAT(Convert.ToByte(parsedCmd[1]));
}
break;
//for testing incredible things
case "debug":
if (parsedCmd.Length == 1)
{
Console.WriteLine("debug <JOG1> <JOG2>");
}
else
{
Ser1Config.JOG = Convert.ToUInt16(parsedCmd[1]);
Ser2Config.JOG = Convert.ToUInt16(parsedCmd[2]);
ROBOT_ARM_CONFIG = new List <JOG_TAG>
{
Ser1Config,
Ser2Config
};
HrController.S_JOG(ROBOT_ARM_CONFIG, 0x3C);
}
break;
//implemented, working
case "moveto":
if (parsedCmd.Length == 1)
{
Console.WriteLine("moveto <ID> <JOG>");
}
else
{
floatingConfig.ID = Convert.ToByte(parsedCmd[1]);
floatingConfig.JOG = Convert.ToUInt16(parsedCmd[2]);
HrController.S_JOG(floatingConfig, 10);
}
break;
case "GetPos":
if (parsedCmd.Length == 1)
{
Console.WriteLine("GetPos <pID>");
}
else
{
HrController.RAM_READ(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Absolute_Position, 2);
}
break;
//implemented, working
case "torqueControl":
if (parsedCmd.Length == 1)
{
Console.WriteLine("torqueControl <ID> <TRK_ON, BRK_ON, TRK_FREE>");
}
else
{
if (parsedCmd[2] == "TRK_ON")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x60);
}
if (parsedCmd[2] == "BRK_ON")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x40);
}
if (parsedCmd[2] == "TRK_FREE")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x00);
}
}
break;
case "RAM_READ":
if (parsedCmd.Length == 1)
{
Console.WriteLine("RAM_READ <pID> <StartAddr> <Length>");
}
else
{
HrController.RAM_READ(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]), Convert.ToByte(parsedCmd[3]));
}
break;
case "RAM_WRITE":
if (parsedCmd.Length == 1)
{
Console.WriteLine("RAM_WRITE <pID> <StartAddr> <Length> <Value> {ADDR 48 / 49 for error status}");
}
else
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]),
Convert.ToByte(parsedCmd[3]), Convert.ToUInt16(parsedCmd[4]));
}
break;
case "initPos":
floatingConfig.ID = 1;
floatingConfig.JOG = 512;
floatingConfig.playTime = 100;
HrController.I_JOG(floatingConfig);
floatingConfig.ID = 2;
floatingConfig.JOG = 512;
floatingConfig.playTime = 100;
HrController.I_JOG(floatingConfig);
break;
case "allFree":
HrController.RAM_WRITE(1, (byte)RAM_ADDR.Torque_Control, 1, 0x00);
HrController.RAM_WRITE(2, (byte)RAM_ADDR.Torque_Control, 1, 0x00);
break;
case "allOn":
HrController.RAM_WRITE(1, (byte)RAM_ADDR.Torque_Control, 1, 0x60);
HrController.RAM_WRITE(2, (byte)RAM_ADDR.Torque_Control, 1, 0x60);
break;
case "disconnect":
ComPort.Close();
break;
case "connect":
ComPort.Open();
break;
case "list":
Console.WriteLine("moveto <ID> <JOG>");
Console.WriteLine("torqueControl <ID> <TRK_ON, BRK_ON, TRK_FREE>");
Console.WriteLine("RAM_READ <pID> <StartAddr> <Length>");
Console.WriteLine("RAM_WRITE <pID> <StartAddr> <Length> <Value> {ADDR 48 / 49 for error status}");
Console.WriteLine("initPos");
Console.WriteLine("allFree");
Console.WriteLine("allOn");
Console.WriteLine("disconnect");
Console.WriteLine("connect");
break;
case "ResolveErrs":
if (parsedCmd.Length == 1)
{
Console.WriteLine("ResolveErrs <pID>");
}
else
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Status_Error, 1, 0x00);
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x60);
}
break;
case "quit":
ComPort.Close();
lockShell = false;
break;
}
}
}
private void TimerAffichage_Tick(object sender, EventArgs e)
{
//caca
//using (System.IO.StreamWriter lf = new System.IO.StreamWriter(logPath, true))
//{
// lf.WriteLine(TelemetreEG + " " + TelemetreG + " " + TelemetreC + " " + TelemetreD + " " + TelemetreD + " - " + robotState + " " + stateChanged + " @" + timestamp);
//}
if (autoPortSetting == 1 && isPortSelected == false)
{
string[] menuPortContentAS = ListAllSerialOpen();
serialPort1 = new ReliableSerialPort(menuPortContentAS[menuPortContentAS.Length - 1], 115200, Parity.None, 8, StopBits.One); //entrée USB à droite
serialPort1.DataReceived += SerialPort1_DataReceived;
serialPort1.Open();
isPortSelected = true;
stateMachineActivated = true;
UartEncodeAndSendMessage(0x0020, 2, new byte[] { 1, 1 });
}
if ((stateRobot)(robotState) != (stateRobot)(stateChanged) &&
(stateRobot)(robotState) != (stateRobot)(stateChanged) + 1 &&
stateMachineActivated)
{
