public static void FindNanoPad()
{
if (UtilValues.PublicValue.nanoPads.Length != 0)
{
Array.Clear(UtilValues.PublicValue.nanoPads, 0, UtilValues.PublicValue.nanoPads.Length);
Array.Resize(ref UtilValues.PublicValue.nanoPads, 0);
}
HIDDevice.interfaceDetails[] Pads = HIDDevice.getConnectedPads();
foreach (HIDDevice.interfaceDetails Pad in Pads)
{
SayobotNanoPad pad = new SayobotNanoPad
{
devicePath = Pad.devicePath,
ProductID = Pad.PID
};
pad.ReadingPadSettings();
HIDDevice PadDevice = new HIDDevice(pad.devicePath, false);
byte[] writeData = CalcSHA(new byte[] { 0x02, 0x00, 0x00 });
PadDevice.write(writeData);
System.Threading.Thread.Sleep(100);
byte[] readData = PadDevice.read();
if (readData[1] == 0)
{
pad.OSVersion = readData[4].ToString();
}
else
{
pad.OSVersion = "Unknown";
}
writeData = CalcSHA(new byte[] { 0x02, 0x08, 0x01, 0x00 });
PadDevice.write(writeData);
System.Threading.Thread.Sleep(100);
readData = PadDevice.read();
if (readData[0] != 0xff)
{
byte[] nameEncode = new byte[readData[2]];
Array.Copy(readData, 3, nameEncode, 0, readData[2]);
nameEncode = ChangeToSystemUnicodeEncoding(nameEncode);
pad.Name = Encoding.Unicode.GetString(nameEncode);
}
else
{
pad.Name = Pad.product;
}
PadDevice.close();
Array.Resize(ref UtilValues.PublicValue.nanoPads, UtilValues.PublicValue.nanoPads.Length + 1);
UtilValues.PublicValue.nanoPads[UtilValues.PublicValue.nanoPads.Length - 1] = pad;
}
}
// Apologies for the repeated code, however i feel it provides a better demonstration
// of the functionality of this code.
public void useSynchronousOperation()
{
//Get the details of all connected USB HID devices
HIDDevice.interfaceDetails[] devices = HIDDevice.getConnectedDevices();
//Arbitrarily select one of the devices which we found in the previous step
//record the details of this device to be used in the class constructor
int selectedDeviceIndex = 0;
ushort VID = devices[selectedDeviceIndex].VID;
ushort PID = devices[selectedDeviceIndex].PID;
int SN = devices[selectedDeviceIndex].serialNumber;
string devicePath = devices[selectedDeviceIndex].devicePath;
//create a handle to the device by calling the constructor of the HID class
//This can be done using either the VID/PID/Serialnumber, or the device path (string)
//all of these details are available from the HIDDevice.interfaceDetails[] struct array created above
//The "false" boolean in the constructor tells the class we only want synchronous operation
HIDDevice device = new HIDDevice(devicePath, false);
//OR, the normal usage when you know the VID and PID of the device
//HIDDevice device = new HIDDevice(VID, PID, (ushort)SN, false);
//Write some data to the device (the write method throws an exception if the data is longer than the report length
//specified by the device, this length can be found in the HIDDevice.interfaceDetails struct)
byte[] writeData = { 0x00, 0x01, 0x02, 0x03, 0x04 };
device.write(writeData); //Its that easy!!
//Read some data synchronously from the device. This method blocks the calling thread until the data
//is returned. This takes 1-20ms for most HID devices
byte[] readData = device.read(); //again, that easy!
