private void bt_closeall_Click(object sender, EventArgs e)
{
try
{
UDPComm.oktoReceive = false;
closeThread(tstartMissonPlannerConn);
closeThread(tstartmyServerConn);
closeThread(tstartTrimaresConn);
closeThread(tstartExoReadings);
closeThread(Treadings);
if (TCPClientConn != null)
TCPClientConn = null;
if (TCPClientData != null)
TCPClientData = null;
if (TCPMavLinkClient != null)
TCPMavLinkClient = null;
if (TrimaresUDPServerConn != null)
TrimaresUDPServerConn = null;
if (TrimaresUDPServerData != null)
TrimaresUDPServerData = null;
if (TrimaresUDPMavLinkServer != null)
TrimaresUDPMavLinkServer = null;
}
catch { }
//Application.ExitThread();
//Application.Exit();
}
public MsgRouter()
{
try
{
InitializeComponent();
ListBox.CheckForIllegalCrossThreadCalls = false;
PropertyGrid.CheckForIllegalCrossThreadCalls = false;
listBox1.Items.Clear();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
try
{
// DevExpress.Data.CurrencyDataController.DisableThreadingProblemsDetection = true;
// DevExpress.XtraGrid.GridControl.CheckForIllegalCrossThreadCalls = false;
TCPClientData = new MainCrossData();
TCPClientData.myLink.BaseStream.BaudRate = 115200;
string[] portnames = MAVcomm.Comms.SerialPort.GetPortNames();
if (portnames.Length == 0)
{
listBox1.Items.Add("ardupilot not found, going on as fake robot...");
Thread.Sleep(1000);
// Thread.CurrentThread.Abort();
}
else
{
gb_simulador.Enabled = true;
// gb_tcpclient.Enabled = false;
//' gb_realtrimares.Enabled = false;
tx_APcomport.Text = portnames[0];
// cbCType.Text = cbCType.Items[0].ToString();
// ClientData.comPortName = cbCType.Text;
// ClientData.myLink.BaseStream.PortName = ClientData.comPortName;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
}
/// <summary>
/// inicializa comunicacao do router com o trimares
/// </summary>
private void startTrimaresConn()
{
try
{
TrimaresServer = new MAVcomm.Comms.UdpSerialServer();
TrimaresServer.HostIP = tx_udpIP.Text;
TrimaresServer.Port = tx_udpport.Text;
TrimaresServer.newMsg += TrimaresUDP_PacketReceived;
TrimaresServer.Open();
TrimaresServer.rMessage += showMessages;
//TrimaresUDPServerData = new MainCrossData();
//TrimaresUDPServerConn = new MavLinkConnection("UDPSERVER", ref TrimaresUDPServerData);
//TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer);
//TrimaresUDPServerConn.mydata.myLink.BaseStream.HostIP = tx_udpIP.Text;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Port = tx_udpport.Text;
//TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Open();
//TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages;
}
catch
{
TrimaresServer.Close();
TrimaresServer = null;
TrimaresUDPMavLinkServer = null;
TrimaresUDPServerData = null;
TrimaresUDPServerConn = null;
}
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
try
{
if (tstartMissonPlannerConn != null)
{
tstartMissonPlannerConn.Abort();
Thread.Sleep(100);
tstartMissonPlannerConn = null;
}
closeThread(tstartMissonPlannerConn);
closeThread(tstartmyServerConn);
closeThread(tstartTrimaresConn);
closeThread(tstartExoReadings);
closeThread(Treadings);
UDPComm.oktoReceive = false;
if (MissionPlannerServer != null)
{
MissionPlannerServer.Close();
MissionPlannerServer = null;
}
if (TrimaresServer != null)
{
TrimaresServer.Close();
TrimaresServer = null;
}
if (TCPClientConn != null)
{
CloseStream(TCPClientConn.mydata.myLink.BaseStream);
TCPClientConn = null;
}
if (TCPMavLinkClient != null)
{
TCPMavLinkClient = null;
}
if (TCPClientData != null)
{
TCPClientData = null;
}
if (TrimaresUDPServerConn != null)
{
CloseStream(TrimaresUDPServerConn.mydata.myLink.BaseStream);
TrimaresUDPServerConn = null;
}
if (TrimaresUDPServerData != null)
TrimaresUDPServerData = null;
if (TrimaresUDPMavLinkServer != null)
TrimaresUDPMavLinkServer = null;
foreach (Process p in System.Diagnostics.Process.GetProcessesByName("AP_Mavlink_router.exe"))
{
p.Kill();
p.WaitForExit();
}
}
catch
{
Application.ExitThread();
Application.Exit();
}
Application.ExitThread();
Application.Exit();
}
void startAPMsimulation()
{
try
{
TrimaresUDPServerData = new MainCrossData();
TrimaresUDPServerConn = new MavLinkConnection(tx_APcomport.Text, ref TrimaresUDPServerData);
// TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer);
TrimaresUDPServerConn.connect();
TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived;
// TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages;
TrimaresUDPServerConn.mydata.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude);
}
catch
{
TrimaresUDPMavLinkServer = null;
TrimaresUDPServerData = null;
TrimaresUDPServerConn = null;
}
//TCPClientData = new MainCrossData();
//TCPClientConn = new MavLinkConnection(tx_APcomport.Text, ref TCPClientData);
//TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient);
