mirror of https://github.com/ArduPilot/ardupilot
522 lines
16 KiB
C#
522 lines
16 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Windows.Forms;
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using System.Net;
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using System.IO;
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namespace ArdupilotMega
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{
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public partial class _3DRradio : Form
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{
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public delegate void LogEventHandler(string message, int level = 0);
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public delegate void ProgressEventHandler(double completed);
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string firmwarefile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "radio.hm_trp.hex";
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public _3DRradio()
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{
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InitializeComponent();
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}
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bool getFirmware()
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{
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//https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
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return Common.getFilefromNet("https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex", firmwarefile);
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}
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void Sleep(int mstimeout)
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{
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DateTime endtime = DateTime.Now.AddMilliseconds(mstimeout);
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while (DateTime.Now < endtime)
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{
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System.Threading.Thread.Sleep(1);
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Application.DoEvents();
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}
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}
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private void BUT_upload_Click(object sender, EventArgs e)
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{
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ArduinoSTK comPort = new ArduinoSTK();
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string version = "";
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uploader.Uploader uploader = new uploader.Uploader();
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comPort.PortName = MainV2.comPort.BaseStream.PortName;
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comPort.BaudRate = 115200;
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comPort.Open();
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bool bootloadermode = false;
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try
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{
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uploader_ProgressEvent(0);
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uploader_LogEvent("Trying Bootloader Mode");
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uploader.port = comPort;
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uploader.connect_and_sync();
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uploader_LogEvent("In Bootloader Mode");
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bootloadermode = true;
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}
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catch { uploader_LogEvent("Trying Firmware Mode"); bootloadermode = false; }
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uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
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uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
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if (!bootloadermode)
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{
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comPort.BaudRate = 57600;
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// clear buffer
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comPort.DiscardInBuffer();
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// setup a known enviroment
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comPort.Write("\r\n");
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// wait
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Sleep(1000);
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// send config string
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comPort.Write("+++");
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// wait
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Sleep(1100);
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// check for config responce "OK"
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if (comPort.ReadExisting().Contains("OK"))
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{
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}
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comPort.Write("\r\nATI\r\n");
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Sleep(100);
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version = comPort.ReadExisting();
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}
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if (version.Contains("on HM-TRP") || bootloadermode)
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{
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if (getFirmware())
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{
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uploader.IHex iHex = new uploader.IHex();
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iHex.LogEvent += new LogEventHandler(iHex_LogEvent);
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iHex.ProgressEvent += new ProgressEventHandler(iHex_ProgressEvent);
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try
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{
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iHex.load(firmwarefile);
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}
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catch { MessageBox.Show("Bad Firmware File"); goto exit; }
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if (!bootloadermode)
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{
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comPort.Write("AT&UPDATE\r\n");
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string left = comPort.ReadExisting();
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Console.WriteLine(left);
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Sleep(700);
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comPort.BaudRate = 115200;
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}
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try
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{
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uploader.upload(comPort, iHex);
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}
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catch (Exception ex) { MessageBox.Show("Upload Failed " + ex.Message); goto exit; }
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}
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else
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{
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MessageBox.Show("Failed to download new firmware");
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}
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}
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else
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{
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MessageBox.Show("Failed to identify Radio");
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}
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exit:
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if (comPort.IsOpen)
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comPort.Close();
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}
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void iHex_ProgressEvent(double completed)
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{
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try
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{
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Progressbar.Value = (int)(completed * 100);
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Application.DoEvents();
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}
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catch { }
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}
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void uploader_LogEvent(string message, int level = 0)
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{
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try
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{
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if (level == 0)
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{
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Console.Write(message);
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lbl_status.Text = message;
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Application.DoEvents();
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}
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}
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catch { }
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}
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void iHex_LogEvent(string message, int level = 0)
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{
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try
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{
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if (level == 0)
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{
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lbl_status.Text = message;
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Console.WriteLine(message);
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Application.DoEvents();
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}
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}
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catch { }
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}
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void uploader_ProgressEvent(double completed)
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{
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try
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{
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Progressbar.Value = (int)(completed * 100);
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Application.DoEvents();
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}
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catch { }
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}
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private void BUT_getcurrent_Click(object sender, EventArgs e)
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{
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SerialPort comPort = new SerialPort();
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comPort.PortName = MainV2.comPort.BaseStream.PortName;
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comPort.BaudRate = 57600;
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comPort.ReadTimeout = 4000;
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comPort.Open();
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lbl_status.Text = "Connecting";
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if (doConnect(comPort))
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{
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comPort.DiscardInBuffer();
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lbl_status.Text = "Doing Command ATI & RTI";
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ATI.Text = doCommand(comPort, "ATI1");
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RTI.Text = doCommand(comPort, "RTI1");
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RSSI.Text = doCommand(comPort, "ATI7");
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lbl_status.Text = "Doing Command ATI5";
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string answer = doCommand(comPort, "ATI5");
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Console.Write("Local\n" + answer);
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string[] items = answer.Split('\n');
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foreach (string item in items)
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{
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if (item.StartsWith("S"))
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{
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string[] values = item.Split(':', '=');
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if (values.Length == 3)
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{
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Control[] controls = this.Controls.Find(values[0].Trim(), false);
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if (controls.Length > 0)
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{
