public doReboot ( bool bootloadermode = false, bool currentvehicle = true ) : bool | ||
bootloadermode | bool | reboot into bootloader mode? |
currentvehicle | bool | use current sysid/compid or scan for it |
Результат | bool |
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\n"); // keep it local 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"); MainV2.comPort.BaseStream.Write("exit\rreboot\r"); try { MainV2.comPort.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(8); 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(); 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); // 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 start_Terminal(bool px4) { try { if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen) MainV2.comPort.BaseStream.Close(); setcomport(); 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); t11 = new System.Threading.Thread(delegate() { threaderror = false; threadrun = true; Console.WriteLine("Terminal thread startup 1 " + threadrun + " " + comPort.IsOpen); try { comPort.Write("\r"); // 10 sec waitandsleep(10000); Console.WriteLine("Terminal thread startup 2 " + threadrun + " " + comPort.IsOpen); // 100 ms readandsleep(100); } catch (Exception ex) { Console.WriteLine("Terminal thread error 3 " + ex.ToString()); threaderror = true; } Console.WriteLine("Terminal thread startup 3 " + threadrun + " " + comPort.IsOpen); try { comPort.Write("\n\n\n"); // 1 secs readandsleep(1000); comPort.Write("\r\r\r?\r"); } catch (Exception ex) { if (!threaderror) Console.WriteLine("Terminal thread error 4 " + ex.ToString()); threaderror = true; } Console.WriteLine("Terminal thread startup 4 " + threadrun + " " + comPort.IsOpen); if (!threaderror) setButtonState(true); while (threadrun && !threaderror) { try { System.Threading.Thread.Sleep(10); if (inlogview) continue; if (comPort.BytesToRead > 0) { comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null); } } catch (Exception ex) { Console.WriteLine("Terminal thread error 5 " + ex.ToString()); threaderror = true; } } try { //comPort.Write("\rreboot\r"); comPort.DtrEnable = false; } catch { } try { Console.WriteLine("Terminal thread close port"); comPort.Close(); } catch { } setButtonState(false); while (threadrun) { //stay in thread if threaderror System.Threading.Thread.Sleep(10); } log.Info("Terminal thread exit"); }); t11.IsBackground = true; t11.Name = "Terminal serial thread"; t11.Start(); // doesnt seem to work on mac //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived); BUT_ConnectAPM.Enabled = false; BUT_disconnect.Enabled = true; TXT_terminal.AppendText("Opened com port\r\n"); inputStartPos = TXT_terminal.SelectionStart; } catch (Exception ex) { log.Error(ex); TXT_terminal.AppendText("Cant open com port\r\n"); return; } TXT_terminal.Focus(); }