public void RefreshActiveSerialNexstarDevices()
{
_logger.LogInformation("Clearing old devices.");
ActiveNexStarDevicePortNames.Clear();
_logger.LogInformation("Starting probe for NexStar devices.");
string[] portNames = SerialPort.GetPortNames();
foreach (string portName in portNames)
{
SerialPortController testController = new SerialPortController(portName);
VersionCommand versionCommandCommand = new VersionCommand();
try
{
testController.RunCommand(versionCommandCommand);
if (versionCommandCommand.RawResultBytes != null)
{
ActiveNexStarDevicePortNames.Add(portName);
_logger.LogInformation($"NexStar device found on port '{portName}'.");
}
}
catch (TimeoutException)
{
_logger.LogInformation($"Probe timeout for port '{portName}'.");
//ignore timeouts here, we are expecting some devices to not respond.
}
finally
{
testController.CloseSerialConnection();
}
}
_logger.LogInformation($"Probe finished found {ActiveNexStarDevicePortNames.Count} devices.");
}
public void Excute()
{
OnPreExecute(); //会调用重写的方法
SerialPortController mSerialPortController = SerialPortController.GetInstance(); //这个类只会new一次
mSerialPortController.PortName = Param.PortName;
mSerialPortController.BaudRate = Param.BaudRate;
mSerialPortController.Initialization((object sender, EventArgs e) =>
{
SerialPortEventArgs mSerialPortEventArgs = e as SerialPortEventArgs;
//通知异常
OnPostExecute(default(T), new Exception(mSerialPortEventArgs.ErrorMessage));
}, (object sender, EventArgs e) =>
{
SerialPortEventArgs mSerialPortEventArgs = e as SerialPortEventArgs;
recvByteArray = mSerialPortEventArgs.Data;
if (null != MyProtocol && null != mSerialPortEventArgs)
{
//会调用重写的方法
OnPostExecute(MyProtocol.Decode(mSerialPortEventArgs.Data) as T, null);
}
else
{
//通知异常
OnPostExecute(default(T), new Exception("返回数据为空"));
}
}, MyProtocol);
if (RequestProtocol != null && RequestProtocol.GetCommand() != SerialPortConst.COMMAND_EMPTY_VIRTUAL)
{
mSerialPortController.SendCommand(RequestProtocol.Encode());
Console.WriteLine("-----------------send value-----------------\n" + Util.ToHexString(RequestProtocol.Encode()));
}
}
/// <summary>
/// Перехватывает событие SerialPortDetectorThreadWrapper.onCompleted
/// Это событие как определяет порт нужного устройства, так и фиксирует порты других устройств
/// </summary>
private void OnDetectionCompleted(object sender, LowLevelUtils.SerialPortDetectorEventArgs args)
{
if (args.Result)
{
Debug.Log($"Found! {args.Controller}");
_serialPortController = args.Controller;
_serialPortController.onMessageReceived += OnMessageReceived;
foreach (var wrapper in _threadWrappers.Where(wr => !wr.RequestCanceled))
{
wrapper.CancelRequest();
}
foreach (var cameraBaseController in CameraBaseControllers)
{
cameraBaseController.Initialize();
}
}
((LowLevelUtils.SerialPortDetectorThreadWrapper)sender).onCompleted -= OnDetectionCompleted;
if (++_wrappersInvokedCount == _threadWrappers.Count)
{
foreach (var wrapper in _threadWrappers)
{
wrapper.Dispose();
}
_threadWrappers.Clear();
}
}
public void moveForward(SerialPortController sp, Master ms, int rpm)
{
if (Config.num_of_thrusters != 5 && Config.num_of_thrusters != 3)
{
return;
}
int[] idx = new int[2];
if (Config.num_of_thrusters == 5) // select motors to run: lowerleft, lowerright -> motorIdex[3,4]
{
idx[0] = Config.motorIdx[3];
idx[1] = Config.motorIdx[4];
}
else if (Config.num_of_thrusters == 3)
{
idx[0] = Config.motorIdx[1];
