ardupilot/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

253 lines
6.7 KiB
C#
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Reflection;
using System.Text;
using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using log4net;
namespace System.IO.Ports
{
public class TcpSerial : ArdupilotMega.ICommsSerial
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
TcpClient client = new TcpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0];
int rbufferread = 0;
public int WriteBufferSize { get; set; }
public int WriteTimeout { get; set; }
public int ReceivedBytesThreshold { get; set; }
public bool RtsEnable { get; set; }
~TcpSerial()
{
this.Close();
client = null;
}
public TcpSerial()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
Port = "5760";
}
public void toggleDTR()
{
}
public string Port { get; set; }
public int ReadTimeout
{
get;// { return client.ReceiveTimeout; }
set;// { client.ReceiveTimeout = value; }
}
public int ReadBufferSize {get;set;}
public int BaudRate { get; set; }
public StopBits StopBits { get; set; }
public Parity Parity { get; set; }
public int DataBits { get; set; }
public string PortName { get; set; }
public int BytesToRead
{
get { return client.Available + rbuffer.Length - rbufferread; }
}
public bool IsOpen { get { try { return client.Client.Connected; } catch { return false; } } }
public bool DtrEnable
{
get;
set;
}
public void Open()
{
if (client.Client.Connected)
{
log.Warn("tcpserial socket already open");
return;
}
string dest = Port;
string host = "127.0.0.1";
if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host))
{
throw new Exception("Canceled by request");
}
if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest))
{
throw new Exception("Canceled by request");
}
Port = dest;
client = new TcpClient(host, int.Parse(Port));
client.NoDelay = true;
client.Client.NoDelay = true;
VerifyConnected();
return;
}
void VerifyConnected()
{
if (client == null || !IsOpen)
{
try
{
client.Close();
}
catch { }
throw new Exception("The socket/serialproxy is closed");
}
}
public int Read(byte[] readto,int offset,int length)
{
VerifyConnected();
try
{
if (length < 1) { return 0; }
return client.Client.Receive(readto, offset, length, SocketFlags.None);
}
catch { throw new Exception("Socket Closed"); }
}
public int ReadByte()
{
VerifyConnected();
int count = 0;
while (this.BytesToRead == 0)
{
System.Threading.Thread.Sleep(1);
if (count > ReadTimeout)
throw new Exception("NetSerial Timeout on read");
count++;
}
byte[] buffer = new byte[1];
Read(buffer, 0, 1);
return buffer[0];
}
public int ReadChar()
{
return ReadByte();
}
public string ReadExisting()
{
VerifyConnected();
byte[] data = new byte[client.Available];
if (data.Length > 0)
Read(data, 0, data.Length);
string line = Encoding.ASCII.GetString(data, 0, data.Length);
return line;
}
public void WriteLine(string line)
{
VerifyConnected();
line = line + "\n";
Write(line);
}
public void Write(string line)
{
VerifyConnected();
byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
Write(data, 0, data.Length);
}
public void Write(byte[] write, int offset, int length)
{
VerifyConnected();
try
{
client.Client.Send(write, length,SocketFlags.None);
}
catch { }//throw new Exception("Comport / Socket Closed"); }
}
public void DiscardInBuffer()
{
VerifyConnected();
int size = client.Available;
byte[] crap = new byte[size];
log.InfoFormat("TcpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size);
}
public string ReadLine() {
byte[] temp = new byte[4000];
int count = 0;
int timeout = 0;
while (timeout <= 100)
{
if (!this.IsOpen) { break; }
if (this.BytesToRead > 0)
{
byte letter = (byte)this.ReadByte();
temp[count] = letter;
if (letter == '\n') // normal line
{
break;
}
count++;
if (count == temp.Length)
break;
timeout = 0;
} else {
timeout++;
System.Threading.Thread.Sleep(5);
}
}
Array.Resize<byte>(ref temp, count + 1);
return Encoding.ASCII.GetString(temp, 0, temp.Length);
}
public void Close()
{
try
{
if (client.Client.Connected)
{
client.Client.Close();
client.Close();
}
}
catch { }
try
{
client.Close();
}
catch { }
client = new TcpClient();
}
}
}