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();
}
/// <summary>
/// Inicializa comunicaçao do router com o ExoMonitor
/// </summary>
private void startExoMonitorConn()
{
int port;
try
{
try
{
port = int.Parse(tx_ExoPort.Text);
}
catch
{
MessageBox.Show("Erro na definição de porta");
return;
}
ExoMonitorServer = new TCPCommServer(port);
ExoMonitorServer.Open();
ExoMonitorServer.rMessage += showMessages;
ExoMonitorServer.newMsg += TCPServer_packetReceived;
ExoMonitorServer.StartSendingHB();
}
catch
{
ExoMonitorServer.Close();
ExoMonitorServer = null;
}
}
/// <summary>
/// Inicializa comunicaçao do router com o mission planner
/// </summary>
private void startMissionPlannerConn()
{
try
{
MissionPlannerServer = new TCPCommServer();
MissionPlannerServer.Open();
MissionPlannerServer.rMessage += showMessages;
MissionPlannerServer.newMsg += TCPServer_packetReceived;
MissionPlannerServer.StartSendingHB();
}
catch
{
MissionPlannerServer.Close();
MissionPlannerServer = null;
}
}
public void DefaultConnection(string portName, int baudRate)
{
switch (portName)
{
case "TCPSERVER":
BaseStream = new TCPCommServer();
break;
case "TCP":
BaseStream = new TcpSerial();
break;
case "UDP":
BaseStream = new UdpSerial();
break;
default:
//BaseStream = new Comms.SerialPort();
BaseStream = new SerialPort();
break;
}
this.BaseStream.DataBits = 8;
this.BaseStream.StopBits = (System.IO.Ports.StopBits)Enum.Parse(typeof(System.IO.Ports.StopBits), "1");
this.BaseStream.Parity = (System.IO.Ports.Parity)Enum.Parse(typeof(System.IO.Ports.Parity), "None");
try
{
this.BaseStream.BaudRate = 115200;
this.BaseStream.PortName = portName;
}
catch (Exception exp) { }
// false here
this.BaseStream.DtrEnable = false;
this.BaseStream.RtsEnable = false;
}