idx[1] = Config.motorIdx[2];
}
int[] rpmToSet = new int[Config.max_num_of_thrusters];
for (int i = 0; i < Config.max_num_of_thrusters; ++i)
{
if (i == idx[0] || i == idx[1])
{
rpmToSet[i] = rpm;
}
else
{
rpmToSet[i] = 0;
}
}
sp.sendDownstreamPacket(ms.setAllRPM(rpmToSet[0], rpmToSet[1], rpmToSet[2], rpmToSet[3], rpmToSet[4], rpmToSet[5]));
curStatus = OPS.FORWARD;
}
public void OnRight(SerialPortController sp, Master ms)
{
if (Config.num_of_thrusters == 5)
{
curRPM = Config.max_rpm / 10;
Debug.LogFormat("current RPM: %d\n", curRPM);
moveRight(sp, ms, curRPM);
}
}
public int MachineRot = 0; //기계에서 받아오는 핸들 회전 값 임시 변수
//public CharacterController Bike;
void Awake()
{
spController = gameObject.GetComponent <SerialPortController>();
if (spController == null)
{
spController = new SerialPortController();
}
//DontDestroyOnLoad(this.gameObject);
}
// Use this for initialization
void Start()
{
min_index = (int)roller_slider.minValue;
max_index = (int)roller_slider.maxValue;
current_index = 3;
roller_slider.value = current_index;
spController = player.GetComponent <SerialPortController> ();
}
// Change the serial port name
private void lstSerialPorts_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
try
{
SerialPortController.PortName = (string)lstSerialPorts.SelectedItem;
}
catch (ArgumentNullException)
{
SerialPortController.StopReceivingData();
}
}
/// <summary>
/// The driver class for the main form and its event handelers.
/// </summary>
public MainForm()
{
/* Initialize UI */
InitializeComponent(); // VS Studio Autogen code
this.panelDashboard.Visible = true;
this.panelScanMain.Visible = false;
this.panelExport.Visible = false;
/* Initialize models and controllers */
this.databaseModel = new DatabaseModel(this);
this.exportModel = new ExportModel();
this.serialPortController = new SerialPortController(this, databaseModel);
this.networkController = new NetworkController(this, databaseModel);
}
// Send a string with new line to the serial port device
private void btnSendLine_Click(object sender, RoutedEventArgs e)
{
// Set the timeout
SerialPortController.WriteTimeout = 1000;
// Send the string
try
{
SerialPortController.Write(txtSendLine.Text, (MessageEnding)cbMessageEnding.SelectedItem);
}
catch (System.Exception ex)
{
MessageBox.Show("Failed in sending string:\n" + ex.Message);
}
}
/// <summary>
/// 串行端口控制器配置变更事件处理器。
/// </summary>
/// <param name="sender">触发该事件的对象。</param>
/// <param name="e">事件参数。</param>
protected void _ctrlConfigChangedHandler()
{
// Check if the serial port is ready
if (SerialPortController.IsReady)
{
// Serial port ready
// Start receiving data
SerialPortController.StartReceivingData();
}
else
{
// Serial port not ready
// Stop receiving data
SerialPortController.StopReceivingData();
}
}
public void goDown(SerialPortController sp, Master ms, int rpm)
{
int[] rpmToSet = new int[Config.max_num_of_thrusters];
for (int i = 0; i < Config.max_num_of_thrusters; ++i)
{
if (i == Config.motorIdx[0])
{
rpmToSet[i] = rpm;
}
else
{
rpmToSet[i] = 0;
}
}
sp.sendDownstreamPacket(ms.setAllRPM(rpmToSet[0], rpmToSet[1], rpmToSet[2], rpmToSet[3], rpmToSet[4], rpmToSet[5]));
curStatus = OPS.DOWN;
}
public void changeSpeed(OPS status, SerialPortController sp, Master ms)
{
switch (status)
{
case OPS.UP:
goUp(sp, ms, curRPM);
break;
case OPS.DOWN:
goDown(sp, ms, curRPM);
break;
case OPS.FORWARD:
moveForward(sp, ms, curRPM);