//close the device to release all handles etc
device.close();
}
public bool startAsyncOperation(ushort MyDevVID, ushort MyDevPID)
{
//Get the details of all connected USB HID devices
HIDDevice.interfaceDetails[] devices = HIDDevice.getConnectedDevices();
//Arbitrarily select one of the devices which we found in the previous step
//record the details of this device to be used in the class constructor
int selectedDeviceIndex = -1;
for (int i = 0; i < devices.Length; i++)
{
if ((devices[i].VID == MyDevVID) && (devices[i].PID == MyDevPID))
{
selectedDeviceIndex = i;
}
}
if (selectedDeviceIndex == -1)
{
return(false);
}
ushort VID = devices[selectedDeviceIndex].VID;
ushort PID = devices[selectedDeviceIndex].PID;
int SN = devices[selectedDeviceIndex].serialNumber;
string devicePath = devices[selectedDeviceIndex].devicePath;
//create a handle to the device by calling the constructor of the HID class
//This can be done using either the VID/PID/Serialnumber, or the device path (string)
//all of these details are available from the HIDDevice.interfaceDetails[] struct array created above
//The "true" boolean in the constructor tells the class we want asynchronous operation this time
device = new HIDDevice(devicePath, true);
//OR, the normal usage when you know the VID and PID of the device
//HIDDevice device = new HIDDevice(VID, PID, (ushort)SN, true);
//next create the event handler for the incoming reports
device.dataReceived += new HIDDevice.dataReceivedEvent(device_dataReceived);
//Write some data to the device (the write method throws an exception if the data is longer than the report length
//specified by the device, this length can be found in the HIDDevice.interfaceDetails struct)
//The write method is identical to the synchronous mode of operation
byte[] writeData = new byte[64];
for (int i = 0; i < writeData.Length; i++)
{
writeData[i] = Convert.ToByte(i + 100);
}
device.write(writeData); //Its that easy!!
//Send your program off to do other stuff here, wait for UI events etc
//When a report occurs, the device_dataReceived(byte[] message) method will be called
//System.Threading.Thread.Sleep(100);
//close the device to release all handles etc
//device.close();
return(true);
}
private void button1_Click(object sender, EventArgs e)
{
if (OpenedPad != null)
{
OpenedPad.write(PadDevUtil.StringToByte(skinTextBox1.Text));
System.Threading.Thread.Sleep(100);
skinTextBox2.Text = PadDevUtil.ToHexString(OpenedPad.read());
}
else
{
skinTextBox2.Text = "没有连接触盘";
}
}
public void sendData(USB_ConfigReport config)
{
if (connected)
{
byte[] writeData = encodeConfigReport(config);
try
{
device.write(241, writeData); // F1 = 241 output reportid
}
catch (Exception)
{
Console.WriteLine("Cant send data!");
}
}
}
protected bool receiveThread()
{
if (!isDeviceConnect())
{
return(true);
}
const int MaxRecvCount = 32;
if (mRecvBytes == null)
{
mRecvBytes = new byte[MaxRecvCount];
}
// 只接收23个字节,如果不是23个字节,则丢弃该数据
int readCount = mHIDDevice.read(ref mRecvBytes, 23);
if (readCount != 0)
{
BinaryUtility.memmove(ref mRecvBytes, 0, 1, MaxRecvCount - 1);
readCount -= 4;
// 去除第一个字节和最后3个字节
mInputBufferLock.waitForUnlock();
addDataToInputBuffer(mRecvBytes, readCount);
mInputBufferLock.unlock();
}
// 先同步发送列表
mSendPacketLock.waitForUnlock();
int count = mSendPacket.Count;
for (int i = 0; i < count; ++i)
{
mOutputBufferList.Add(mSendPacket[i].toBytes());
}
mSendPacket.Clear();
mSendPacketLock.unlock();
