ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

344 lines
12 KiB
C#

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;
using ArdupilotMega.Comms;
using ArdupilotMega.Utilities;
using System.Text.RegularExpressions;
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();
}
void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (!comPort.IsOpen)
return;
try
{
lock (thisLock)
{
System.Threading.Thread.Sleep(20);
byte[] buffer = new byte[256];
int a = 0;
while (comPort.BytesToRead > 0)
{
byte indata = (byte)comPort.ReadByte();
buffer[a] = indata;
if (buffer[a] >= 0x20 && buffer[a] < 0x7f || buffer[a] == (int)'\n' || buffer[a] == (int)'\r')
{
a++;
}
}
addText(ASCIIEncoding.ASCII.GetString(buffer,0,a+1));
}
}
catch (Exception) { if (!threadrun) return; TXT_terminal.AppendText("Error reading com port\r\n"); }
}
void addText(string data)
{
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
data = data.Replace("U3","");
data = data.Replace("U$", "");
data = data.Replace(@"U""","");
data = data.Replace("d'`F", "");
data = data.Replace("U.", "");
data = data.Replace("'`","");
data = data.TrimEnd('\r'); // else added \n all by itself
data = data.Replace("\0", " ");
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;
});
}
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)
{
if (MainV2.MONO)
{
cmd = TXT_terminal.Text.Substring(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
}
else
{
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
if (cmd == "+++")
comPort.Write(Encoding.ASCII.GetBytes(cmd), 0, cmd.Length);
else {
comPort.Write(Encoding.ASCII.GetBytes(cmd + "\r"), 0, cmd.Length + 1);
}
}
catch { CustomMessageBox.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)
{
try
{
MainV2.giveComport = true;
if (comPort.IsOpen)
comPort.Close();
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comPortName;
comPort.Open();
comPort.toggleDTR();
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;
DateTime start = DateTime.Now;
while ((DateTime.Now - start).TotalMilliseconds < 2000)
{
try
{
if (comPort.BytesToRead > 0)
{
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch { return; }
}
try
{
comPort.Write("\n\n\n");
System.Threading.Thread.Sleep(500);
comPort.Write("\r\r\r?\r");
}
catch { return; }
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 { }
}
comPort.DtrEnable = false;
if (threadrun == false)
{
comPort.Close();
}
Console.WriteLine("Comport thread close");
});
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
// 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; }
TXT_terminal.Focus();
}
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();
ThemeManager.ApplyThemeTo(Log);
inlogview = true;
Log.ShowDialog();
inlogview = false;
}
private void BUT_logbrowse_Click(object sender, EventArgs e)
{
Form logbrowse = new LogBrowse();
ThemeManager.ApplyThemeTo(logbrowse);
logbrowse.ShowDialog();
}
}
}