break;
case OPS.BACKWARD:
moveBackward(sp, ms, curRPM);
break;
case OPS.LEFT_TURN:
turnLeft(sp, ms, curRPM);
break;
case OPS.RIGHT_TURN:
turnRight(sp, ms, curRPM);
break;
case OPS.LEFT:
if (Config.num_of_thrusters == 5)
{
moveLeft(sp, ms, curRPM);
}
break;
case OPS.RIGHT:
if (Config.num_of_thrusters == 5)
{
moveRight(sp, ms, curRPM);
}
break;
default:
break;
}
}
public void OnRealMonsterMode(SerialPortController sp, Master ms)
{
int randRPM = UnityEngine.Random.Range(0, 1000);
for (int i = 0; i < 10; ++i)
{
randRPM = UnityEngine.Random.Range(0, 1000) % 11384 + 5000;
if (UnityEngine.Random.Range(0, 1000) % 2 == 0)
{
sp.sendDownstreamPacket(ms.setAllRPM(randRPM, randRPM, randRPM, randRPM, randRPM, 0));
}
else
{
randRPM = -randRPM;
sp.sendDownstreamPacket(ms.setAllRPM(randRPM, randRPM, randRPM, randRPM, randRPM, 0));
}
Debug.LogFormat("rpm: %d\n", randRPM);
}
}
/// <summary>
/// 设置四个螺旋桨的油门输出。（上位机模式）
/// </summary>
/// <param name="throttle1">第1号螺旋桨的油门输出。</param>
/// <param name="throttle2">第2号螺旋桨的油门输出。</param>
/// <param name="throttle3">第3号螺旋桨的油门输出。</param>
/// <param name="throttle4">第4号螺旋桨的油门输出。</param>
/// <returns>返回一个 bool 值表示指令是否成功送出。</returns>
/// <exception cref="System.ArgumentOutOfRangeException">当油门输出不在 0 至 255 范围内时抛出该异常。</exception>
public static bool SetThrottleOutputs_PC(int throttle1, int throttle2, int throttle3, int throttle4)
{
// =================== [ Sent Data Structure ] =================== //
// //
// '@', '0x04', [Throttle: 4*uint16_t (1,2,3,4)], '\r', '\n' //
// //
// =============================================================== //
// Check the ranges of the throttles
if (throttle1 < 0 || throttle1 > 255 ||
throttle2 < 0 || throttle2 > 255 ||
throttle3 < 0 || throttle3 > 255 ||
throttle4 < 0 || throttle4 > 255)
{
throw new ArgumentOutOfRangeException("Miniquad_Controller.Miniquad.Communication.SetThrottleOutputs_PC: The value of throttle must be between 0 and 255.");
}
// Construct the message head bytes
_sentDataInPrincipalComputerMode[0] = BitConverter.GetBytes('@')[0];
_sentDataInPrincipalComputerMode[1] = BitConverter.GetBytes(4)[0];
// Construct the message content bytes
BitConverter.GetBytes((UInt16)throttle1).CopyTo(_sentDataInPrincipalComputerMode, 2);
BitConverter.GetBytes((UInt16)throttle2).CopyTo(_sentDataInPrincipalComputerMode, 4);
BitConverter.GetBytes((UInt16)throttle3).CopyTo(_sentDataInPrincipalComputerMode, 6);
BitConverter.GetBytes((UInt16)throttle4).CopyTo(_sentDataInPrincipalComputerMode, 8);
// Construct the message ending bytes
_sentDataInPrincipalComputerMode[10] = BitConverter.GetBytes('\r')[0];
_sentDataInPrincipalComputerMode[11] = BitConverter.GetBytes('\n')[0];
// Send the message
try
{
SerialPortController.Write(_sentDataInPrincipalComputerMode, 0, 12);
return(true);
}
catch (System.Exception)
{
return(false);
}
}
protected virtual void Dispose(bool disposing)
{
if (!_isDisposed)
{
if (disposing)
{
onCompleted = null;
_serialPortController.onDetected -= Detect;
if (_result)
{
_serialPortController = null;
}
else
{
_serialPortController.Dispose();
}
}
_isDisposed = true;
}
}
public void moveRight(SerialPortController sp, Master ms, int rpm)
{
if (Config.num_of_thrusters != 5)
{
return;
}
// select motors to run: upperleft, lowerleft -> motorIdex[1,3]
int[] idx = { Config.motorIdx[1], Config.motorIdx[3] };
int[] rpmToSet = new int[Config.max_num_of_thrusters];
