private void cursor_check()
{
if (TextBoxTerminal.SelectionStart <= cursor_initial)
{
TextBoxTerminal.Select(TextBoxTerminal.Text.Length, 0);
}
}
/**
* check user input whenever terminal content changes
*/
private void TextBoxTerminal_TextChanged(object sender, EventArgs e)
{
if (TextBoxTerminal.Text.Length < cursor_initial)
{
TextBoxTerminal.Text += " ";
TextBoxTerminal.Select(TextBoxTerminal.Text.Length, 0);
}
}
/**
* initialize text box terminal
*/
private void TextBoxTerminal_Init()
{
Array.Sort(cmd_list);
TextBoxTerminal.Clear();
TextBoxTerminal.Text = "GCS @ GCS: ~$ ";
TextBoxTerminal.Select(TextBoxTerminal.Text.Length, 0);
cursor_initial = TextBoxTerminal.Text.Length;
terminal_blocked = false;
}
private void TextBoxTerminalInput_KeyDown(object sender, KeyEventArgs e)
{
string RawInput = "";
string Input = "";
if (e.KeyCode == Keys.Enter)
{
TextBoxTerminal.AppendText("> " + TextBoxTerminalInput.Text + "\r\n");
RawInput = TextBoxTerminalInput.Text;
Input = RawInput.Trim().ToLower();
TextBoxTerminalInput.Text = "";
if (Input == "help" | Input == "?")
{
TextBoxTerminal.AppendText("╔════════════════════════════╗\r\n║ VisionClient Terminal Help ║\r\n╚════════════════════════════╝\r\n\r\nCommands:\r\n\r\nclear\t\tClear the display.\r\nconnect\t\tAttempt to connect to the server, or ping the server if already connected.\r\ndisconnect\tDisconnect from the server.\r\nexit\t\tClose the VisionClient program. (Synonyms: \"bye\", \"quit\")\r\nhelp\t\tDisplay this menu. (Synonyms: \"?\")\r\nmagic\t\tAbracadabra!\r\nsend\t\tAttempt to send the entered data to the server. Syntax is: \"send <data>\". The server will listen for the following strings: \"C\", \"C0\", \"C1\", \"C2\", \"C3\", \"C4\", \"T\", \"T0\", \"T1\", \"T2\".\r\n");
}
else if (Input == "magic")
{
TextBoxTerminal.AppendText(" ██████╗ ██╗ ██╗███████╗███████╗██████╗ ███████╗███████╗ █████╗ ██████╗ ███████╗\r\n██╔═████╗╚██╗██╔╝██╔════╝██╔════╝╚════██╗╚════██║██╔════╝██╔══██╗██╔══██╗██╔════╝\r\n██║██╔██║ ╚███╔╝ ███████╗█████╗ █████╔╝ ██╔╝███████╗╚██████║██║ ██║█████╗ \r\n████╔╝██║ ██╔██╗ ╚════██║██╔══╝ ╚═══██╗ ██╔╝ ╚════██║ ╚═══██║██║ ██║██╔══╝ \r\n╚██████╔╝██╔╝ ██╗███████║██║ ██████╔╝ ██║ ███████║ █████╔╝██████╔╝██║ \r\n ╚═════╝ ╚═╝ ╚═╝╚══════╝╚═╝ ╚═════╝ ╚═╝ ╚══════╝ ╚════╝ ╚═════╝ ╚═╝\r\n");
}
else if (Input == "clear")
{
TextBoxTerminal.Text = "";
}
else if (Input == "connect")
{
if (m_Comm.IsConnected())
{
m_Comm.SendData("1");
LabelStatus.Text = "Current connection status: ONLINE.";
}
else
{
m_Comm.Run();
}
}
else if (Input == "disconnect")
{
m_Comm.Stop();
TextBoxTerminal.AppendText("Disconnected. Please note that you will not be able to reconnect for several minutes, due to underlying networking protocols.\r\n");
}
else if (Input == "quit" | Input == "bye" | Input == "exit")
{
Application.Exit();
}
else if (Input.Length >= 4 && Input.Substring(0, 4) == "send")
{
m_Comm.SendData(RawInput.Substring(5, Input.Length - 5));
}
else
{
TextBoxTerminal.AppendText("ERROR: Command \"" + RawInput + "\" not found.\r\n");
}
}
}
/**
* background worker job completed
*/
private void backgroundWorker_terminal_RunWorkerCompleted(object sender, RunWorkerCompletedEventArgs e)
{
terminal_blocked = false;
string res = (string)e.Result;
TextBoxTerminal.Text += res + "\r\n";
TextBoxTerminal.Text += current_station_name + " @ GCS: ~$ ";
TextBoxTerminal.Select(TextBoxTerminal.Text.Length, 0);
cursor_initial = TextBoxTerminal.Text.Length;
TextBoxTerminal.ScrollToCaret();
}
/**
* capture special key presses
*/
private void TextBoxTerminal_KeyDown(object sender, KeyEventArgs e)
{
// if focus is NOT of the terminal, don't do anything
if (TextBoxTerminal.Focus() == false)
{
return;
}
// when ENTER is pressed
if (e.KeyCode == Keys.Enter)
{
int len = TextBoxTerminal.Text.Length - cursor_initial;
string sentense = TextBoxTerminal.Text.Substring(cursor_initial, len);
