private void ExitUSBTTL()
{
byte[] command = { 0xA9, 0x9A, 0x01, 0x06, 0x09 };
bool success = robot.SendCommand(command, command.Length, 0, 0);
robot.ClearRxBuffer();
receiveBuffer.Clear();
}
private void ToggleConnection(CONN_MODE connMode)
{
Mouse.OverrideCursor = Cursors.Wait;
UpdateInfo();
backgroundTimer.Stop();
bool success = false;
if (robot.isConnected)
{
success = robot.Disconnect();
}
else
{
switch (connMode)
{
case CONN_MODE.Serial:
success = robot.Connect((string)portsComboBox.SelectedValue);
Thread.Sleep(100); // Wait 0.1s to check if anything returned
if (robot.Available == 0)
{
break;
}
// Data returned immediately, possible reboot
UpdateInfo("Wait for reboot");
Thread.Sleep(SYSTEM.sc.waitRebootSec * 1000);
robot.ClearRxBuffer();
break;
case CONN_MODE.Network:
int port;
if (int.TryParse(txtPort.Text, out port))
{
success = robot.Connect(txtIP.Text, port);
}
break;
}
}
if (success)
{
if (robot.isConnected)
{
PostConnection();
}
else
{
PostDisconnect();
}
}
if (robot.isConnected)
{
byte mode;
string ssid, ip;
UInt16 port;
if (UBT.GetNetwork(out mode, out ssid, out ip, out port))
{
if (mode == 0)
{
lblSSID.Foreground = Brushes.Red;
lblSSID.Content = "No Network";
lblIP.Content = "";
}
else
{
lblSSID.Content = ssid;
lblIP.Content = String.Format("{0}:{1}", ip, port);
switch (mode)
{
case 1:
lblSSID.Foreground = Brushes.LightBlue;
break;
case 2:
lblSSID.Foreground = Brushes.LightPink;
break;
default:
lblSSID.Foreground = Brushes.Red;
break;
}
}
}
else
{
lblSSID.Foreground = Brushes.Red;
lblSSID.Content = "Unknown Network";
lblIP.Content = "";
}
string msg = null;
string currVersion = RCVersion.ToCode();
if (RCVersion.IsOutdated())
{
msg = "你的固件并未达到上位机的要求, 部份功能可能会出错, 必须尽快更新";
msg += string.Format("\n\n你的固件版本: {0}\n上位機最低要求: {1}", currVersion, RCVersion.TargetVersion.GetCode());
}
else if (SYSTEM.sc.autoCheckFirmware)
{
if (string.IsNullOrWhiteSpace(UBT.robotInfo.version))
{
msg = "";
}
else
{
string latestVersion = Util.LatestVersion();
if (currVersion != latestVersion)
{
switch (SYSTEM.sc.firmwareType)
{
case SystemConfig.FIRMWARE.beta:
msg = "开发者测试版";
break;
case SystemConfig.FIRMWARE.hailzd:
msg = "海灵专用版";
break;
default:
msg = "正式发布版";
break;
}
msg += "固件己发布了新版本";
msg += string.Format("\n\n你的固件版本: {0}\n最新固件版本: {1}", currVersion, latestVersion);
}
}
}
if (!string.IsNullOrWhiteSpace(msg))
{
msg += "\n\n请用 [机械人固件烧录] 功能, 更新你的固件";
MessageBox.Show(msg, "固件更新", MessageBoxButton.OK, MessageBoxImage.Asterisk);
}
if (UBT.config.version < data.BoardConfig.MIN_VERSION)
{
MessageBox.Show(String.Format("侦测不到所需的固件 {0}, 部份功能可能会失效.\n请尝试重新连线, 或更新固件档.", RCVersion.TargetVersion.GetCode()),
"读取设定档失败或设定档已过时", MessageBoxButton.OK, MessageBoxImage.Asterisk);
}
if (SYSTEM.configObject.max_servo != UBT.config.maxServo)
{
MessageBox.Show(string.Format("上位机跟主控板的舵机数目设定不同\n上位机: {0} 舵机, 主控板: {1} 舵机\n请确定所选的机械人模型跟主控板是一致的\n或修改有关设定\n\n完成後, 请重新启动程式再连接.\n", SYSTEM.configObject.max_servo, UBT.config.maxServo),
"舵机数目不配合", MessageBoxButton.OK, MessageBoxImage.Asterisk);
}
if (!SYSTEM.sc.disableBatteryUpdate)
{
UpdateBattery();
}
backgroundTimer.Start();
}
UpdateEventHandlerStatus();
SetStatus();
Mouse.OverrideCursor = null;
}