for (int i = 0; i < Config.max_num_of_thrusters; ++i)
{
if (i == idx[0] || i == idx[1])
{
rpmToSet[i] = rpm;
}
else
{
rpmToSet[i] = 0;
}
}
sp.sendDownstreamPacket(ms.setAllRPM(rpmToSet[0], rpmToSet[1], rpmToSet[2], rpmToSet[3], rpmToSet[4], rpmToSet[5]));
curStatus = OPS.RIGHT;
}
public void ExitTask()
{
SerialPortController.GetInstance().ClosePort();
}
void Awake()
{
instance = this;
}
public UserControls()
{
InitializeComponent();
// pass ImageViewModel from the UserControl's DataContext
ctrl = new SerialPortController(DataContext as ImageViewModel);
}
public void OngetAllCurrent(SerialPortController sp, Master ms)
{
sp.sendDownstreamPacket(ms.getAllCurrent());
}
public void OngetBatteryVolts(SerialPortController sp, Master ms)
{
sp.sendDownstreamPacket(ms.getBatteryVolts());
}
public void StopscanPeriodically(SerialPortController sp, Master ms)
{
sp.sendDownstreamPacket(ms.scanPeriodically(0x16, 0x0c, 0));
sp.sendDownstreamPacket(ms.scanPeriodically(0x17, 0x0c, 0));
}
/// <summary>
/// 接收并显示飞行器的当前状态。
/// </summary>
protected void _receiveRobotStatus()
{
// Get the latest Miniquad status
if (Miniquad.Miniquad.RefreshStatus(SerialPortController.ReceivedDataBuffer))
{
// Get the status
MiniquadStatus status = Miniquad.Miniquad.Status;
// Get the throttle outputs (PC mode)
int[] throttles = Miniquad.Miniquad.GetAdjustedThrottleOutputs_PC();
// Check the existence of the status
if (status != null)
{
// Clear the buffer
SerialPortController.ClearReceivedDataBuffer();
// Quaternion
lblQuaternion.Dispatcher.Invoke(new Action(() =>
{
lblQuaternion.Content =
status.Quaternion.W.ToString("0.00") + ", " +
status.Quaternion.X.ToString("0.00") + ", " +
status.Quaternion.Y.ToString("0.00") + ", " +
status.Quaternion.Z.ToString("0.00");
}));
// Euler Angle
lblEulerAngle.Dispatcher.Invoke(new Action(() =>
{
lblEulerAngle.Content =
status.EulerAngle.Psi.ToString("0.00") + ", " +
status.EulerAngle.Theta.ToString("0.00") + ", " +
status.EulerAngle.Phi.ToString("0.00");
}));
// Rotation
lblRotation.Dispatcher.Invoke(new Action(() =>
{
lblRotation.Content =
status.Rotation.X.ToString("0.00") + ", " +
status.Rotation.Y.ToString("0.00") + ", " +
status.Rotation.Z.ToString("0.00");
}));
// Acceleration
lblAcceleration.Dispatcher.Invoke(new Action(() =>
{
lblAcceleration.Content =
status.Acceleration.X.ToString("0.00") + ", " +
status.Acceleration.Y.ToString("0.00") + ", " +
status.Acceleration.Z.ToString("0.00");
}));
// Gravity
lblGravity.Dispatcher.Invoke(new Action(() =>
{
lblGravity.Content =
status.Gravity.X.ToString("0.00") + ", " +
status.Gravity.Y.ToString("0.00") + ", " +
status.Gravity.Z.ToString("0.00");
}));
// Yaw Pitch Roll
lblYawPitchRoll.Dispatcher.Invoke(new Action(() =>
{
lblYawPitchRoll.Content =
status.YawPitchRoll.Yaw.ToString("0.00") + ", " +
status.YawPitchRoll.Pitch.ToString("0.00") + ", " +
status.YawPitchRoll.Roll.ToString("0.00");
}));
// Temperature
//lblTemperature.Content = "null";
// Throttles
lblThrottles.Dispatcher.Invoke(new Action(() =>
{
lblThrottles.Content =
status.Propeller1.Throttle.ToString() + ", " +
status.Propeller2.Throttle.ToString() + ", " +
status.Propeller3.Throttle.ToString() + ", " +
status.Propeller4.Throttle.ToString();
//lblThrottles.Content =
// throttles[0].ToString() + ", " +
// throttles[1].ToString() + ", " +
// throttles[2].ToString() + ", " +
// throttles[3].ToString();
}));