////TCPClientConn.mydata.myLink.BaseStream.Open();
//TCPClientConn.connect();
//TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages;
//TCPClientConn.PacketReceived += APSerialConn_PacketReceived;
//TCPClientData.myLink.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, MainCrossData.cs.rateattitude);
gb_robot.Enabled = false;
}
private void bt_client_Click(object sender, EventArgs e)
{
try
{
TCPClientData = new MainCrossData();
TCPClientConn = new MavLinkConnection("TCP", ref TCPClientData);
TCPClientConn.mydata.setMavlinkPointer(ref TCPMavLinkClient);
TCPClientConn.mydata.myLink.BaseStream.HostIP = tx_clientIP.Text;
TCPClientConn.mydata.myLink.BaseStream.Port = tx_clientPort.Text;
TCPClientConn.PacketReceived += APSerialConn_PacketReceived;
TCPClientConn.mydata.myLink.BaseStream.Open();
TCPClientConn.mydata.myLink.BaseStream.rMessage += showMessages;
//MavLinkClient = new MAVLink();
//MavLinkClient.DefaultConnection("TCP", 115200);
//MavLinkClient.BaseStream.HostIP = tx_clientIP.Text;
//MavLinkClient.BaseStream.Port = tx_clientPort.Text;
//MavLinkClient.BaseStream.newMsg += Client_PacketReceived;
//MavLinkClient.BaseStream.Open();
gb_robot.Enabled = false;
}
catch { }
}
// private readonly ConnectionControl _connectionControl;
public MavLinkConnection(string portName, ref MainCrossData mynewdata)
{
mydata = mynewdata;
mydata.comPortName = portName;
if (portName == "TCP")
{
mydata.myLink.DefaultConnection("TCP", 115200);
//MavLinkClient = new MAVLink();
//MavLinkClient.DefaultConnection("TCP", 115200);
//MavLinkClient.BaseStream.HostIP = tx_clientIP.Text;
//MavLinkClient.BaseStream.Port = tx_clientPort.Text;
//MavLinkClient.BaseStream.newMsg += Client_PacketReceived;
//MavLinkClient.BaseStream.Open();
//if (mydata.comPortName == "TCP")
// mydata.myLink.BaseStream = new UdpSerial();
// mydata.myLink.DefaultConnection("TCPSERVER", 115200); // BaseStream = new TCPCommServer();
mydata.myLink.BaseStream.newMsg+=BaseStream_newMsg;
// mydata.myLink.BaseStream.Open();
}
else if (portName == "UDP")
{
mydata.myLink.BaseStream = new MAVcomm.Comms.UdpSerial();
// mydata.myLink.DefaultConnection("UDP", 115200);
mydata.myLink.BaseStream.newMsg += BaseStream_newMsg;
}
else if (portName == "UDPSERVER")
{
mydata.myLink.BaseStream = new MAVcomm.Comms.UdpSerialServer();
mydata.myLink.BaseStream.BaudRate = 115200;
mydata.myLink.BaseStream.newMsg += BaseStream_newMsg;
}
else
{
mydata.myLink.BaseStream = new MAVcomm.Comms.SerialPort();
}
try
{
mydata.myLink.BaseStream.PortName = portName;
mydata.myLink.BaseStream.BaudRate = 115200;
// check for saved baud rate and restore
if (mydata.config[portName + "_BAUD"] != null)
{
Console.WriteLine(mydata.config[portName + "_BAUD"].ToString());
}
}
catch { }
if (mydata.comPortName == "TCP" || mydata.comPortName == "TCPSERVER" || mydata.comPortName == "UDPSERVER")
{
// mydata.myLink.BaseStream.newMsgReceived += BaseStream_newMsg;
new Thread(sendOneHBperSecond)
{
IsBackground = true,
Name = "one hb per sec",
Priority = ThreadPriority.BelowNormal,
}.Start();
return;
}
// setup main serial reader
new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader",
Priority = ThreadPriority.AboveNormal
}.Start();
}
public MavLinkConnection(string portName, ref MainCrossData mynewdata, string serverport)
{
mydata = mynewdata;
mydata.comPortName = portName;
switch (portName)
{
case "TCPSERVER":
mydata.myLink.DefaultConnection(portName, 115200);
mydata.myLink.BaseStream.Port = serverport;
mydata.myLink.BaseStream.Open();
mydata.myLink.BaseStream.newMsg += BaseStream_newMsg;
break;
case "UDP":
mydata.myLink.BaseStream = new MAVcomm.Comms.UdpSerial(serverport, 14550);
// mydata.myLink.DefaultConnection("UDP", 115200);
mydata.myLink.BaseStream.newMsg += BaseStream_newMsg;
break;
default:
//throw new Exception("PORTA NAO ABERTA - NAO E SERVIDOR TCP");
break;
}
//try
//{
// // mydata.myLink.BaseStream.PortName = portName;
// //mydata.myLink.BaseStream.BaudRate = 115200;
// // check for saved baud rate and restore
// //if (mydata.config[portName + "_BAUD"] != null)
// //{
// // Console.WriteLine(mydata.config[portName + "_BAUD"].ToString());
// //}
//}
//catch { }
if (mydata.comPortName == "UDP" || mydata.comPortName == "TCP" || mydata.comPortName == "TCPSERVER")
{
// mydata.myLink.BaseStream.newMsgReceived += BaseStream_newMsg;
runingthread = new Thread(sendOneHBperSecond);
runingthread.IsBackground = true;
runingthread.Priority = ThreadPriority.AboveNormal;
runingthread.Start();
return;
}
// setup main serial reader
runingthread = new Thread(SerialReader);
runingthread.IsBackground = true;
runingthread.Priority = ThreadPriority.AboveNormal;
runingthread.Start();
}
public MavLinkConnection()
{
mydata = new MainCrossData();
}
