mirror of https://github.com/ArduPilot/ardupilot
243 lines
7.1 KiB
C#
243 lines
7.1 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Text;
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using System.IO.Ports;
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using System.Threading;
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using System.Net; // dns, ip address
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using System.Net.Sockets; // tcplistner
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using SerialProxy;
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namespace System.IO.Ports
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{
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public class NetSerial // : SerialPort
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{
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TcpClient client = new TcpClient();
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public static CommsServer port;
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~NetSerial()
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{
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this.Close();
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client = null;
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}
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public NetSerial()
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{
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//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
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//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
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PortDest = "127.0.0.1:59001";
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}
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public string PortDest { get; set; }
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public int ReadTimeout
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{
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get;// { return client.ReceiveTimeout; }
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set;// { client.ReceiveTimeout = value; }
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}
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public int ReadBufferSize {
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get { return client.ReceiveBufferSize; }
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set { client.ReceiveBufferSize = value; }
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}
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public int BaudRate { get; set; }
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public StopBits StopBits { get; set; }
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public Parity Parity { get; set; }
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public int DataBits { get; set; }
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public string PortName { get; set; }
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public int BytesToRead
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{
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get { return client.Available; }
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}
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public bool IsOpen { get { return client.Connected; } }
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public bool DtrEnable
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{
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get;
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set;
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}
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public bool Open()
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{
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if (client.Connected)
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{
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Console.WriteLine("netserial socket already open");
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return true;
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}
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string host = PortDest.Substring(0, PortDest.IndexOf(":"));
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int port = int.Parse(PortDest.Substring(PortDest.IndexOf(":") + 1));
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if (NetSerial.port == null)
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{
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while (!CommsServer.CheckAvailableServerPort(port))
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{
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Console.WriteLine("CommsServer port not avaliable {0}", port);
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port++;
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}
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NetSerial.port = new SerialProxy.CommsServer(port);
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NetSerial.port.Start(this.PortName,this.BaudRate);
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}
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// set port - including if commserver started
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port = NetSerial.port.tcpport;
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NetSerial.port.toggleDTR(DtrEnable);
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try
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{
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Console.WriteLine("NetSerial connecting to {0} : {1}",host,port);
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client.Connect(host, port);
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client.NoDelay = true;
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}
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catch (Exception e) {
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if (client != null && client.Connected) { client.Close(); }
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Console.WriteLine(e.ToString());
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System.Windows.Forms.MessageBox.Show("Please check your Firewall settings\nPlease try running this command\n1. Run the following command in an elevated command prompt to disable Windows Firewall temporarily:\n \nNetsh advfirewall set allprofiles state off\n \nNote: This is just for test; please turn it back on with the command 'Netsh advfirewall set allprofiles state on'.\n");
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throw new Exception("The socket/serialproxy is closed " + e);
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}
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return IsOpen;
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}
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void VerifyConnected()
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{
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if (client == null || !IsOpen)
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{
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throw new Exception("The socket/serialproxy is closed");
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}
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}
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public int Read(byte[] readto,int offset,int length)
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{
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VerifyConnected();
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try
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{
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if (length < 1) { return 0; }
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return client.GetStream().Read(readto, offset, length);
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}
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catch { throw new Exception("Socket Closed"); }
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}
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public int ReadByte()
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{
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VerifyConnected();
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int count = 0;
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while (this.BytesToRead == 0)
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{
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System.Threading.Thread.Sleep(1);
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if (count > ReadTimeout)
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throw new Exception("NetSerial Timeout on read");
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count++;
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}
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return client.GetStream().ReadByte();
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}
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public int ReadChar()
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{
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return ReadByte();
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}
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public string ReadExisting()
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{
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VerifyConnected();
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byte[] data = new byte[client.Available];
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if (data.Length > 0)
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Read(data, 0, data.Length);
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string line = Encoding.ASCII.GetString(data, 0, data.Length);
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return line;
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}
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public void WriteLine(string line)
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{
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VerifyConnected();
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line = line + "\n";
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Write(line);
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}
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public void Write(string line)
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{
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VerifyConnected();
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byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
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Write(data, 0, data.Length);
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}
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public void Write(byte[] write, int offset, int length)
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{
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VerifyConnected();
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try
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{
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client.GetStream().Write(write, offset, length);
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}
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catch { }//throw new Exception("Comport / Socket Closed"); }
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}
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public void DiscardInBuffer()
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{
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VerifyConnected();
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int size = client.Available;
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byte[] crap = new byte[size];
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Console.WriteLine("NetSerial DiscardInBuffer {0}",size);
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Read(crap, 0, size);
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}
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public string ReadLine() {
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byte[] temp = new byte[4000];
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int count = 0;
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int timeout = 0;
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while (timeout <= 100)
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{
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if (!this.IsOpen) { break; }
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if (this.BytesToRead > 0)
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{
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byte letter = (byte)this.ReadByte();
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temp[count] = letter;
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if (letter == '\n') // normal line
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{
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break;
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}
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count++;
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if (count == temp.Length)
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break;
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timeout = 0;
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} else {
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timeout++;
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System.Threading.Thread.Sleep(5);
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}
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}
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Array.Resize<byte>(ref temp, count + 1);
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return Encoding.ASCII.GetString(temp, 0, temp.Length);
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}
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public void Close()
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{
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if (client.Connected)
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{
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client.Client.Close();
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client.Close();
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}
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client = new TcpClient();
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DtrEnable = false;
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System.Threading.Thread.Sleep(100);
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}
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}
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}
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