// Auto controlled by algorithm
if (_isAotoControlled)
{
Miniquad.Miniquad.SetThrottleOutputs_PC(throttles[0], throttles[1], throttles[2], throttles[3]);
}
}
}
}
public SerialPortDetectorThreadWrapper(string portName, bool sendOnCompletedToMainThread = true) : base(sendOnCompletedToMainThread)
{
_serialPortController = SerialPortParams.NewSerialPort(portName);
_serialPortController.onDetected += Detect;
}
private void OnLoad(object sender, RoutedEventArgs e)
{
serialPortController = new SerialPortController(false);
txtPortName.Text = serialPortController.PortName;
txtBaudRate.Text = serialPortController.Baudrate.ToString();
}
public void InitialVariables()
{
otherController = new OtherController();
ovalPictureBox.BackgroundImageLayout = ImageLayout.Zoom;
serialPortController = new SerialPortController(true);
serialPortController.PortOpen += () =>
{
// System.Windows.MessageBox.Show("port open");
this.Dispatcher.Invoke(() =>
{
imageSerialportStatus.Source = new BitmapImage(new Uri("/Resource/SerialPortSuccess.png", UriKind.Relative));
});
};
serialPortController.PortClose += () =>
{
// System.Windows.MessageBox.Show("port closed");
this.Dispatcher.Invoke(() =>
{
imageSerialportStatus.Source = new BitmapImage(new Uri("/Resource/SerialPortFail.png", UriKind.Relative));
});
};
serialPortController.NewDataReceived += (string data) =>
{
if (data.Substring(data.Length - 1, 1) == "\r")
{
data = data.Substring(0, data.Length - 1);
}
//System.Windows.MessageBox.Show(data);
switch (data)
{
case "LIVE":
new Task(() => LivePreView()).Start();
break;
case "SAVE":
if (pedalController.SaveOnSave)
{
SaveToGallery();
}
if (pedalController.SetImageRightOnSave)
{
SetImageRight();
}
break;
case "FREEZE":
CaptureJpeg();
StopLivePreView();
if (pedalController.SaveOnFreeze)
{
SaveToGallery();
}
break;
}
};
dvrControl = new DvrController();
galleryController = new GalleryController();
pedalController = new PedalController();
captureController = new CaptureController();
patientDbContext = new PatientDbContext();
dgTodayWorkBench.DataContext = patientDbContext.Patients.ToList();
pateintTodayForm.nowRefresh += LoadTodayPatientTable;
pateintTodayForm.onSelectPatient += (int Id, string fullName) =>
{
mainTabControl.SelectedIndex = 1;
PatientId = Id;
galleryController.CreateAndOpenGalley(Id);
galleryControl.setGalleryId(Id);
patientWorkBenchName.Text = fullName;
//picCapture.Source = null;
partBottom.Visibility = Visibility.Collapsed;
};
galleryControl.onChangeSelectedItem += (BitmapImage bitmapImage) =>
{
this.Dispatcher.Invoke(() =>
{
//ellipseGeometry.Center = new Point(bitmapImage.Width / 2, bitmapImage.Height / 2);
//int startX = (int)(bitmapImage.Width - bitmapImage.Height) / 2;
//int endX = (int)(bitmapImage.Width + startX);
////CroppedBitmap croppedBitmap = new CroppedBitmap(bitmapImage, new Int32Rect(startX, 0, endX, (int)bitmapImage.Height));
//croppedBitmap.SourceRect = new Int32Rect(startX, 0, endX, (int)bitmapImage.Height);
picCapture.Source = bitmapImage;
});
};
}
public void OnTurnRight(SerialPortController sp, Master ms)
{
curRPM = Config.max_rpm / 10;
Debug.LogFormat("current RPM: %d\n", curRPM);
turnRight(sp, ms, curRPM);
}
public void ClearAllEvent()
{
SerialPortController.GetInstance().ClearAllEvent();
}
public void OnMonsterMode(SerialPortController sp, Master ms)
{
sp.sendDownstreamPacket(ms.setAllRPM(5000, 5000, 5000, 5000, 5000, 0));
}