UartEncodeAndSendMessage(0x0051, 1, new byte[] { (byte)stateChanged });
}
while (Messages.Count > 0)
{
Message CurMsg = Messages.Dequeue();
byte[] tab = new byte[4];
switch (CurMsg.msgDecodedFunction)
{
case 0x0080: // transmission texte
textBoxReception.Text += "[Text (";
textBoxReception.Text += CurMsg.msgDecodedPayloadLength;
textBoxReception.Text += ")";
if (CurMsg.isValidChecksum == true)
{
textBoxReception.Text += "] ";
}
else
{
textBoxReception.Text += ", invalid checksum !] ";
}
//textBoxReception.AppendText(Encoding.ASCII.GetString(CurMsg.msgDecodedPayload));
for (int i = 0; i < CurMsg.msgDecodedPayloadLength; i++)
{
textBoxReception.Text += (char)CurMsg.msgDecodedPayload[i];
}
textBoxReception.Text += "\n";
break;
case 0x0020: // reglage LED
textBoxReception.Text += "[LED";
if (CurMsg.isValidChecksum == false)
{
textBoxReception.Text += " invalid checksum !] ";
}
else
{
textBoxReception.Text += "] ";
}
textBoxReception.Text += "LED ";
textBoxReception.Text += CurMsg.msgDecodedPayload[0];
if (CurMsg.msgDecodedPayload[1] == 1)
{
textBoxReception.Text += " ON";
}
else
{
textBoxReception.Text += " OFF";
}
textBoxReception.Text += "\n";
break;
case 0x0030: // distance télémètre IR
if (CurMsg.isValidChecksum == true)
{
TelemetreG = CurMsg.msgDecodedPayload[0];
TelemetreC = CurMsg.msgDecodedPayload[1];
TelemetreD = CurMsg.msgDecodedPayload[2];
if (CurMsg.msgDecodedPayloadLength == 5)
{
TelemetreEG = CurMsg.msgDecodedPayload[3];
TelemetreED = CurMsg.msgDecodedPayload[4];
}
}
else
{
textBoxReception.Text += "[IR invalid checksum]\n";
}
break;
case 0x0040: // Consigne vitesse
textBoxReception.Text += "[CONSIGNE";
if (CurMsg.isValidChecksum == true)
{
textBoxReception.Text += "] ";
}
else
{
textBoxReception.Text += ", invalid checksum !] ";
}
textBoxReception.Text += "G=";
textBoxReception.Text += (float)CurMsg.msgDecodedPayload[0] * 100.0 / 255.0;
textBoxReception.Text += "% D=";
textBoxReception.Text += (float)CurMsg.msgDecodedPayload[1] * 100.0 / 255.0;
textBoxReception.Text += "%\n";
break;
case 0x0050: // Etape en cours
receptionTimeState = (((int)CurMsg.msgDecodedPayload[1]) << 24) +
(((int)CurMsg.msgDecodedPayload[2]) << 16) +
(((int)CurMsg.msgDecodedPayload[3]) << 8) +
(((int)CurMsg.msgDecodedPayload[4]) << 0);
receptionTimeState *= 5;
robotState = CurMsg.msgDecodedPayload[0];
break;
case 0x0061: // odométrie
// timestamp
tab = CurMsg.msgDecodedPayload.GetRange(0, 4);
receptionTimeConsigne = tab[0] << 24;
receptionTimeConsigne += tab[0] << 16;
receptionTimeConsigne += tab[0] << 8;
receptionTimeConsigne += tab[0] << 0;
// odo 1
tab = CurMsg.msgDecodedPayload.GetRange(4, 4);
//positionXOdo = BitConverter.ToInt32(tab, 0);
positionXOdo = tab.GetFloat();
// odo 2
tab = CurMsg.msgDecodedPayload.GetRange(8, 4);
positionYOdo = tab.GetFloat();
// angle
tab = CurMsg.msgDecodedPayload.GetRange(12, 4);
angleOdo = tab.GetFloat();
// linear speed
tab = CurMsg.msgDecodedPayload.GetRange(16, 4);
linearSpeedOdo = tab.GetFloat();
// angular speed
tab = CurMsg.msgDecodedPayload.GetRange(20, 4);
angularSpeedOdo = tab.GetFloat();
break;
case 0x0062: // Consigne asserv
tab = new byte[4];
// timestamp
tab = CurMsg.msgDecodedPayload.GetRange(0, 4);
receptionTimeOdo = tab[0] << 24;
receptionTimeOdo += tab[0] << 16;
receptionTimeOdo += tab[0] << 8;
receptionTimeOdo += tab[0] << 0;
// Consigne Linéaire
tab = CurMsg.msgDecodedPayload.GetRange(4, 4);
LineaireConsigne = tab.GetFloat();
// Consigne Angulaire
tab = CurMsg.msgDecodedPayload.GetRange(8, 4);
AngulaireConsigne = tab.GetFloat();
// Consigne Gauche
tab = CurMsg.msgDecodedPayload.GetRange(12, 4);
GaucheConsigne = tab.GetFloat();
// Consigne Droite
tab = CurMsg.msgDecodedPayload.GetRange(16, 4);
DroiteConsigne = tab.GetFloat();
break;
}
}
//textBoxReception.Text += "0x" + byteListReceived.Dequeue().ToString("X2") + " "
//if (receivedtext != receivedtextAnt)
//{
// textBoxReception.Text = receivedtext;
// receivedtextAnt = receivedtext;
//}
}
public MainWindow()
{
serialPort1 = new ReliableSerialPort("COM5", 115200, Parity.None, 8, StopBits.One);
serialPort1.Open();
serialPort1.DataReceived += SerialPort1_DataReceived1;
}