ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega;
using System.IO.Ports;

namespace ArdupilotMega.GCSViews
{
    public partial class Terminal : MyUserControl
    {
        ICommsSerial comPort = MainV2.comPort.BaseStream;
        Object thisLock = new Object();
        public static bool threadrun = false;
        bool inlogview = false;
        List<string> cmdHistory = new List<string>();
        int history = 0;
        int inputStartPos = 0;

        public Terminal()
        {
            while (threadrun == true)
                threadrun = false;

            InitializeComponent();

            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
        }

        void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            if (!comPort.IsOpen)
                return;
            try
            {
                lock (thisLock)
                {
                    TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
                    string data = comPort.ReadExisting();
                    data = data.TrimEnd('\r'); // else added \n all by itself
                    TXT_terminal.AppendText(data);
                    if (data.Contains("\b"))
                    {
                        TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
                        TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
                    }
                    inputStartPos = TXT_terminal.SelectionStart;
                }
            }
            catch (Exception) { if (!threadrun) return; TXT_terminal.AppendText("Error reading com port\r\n"); }
        }

        private void TXT_terminal_Click(object sender, EventArgs e)
        {
            // auto scroll
            TXT_terminal.SelectionStart = TXT_terminal.Text.Length;

            TXT_terminal.ScrollToCaret();

            TXT_terminal.Refresh();
        }

        private void TXT_terminal_KeyDown(object sender, KeyEventArgs e)
        {
            /*    if (e.KeyData == Keys.Up || e.KeyData == Keys.Down || e.KeyData == Keys.Left || e.KeyData == Keys.Right)
                {
                    e.Handled = true; // ignore it
                }*/
            lock (thisLock)
            {
                switch (e.KeyData)
                {
                    case Keys.Up:
                        if (history > 0)
                        {
                            TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
                            TXT_terminal.SelectedText = "";
                            TXT_terminal.AppendText(cmdHistory[--history]);
                        }
                        e.Handled = true;
                        break;
                    case Keys.Down:
                        if (history < cmdHistory.Count - 1)
                        {
                            TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
                            TXT_terminal.SelectedText = "";
                            TXT_terminal.AppendText(cmdHistory[++history]);
                        }
                        e.Handled = true;
                        break;
                    case Keys.Left:
                    case Keys.Back:
                        if (TXT_terminal.SelectionStart <= inputStartPos)
                            e.Handled = true;
                        break;

                    //case Keys.Right:
                    //    break;
                }
            }
        }

        private void Terminal_FormClosing(object sender, FormClosingEventArgs e)
        {
            threadrun = false;

            if (comPort.IsOpen)
            {
                comPort.Close();
            }
            System.Threading.Thread.Sleep(400);
        }

        private void TXT_terminal_KeyPress(object sender, KeyPressEventArgs e)
        {
            if (e.KeyChar == '\r')
            {
                if (comPort.IsOpen)
                {
                    try
                    {
                        string cmd = "";
                        lock (thisLock)
                        {
                            cmd = TXT_terminal.Text.Substring(inputStartPos, TXT_terminal.Text.Length - inputStartPos - 1);
                            TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
                            TXT_terminal.SelectedText = "";
                            if (cmd.Length > 0 && (cmdHistory.Count == 0 || cmdHistory.Last() != cmd))
                            {
                                cmdHistory.Add(cmd);
                                history = cmdHistory.Count;
                            }
                        }
                        // do not change this  \r is correct - no \n
                        comPort.Write(Encoding.ASCII.GetBytes(cmd + "\r"), 0, cmd.Length + 1);
                    }
                    catch { MessageBox.Show("Error writing to com port"); }
                }
            }
            /*
            if (comPort.IsOpen)
            {
                try
                {
                    comPort.Write(new byte[] { (byte)e.KeyChar }, 0, 1);
                }
                catch { MessageBox.Show("Error writing to com port"); }
            }
            e.Handled = true;*/
        }

        private void Terminal_Load(object sender, EventArgs e)
        {
            MessageBox.Show("Set your APM into LOG/SETUP mode!! (switch towards the servo header)");

            try
            {
                MainV2.givecomport = true;

                if (comPort.IsOpen)
                    comPort.Close();

                comPort.DtrEnable = true;

                comPort.ReadBufferSize = 1024 * 1024;

                comPort.PortName = MainV2.comportname;

                comPort.Open();

                System.Threading.Thread t11 = new System.Threading.Thread(delegate()
                {
                    threadrun = true;
                    while (threadrun)
                    {
                        try
                        {
                            System.Threading.Thread.Sleep(10);
                            if (inlogview)
                                continue;
                            if (!comPort.IsOpen)
                                break;
                            if (comPort.BytesToRead > 0)
                            {
                                comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
                            }
                        }
                        catch { }
                    }
                    if (threadrun == false)
                    {
                        comPort.Close();
                    }
                    Console.WriteLine("Comport thread close");
                });
                t11.IsBackground = true;
                t11.Name = "Terminal serial thread";
                t11.Start();
                MainV2.threads.Add(t11);

                // doesnt seem to work on mac
                //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);

                TXT_terminal.AppendText("Opened com port\r\n");
                inputStartPos = TXT_terminal.SelectionStart;
            }
            catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
        }

        private void BUTsetupshow_Click(object sender, EventArgs e)
        {
            if (comPort.IsOpen)
            {
                try
                {
                    System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
                    byte[] data = encoding.GetBytes("exit\rsetup\rshow\r");
                    comPort.Write(data, 0, data.Length);
                }
                catch { }
            }
            TXT_terminal.Focus();
        }

        private void BUTradiosetup_Click(object sender, EventArgs e)
        {
            if (comPort.IsOpen)
            {
                try
                {
                    System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
                    byte[] data = encoding.GetBytes("exit\rsetup\r\nradio\r");
                    comPort.Write(data, 0, data.Length);
                }
                catch { }
            }
            TXT_terminal.Focus();
        }

        private void BUTtests_Click(object sender, EventArgs e)
        {
            if (comPort.IsOpen)
            {
                try
                {
                    System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
                    byte[] data = encoding.GetBytes("exit\rtest\r?\r\n");
                    comPort.Write(data, 0, data.Length);
                }
                catch { }
            }
            TXT_terminal.Focus();
        }

        private void Logs_Click(object sender, EventArgs e)
        {
            Form Log = new Log();
            MainV2.fixtheme(Log);
            inlogview = true;
            Log.ShowDialog();
            inlogview = false;
        }

        private void BUT_logbrowse_Click(object sender, EventArgs e)
        {
            Form logbrowse = new LogBrowse();
            MainV2.fixtheme(logbrowse);
            logbrowse.ShowDialog();
        }
    }
}