cmd_history.Add(sentense);
cmd_history_index = cmd_history.Count - 1;
if (cmd_history.Count > cmd_history_max)
{
cmd_history.RemoveAt(0);
}
backgroundWorker_terminal.RunWorkerAsync(sentense);
cursor_initial = TextBoxTerminal.Text.Length;
terminal_blocked = true;
}
// when ctrl+l is pressed, clear screen, except for current line
if (e.Control && e.KeyCode == Keys.L)
{
int len = TextBoxTerminal.Text.Length - cursor_initial;
string sentense = TextBoxTerminal.Text.Substring(cursor_initial, len);
cursor_initial = 14;
TextBoxTerminal.Text = current_station_name + " @ GCS: ~$ " + sentense;
TextBoxTerminal.Select(TextBoxTerminal.Text.Length, 0);
}
// up/down key to see previous cmds
if (e.KeyCode == Keys.Down)
{
}
if (e.KeyCode == Keys.Up)
{
}
if (!e.Control)
{
cursor_check();
}
}
private void Log(string message)
{
TextBoxTerminal.AppendText(message + "\r\n");
File.WriteAllText("outlog.txt", message + "\r\n");
}
private string cmd_img_trans_test(string[] cmd_words)
{
double t1 = epoch_now();
AddDataObj_terminal = new AddDataDelegate(AddDataMethod_terminal);
string res = "";
DFrame msg = new DFrame();
// initiate img transmission
msg.source_id = gcs.id;
msg.target_id = 0x03;
msg.route = 0;
msg.payload[0] = 10; // img transfer request
msg.payload[1] = Convert.ToByte('N');
msg.len = 2;
msg.send(serial_ch1);
// wait for first pkg, which tells the size of the img
byte[] tmp;
int img_size = 0;
Int16 pkg_num = 0;
Int16 block_size = 0;
int timeout_cnt = 0;
while (timeout_cnt < 300)
{
if (img_raw_buff.TryDequeue(out tmp))
{
if (tmp[1] != 0xFF | tmp[2] != 0xFF)
{
continue;
}
pkg_num = BitConverter.ToInt16(tmp, 3);
img_size = BitConverter.ToInt32(tmp, 5);
block_size = BitConverter.ToInt16(tmp, 9);
res = " img request accepted \r\n";
res += " number of pkg: " + Convert.ToString(pkg_num) + "\r\n";
res += " size of img: " + Convert.ToString(img_size) + "\r\n";
res += " img block size: " + Convert.ToString(block_size) + "\r\n";
TextBoxTerminal.Invoke(this.AddDataObj_terminal, res);
break;
}
else
{
timeout_cnt += 1;
Thread.Sleep(1);
}
}
if (timeout_cnt >= 300)
{
res = " timeout\r\n";
TextBoxTerminal.Invoke(this.AddDataObj_terminal, res);
return("");
}
// receive the rest of the img
Int16 pkg_cnt = 0;
const int max_try = 10;
int try_cnt = 0;
byte[] img_buf = new byte[img_size];
List <Int16> received_pkg = new List <Int16>();
msg.payload[1] = Convert.ToByte('R');
msg.len = 4;
for (pkg_cnt = 0; pkg_cnt < pkg_num; pkg_cnt++)
{
try_cnt = 0;
while (try_cnt < max_try)
{
msg.payload[2] = (byte)(pkg_cnt & 0x00FF);
msg.payload[3] = (byte)(pkg_cnt >> 8);
res = "requesting pkg " + Convert.ToString(pkg_cnt) + "\r\n";
TextBoxTerminal.Invoke(this.AddDataObj_terminal, res);
msg.send(serial_ch1);
timeout_cnt = 0;
while (timeout_cnt < 400)
{
if (img_raw_buff.TryDequeue(out tmp))
{
if (BitConverter.ToInt16(tmp, 1) != pkg_cnt)
{
continue;
}
Int16 pkg_cnt_get = BitConverter.ToInt16(tmp, 1);
received_pkg.Add(pkg_cnt);
// copy received pkg to local buffer
int pkg_len = (pkg_cnt == pkg_num - 1) ? img_size % block_size : block_size;
Buffer.BlockCopy(tmp, 3,
img_buf, pkg_cnt * block_size, pkg_len);
res = " received pkg: " + Convert.ToString(pkg_cnt_get) + "\r\n";
TextBoxTerminal.Invoke(this.AddDataObj_terminal, res);
break;
}
else
{
timeout_cnt += 1;
Thread.Sleep(1);
}
}
if (timeout_cnt >= 400)
{
try_cnt += 1;
//Thread.Sleep(1);
}
else
{
break;
}
}
}
// check whether the reception is complete
// request re-transmission of missing pkgs
// write picture to file
BinaryWriter img_write = new BinaryWriter(File.Open("try.jpg", FileMode.Create));
img_write.Write(img_buf);
img_write.Close();
res = "time take: " + Convert.ToString(Math.Round(epoch_now() - t1, 2)) + " seconds";
TextBoxTerminal.Invoke(this.AddDataObj_terminal, res);
return(" ");
}
private void AddDataMethod_terminal(string s)
{
TextBoxTerminal.AppendText(s);
}
