private void btnStart_Click(object sender, EventArgs e)
{
btnStop.Enabled = true;
btnStart.Enabled = false;
if (parent.comPort.IsOpen)
{
parent.comPort.Close();
}
if (comPort.IsOpen)
{
comPort.Close();
}
try {
parent.comPort.PortName = parent.CMB_ComPort.Text;
parent.comPort.BaudRate = 57600;
parent.comPort.Open();
parent.comPort.DtrEnable = false;
parent.comPort.RtsEnable = false;
System.Threading.Thread.Sleep(50);
parent.comPort.DtrEnable = true;
parent.comPort.RtsEnable = true;
System.Threading.Thread.Sleep(100);
Application.DoEvents();
comPort.PortName = cbComPort.Text;
comPort.BaudRate = 57600;
//comPort.Encoding
try {
comPort.Open();
} catch {}
byte[] buffer = new byte[512];
int index = -1;
if (parent.comPort.IsOpen && comPort.IsOpen)
{
loop = true;
int np = 0;
string message;
while (loop)
{
System.Threading.Thread.Sleep(2);
string s = "";
string so = "";
while (parent.comPort.BytesToRead != 0 && loop)
{
//parent.comPort.Write(s);
byte c = (byte)parent.comPort.ReadByte();
byte[] ba = new byte[2];
ba[0] = c;
comPort.Write(ba, 0, 1);
if (c == 0 || c == 10)
{
Console.WriteLine('>' + s);
s = "";
}
else
{
char ch = (char)c;
s = s + ch; //.ToString();
}
Application.DoEvents();
}
/*
* while (comPort.BytesToRead != 0){
* string s=comPort.ReadExisting();
* parent.comPort.Write(s);
* }
*/
while (comPort.BytesToRead != 0 && loop)
{
byte c = (byte)comPort.ReadByte();
byte[] ba = new byte[2];
if (flgRaw)
{
ba[0] = c;
parent.comPort.Write(ba, 0, 1);
}
if (c == 0 || c == 10)
{
Console.WriteLine('<' + so);
so = "";
}
else
{
char ch = (char)c;
so = so + ch; //.ToString();
}
if (index >= 0)
{
buffer[index++] = c;
}
switch (parent.mavlink_parse_char(c))
{
case 1: // got STX
index = 0;
buffer[index++] = c; // store STX
break;
case 2: // got packet
if (!flgRaw)
{
if (parent.comPort.BytesToWrite == 0) // skip packet on buffer overrun
{
parent.comPort.Write(buffer, 0, index);
}
}
index = -1;
np++;
try {
this.Invoke((MethodInvoker) delegate {
lblTLog.Text = np.ToString(); // runs on UI thread
});
} catch { };
Application.DoEvents();
break;
} // switch
} // while bytes_to_read
Application.DoEvents();
} // loop
}
else // if open
{
btnStop_Click(sender, null);
}
comPort.Close();
parent.comPort.Close();
} catch {};
}
private void btnStart_Click(object sender, EventArgs e)
{
btnStop.Enabled = true;
btnStart.Enabled = false;
if (parent.comPort.IsOpen)
{
parent.comPort.Close();
}
if (comPort.IsOpen)
{
comPort.Close();
}
try {
parent.comPort.PortName = parent.CMB_ComPort.Text;
parent.comPort.BaudRate = 57600;
parent.comPort.Open();
parent.comPort.DtrEnable = false;
parent.comPort.RtsEnable = false;
System.Threading.Thread.Sleep(50);
parent.comPort.DtrEnable = true;
parent.comPort.RtsEnable = true;
System.Threading.Thread.Sleep(100);
Application.DoEvents();
comPort.PortName = cbComPort.Text;
comPort.BaudRate = 57600;
//comPort.Encoding
try {
comPort.Open();
} catch {}
byte[] buffer = new byte[512];
int index = -1;
if (parent.comPort.IsOpen && comPort.IsOpen)
{
loop = true;
int np = 0;
string message;
while (loop)
{
while (parent.comPort.BytesToRead != 0)
{
Console.WriteLine(parent.comPort.ReadExisting());
}
System.Threading.Thread.Sleep(2);
Application.DoEvents();
/*
* while (comPort.BytesToRead != 0){
* string s=comPort.ReadExisting();
* parent.comPort.Write(s);
* }
*/
while (comPort.BytesToRead != 0 && loop)
{
byte c = (byte)comPort.ReadByte();
if (index >= 0)
{
buffer[index++] = c;
}
switch (parent.mavlink_parse_char(c))
{
case 1: // got STX
index = 0;
buffer[index++] = c; // store STX
break;
case 2: // got packet
if (parent.comPort.BytesToWrite == 0)
{
parent.comPort.Write(buffer, 0, index);
}
index = -1;
np++;
try {
this.Invoke((MethodInvoker) delegate {
lblTLog.Text = np.ToString(); // runs on UI thread
});
} catch { };
message = "";
message += "Payload length: " + parent.rxmsg.len.ToString();
message += " Packet sequence: " + parent.rxmsg.seq.ToString();
message += " System ID: " + parent.rxmsg.sysid.ToString();
message += " Component ID: " + parent.rxmsg.compid.ToString();
message += " Message ID: " + parent.rxmsg.msgid.ToString();
message += " Message: ";
for (int x = 0; x < parent.rxmsg.len; x++)
{
message += parent.rxmsg.payload[x].ToString();
}
message += " CRC1: " + parent.rxmsg.seq.ToString();
message += " CRC2: " + c.ToString();
message += Environment.NewLine;
//Console.Write(message);
Application.DoEvents();
break;
} // switch
} // while bytes_to_read
Application.DoEvents();
} // loop
}
else // if open
{
btnStop_Click(sender, null);
}
comPort.Close();
parent.comPort.Close();
} catch {};
}