// 发送所有需要发送的数据
int sendCount = mOutputBufferList.Count;
for (int i = 0; i < sendCount; ++i)
{
if (mOutputBufferList[i] != null)
{
mHIDDevice.write(mOutputBufferList[i]);
}
}
mOutputBufferList.Clear();
return(true);
}
public void ReadingPadSettings()
{
HIDDevice Pad = new HIDDevice(devicePath, false);
//读取按键信息
const int countKey = 6;
padKeys = new PadKeys[countKey];
for (byte keyNo = 0; keyNo < countKey; keyNo++)
{
byte[] sendInformation = { 02, 06, 02, 00, keyNo };
Pad.write(StaticUtilFunctions.CalcSHA(sendInformation));
System.Threading.Thread.Sleep(100);
byte[] receiveInformation = Pad.read();
byte ControlKey = receiveInformation[7];
byte CharKey = receiveInformation[8];
this.padKeys[keyNo].charKeys = (PadSetConstValue.Keys.CharKeys)CharKey;
//解析Control按键
for (byte exp = 7; exp >= 0; exp--)
{
if (ControlKey >= (1 << exp))
{
ControlKey -= (byte)(1 << exp);
this.padKeys[keyNo].controlKeys.SetValue(true, exp);
}
}
}
//读取灯光信息
const int countLight = 5;
padLights = new PadLights[countLight];
for (byte lightNo = 0; lightNo < countLight; lightNo++)
{
byte[] sendInformation = { 02, 07, 02, 00, lightNo };
Pad.write(StaticUtilFunctions.CalcSHA(sendInformation));
System.Threading.Thread.Sleep(100);
byte[] receiveInformation = Pad.read();
byte LightData = receiveInformation[7];
this.padLights[lightNo].Speed = (PadSetConstValue.Light.Speed)(LightData << 6);
byte LightMode = (byte)(LightData - (LightData << 6));
if (LightMode >= 0x3a)
{
padLights[lightNo].Mode = PadSetConstValue.Light.Mode.Unknown;
padLights[lightNo].ColorMode = PadSetConstValue.Light.ColorMode.Unknown;
padLights[lightNo].CustomColors = new Color[0];
}
else
{
var PadSystemLightModes = Enum.GetValues(typeof(PadSetConstValue.Light.Mode));
for (int tmp = PadSystemLightModes.Length; tmp > 0; tmp--)
{
if (LightMode > (byte)PadSystemLightModes.GetValue(tmp - 1))
{
padLights[lightNo].Mode = (PadSetConstValue.Light.Mode)PadSystemLightModes.GetValue(tmp - 1);
try
{
padLights[lightNo].ColorMode = (PadSetConstValue.Light.ColorMode)
LightMode - (byte)padLights[lightNo].Mode;
}
catch (Exception)
{
padLights[lightNo].ColorMode = PadSetConstValue.Light.ColorMode.Unknown;
}
}
}
}
}
}
// Used to communicate with the MCU. Can send bytes through USB
public void SendReport(byte[] Report)
{
device.write(Report);
}
void Send_HID_Data_PC_to_MCU()
{
byte[] writeData = new byte[64];
//for (int i = 0; i < writeData.Length; i++)
//{
// writeData[i] = Convert.ToByte(i + 100);
//}
writeData[0] = 0x55;
if (ckReceiveData.Checked)
{
writeData[1] = 1;
}
else
{
writeData[1] = 0;
}
if (ckLED1.Checked)
{
writeData[2] = 1;
}
else
{
writeData[2] = 0;
}
if (ckLED2.Checked)
{
writeData[3] = 1;
}
else
{
writeData[3] = 0;
}
if (ckLED3.Checked)
{
writeData[4] = 1;
}
else
{
writeData[4] = 0;
}
writeData[5] = Convert.ToByte(tBarServo.Value);
int MyINTVal = 0;
if (txtU32ValOut.Text != "")
{
MyINTVal = Convert.ToInt32(txtU32ValOut.Text);
}
writeData[6] = (byte)(MyINTVal & 0xff);
writeData[7] = (byte)((MyINTVal >> 8) & 0xff);
writeData[8] = (byte)((MyINTVal >> 16) & 0xff);
writeData[9] = (byte)((MyINTVal >> 24) & 0xff);
float MyFloatVal = 0;
if (txtfloatValOut.Text != "")
{
MyFloatVal = float.Parse(txtfloatValOut.Text, CultureInfo.InvariantCulture.NumberFormat);
}
byte[] FloatBytes = BitConverter.GetBytes(MyFloatVal);
writeData[10] = FloatBytes[0];
writeData[11] = FloatBytes[1];
writeData[12] = FloatBytes[2];
writeData[13] = FloatBytes[3];
device.write(writeData);
}