//Writer : Junsuk Park
//Function : panel1_MouseDown
//Print the angle to display (Actually, the angle in reading from the gimbal has weird value. (Not solved..)
private void panel1_MouseDown(object sender, System.Windows.Forms.MouseEventArgs e)
{
// Update the mouse path with the mouse information
Point mouseDownLocation = new Point(e.X, e.Y);
angle = SerialProtocol.getAngle();
switch (e.Button)
{
case MouseButtons.Left:
if (angle[1] > 360)
{
//angle[1] = angle[1] - 360;
}
this.label8.Text = "Pitch: " + angle[1].ToString();
if (angle[2] > 360)
{
// angle[2] = angle[2] - 360;
}
this.label7.Text = "Yaw: " + angle[2].ToString();
break;
default:
break;
}
panel1.Focus();
panel1.Invalidate();
}
static public void Main(string[] args)
{
// Load default file.
Database database = new Database();
DefaultFile defaultFile = new DefaultFile();
defaultFile.LoadFromDefaultFile();
database.Buffer = defaultFile.DefaultBuffer;
database.Decode();
// Tell user to physically set up the radio.
Console.WriteLine("Connect the radio to the computer and put it in ADMS mode, then press ENTER.");
Console.ReadLine();
Console.WriteLine("Waiting 30 secs. because that seems to make it more likely that the transfer will not have errors:");
for (int i = 0; i < 30; i++)
{
Thread.Sleep(1000);
Console.Write(".");
}
Console.WriteLine();
// Create and open serial port and receiving protocol.
SerialPort serialPort = new SerialPort("/dev/ttyACM0");
SerialProtocol serialProtocol = new SerialProtocol(serialPort, database, false);
serialProtocol.PortOpen();
// Read in data from radio.
Console.WriteLine("With the radio still in ADMS mode, press the BAND button on the top-right corner of the buttons.");
serialProtocol.Run();
// Close connection.
serialProtocol.PortClose();
// Decode recieved data.
database.Decode();
File.WriteAllBytes("data.db", database.Buffer);
}
public BCCentralManager(string serialPath)
{
SerialPath = serialPath ?? throw new ArgumentNullException(nameof(serialPath));
// Hookup serial protocol
_protocol = new SerialProtocol();
_protocol.CommandResponseReceived += (sender, responsePdu) => _responsePdu = responsePdu;
_protocol.EventReceived += (sender, eventPdu) => _eventPdu = eventPdu;
_protocol.ProtocolError += (sender, error) => _protocolError = error;
}
public void StartScan()
{
try {
if (IsScanning)
{
return;
}
// Check if serial is setup serial
if (_serial == null)
{
InitSerial();
}
if (!_serial.IsOpen)
{
_serial.Open();
}
// Send StopScan command in case it was previously left in a scanning state
IsScanning = true;
SendCommand(SerialProtocol.CreateStopScanCommand());
GetResponse(); // The actual response doesn't matter in this case, just consuming it
// Read MAC Address (Public Bluetooth Address) of BLE Scanner
SendCommand(SerialProtocol.CreateReadBluetoothAddressCommand());
var response = GetResponse();
var code = response.ResponseCode;
if (code != CommandResponseCode.Ack)
{
throw new Exception($"Response code: {code}");
}
CentralBluetoothAddress = response.As <ReadBluetoothAddressCommandResponse>()?.BluetoothAddress;
var macString = DataConverter.ByteArrayToHexString(CentralBluetoothAddress, true, ":");
Console.WriteLine($"Staring scanning with BLE Scanner [ port={SerialPath}, mac={macString} ]");
// Send StartScan command
SendCommand(SerialProtocol.CreateStartScanCommand());
response = GetResponse();
if (response.ResponseCode != CommandResponseCode.Ack)
{
throw new Exception($"Received response code: {response.ResponseCode}");
}
// Start polling for events in background
_scanCancellationSource = new CancellationTokenSource();
var cancelToken = _scanCancellationSource.Token;
StartParsingInBackground(cancelToken);
}
catch {
IsScanning = false;
}
}
public void StopScan()
{
if (!IsScanning)
{
return;
}
if (!_scanCancellationSource.IsCancellationRequested)
{
_scanCancellationSource.Cancel();
}
// Send StopScan command to USB BLE Sniffer
SendCommand(SerialProtocol.CreateStopScanCommand());
var response = GetResponse();
if (response.ResponseCode != CommandResponseCode.Ack)
{
throw new Exception($"Responded with: {response.ResponseCode}");
}
IsScanning = false;
}
// This method will be called when the thread is started.
public void DoWork()
{
while (!_shouldStop)
{
//일정시간동안 setAngle()을 호출한다.
// 1 per 5ms, 200Hz
if (p != null)
{ //한 쓰레드에 걸리는 시간 - 한 쓰레드에서 Sleep 빼고 돌아가는 시간 = 한 쓰레드의 Sleep 시간
long tmp = 0;
QueryPerformanceCounter(ref tmp);
SerialProtocol.setAngle(0, mouseY, mouseX, ref cCmd);
QueryPerformanceCounter(ref ctr);
herz = (double)(ctr - tmp) / (double)freq;
}
double elapsedTime = (1.0 / herz) * 1000;
if ((int)elapsedTime < 5)
{
Thread.Sleep(5 - (int)elapsedTime); //1 per 5ms
}
}
Console.WriteLine("worker thread: terminating gracefully.");
}
public AdapterProtocol(string portName)
{
Lower = new SerialProtocol(portName);
}