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if (controls[0].GetType() == typeof(CheckBox))
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{
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((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
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}
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else
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{
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controls[0].Text = values[2].Trim();
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}
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}
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}
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}
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}
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// remote
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comPort.DiscardInBuffer();
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lbl_status.Text = "Doing Command RTI5";
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answer = doCommand(comPort, "RTI5");
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Console.Write("Remote\n" + answer);
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items = answer.Split('\n');
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foreach (string item in items)
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{
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if (item.StartsWith("S"))
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{
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string[] values = item.Split(':', '=');
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if (values.Length == 3)
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{
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Control[] controls = this.Controls.Find("R"+values[0].Trim(), false);
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if (controls[0].GetType() == typeof(CheckBox))
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{
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((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
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}
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else
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{
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controls[0].Text = values[2].Trim();
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}
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}
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}
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}
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lbl_status.Text = "Done";
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}
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else
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{
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lbl_status.Text = "Fail";
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MessageBox.Show("Failed to enter command mode");
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}
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comPort.WriteLine("ATZ");
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comPort.Close();
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}
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string doCommand(SerialPort comPort, string cmd)
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{
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Sleep(100);
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comPort.DiscardInBuffer();
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comPort.Write(cmd + "\r\n");
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string temp = comPort.ReadLine(); // echo
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Sleep(500);
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string ans = "";
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while (comPort.BytesToRead > 0)
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{
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ans = ans + comPort.ReadLine() + "\n";
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Sleep(50);
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if (ans.Length > 500)
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return "";
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}
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return ans;
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}
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bool doConnect(SerialPort comPort)
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{
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// clear buffer
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comPort.DiscardOutBuffer();
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comPort.DiscardInBuffer();
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// setup a known enviroment
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comPort.Write("\r\n");
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// wait
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Sleep(1100);
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// send config string
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comPort.Write("+++");
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// wait
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Sleep(1100);
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// check for config responce "OK"
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if (comPort.ReadExisting().Contains("OK"))
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{
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//return true;
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}
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else
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{
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// cleanup incase we are already in cmd mode
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comPort.Write("\r\n");
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}
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string version = doCommand(comPort, "ATI");
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Console.Write("Connect Version: "+version);
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if (version.Contains("on HM-TRP"))
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{
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return true;
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}
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return false;
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}
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private void BUT_savesettings_Click(object sender, EventArgs e)
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{
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SerialPort comPort = new SerialPort();
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comPort.PortName = MainV2.comPort.BaseStream.PortName;
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comPort.BaudRate = 57600;
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comPort.ReadTimeout = 4000;
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comPort.Open();
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lbl_status.Text = "Connecting";
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if (doConnect(comPort))
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{
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comPort.DiscardInBuffer();
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lbl_status.Text = "Doing Command";
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// remote
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string answer = doCommand(comPort, "RTI5");
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Console.Write("Remote\n"+answer);
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string[] items = answer.Split('\n');
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foreach (string item in items)
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{
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if (item.StartsWith("S"))
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{
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string[] values = item.Split(':', '=');
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if (values.Length == 3)
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{
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Control[] controls = this.Controls.Find("R"+values[0].Trim(), false);
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if (controls.Length > 0)
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{
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if (controls[0].GetType() == typeof(CheckBox))
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{
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string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
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if (value != values[2].Trim())
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{
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string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + value + "\r");
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if (cmdanswer.Contains("OK"))
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{
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}
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else
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{
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MessageBox.Show("Set Command error");
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}
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}
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}
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else
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{
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if (controls[0].Text != values[2].Trim())
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{
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string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + controls[0].Text + "\r");
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if (cmdanswer.Contains("OK"))
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{
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}
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else
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{
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MessageBox.Show("Set Command error");
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}
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}
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}
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}
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}
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}
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}
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// write it
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doCommand(comPort, "RT&W");
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// return to normal mode
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comPort.WriteLine("RTZ");
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comPort.Write("\r\n");
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Sleep(100);
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comPort.DiscardInBuffer();
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//local
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answer = doCommand(comPort, "ATI5");
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Console.Write("Local\n" + answer);
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items = answer.Split('\n');
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foreach (string item in items)
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{
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if (item.StartsWith("S"))
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{
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string[] values = item.Split(':', '=');
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if (values.Length == 3)
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{
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Control[] controls = this.Controls.Find(values[0].Trim(), false);
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if (controls.Length > 0)
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{
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if (controls[0].GetType() == typeof(CheckBox))
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{
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string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
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if (value != values[2].Trim())
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{
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string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + value + "\r");
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if (cmdanswer.Contains("OK"))
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{
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}
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else
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{
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MessageBox.Show("Set Command error");
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}
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}
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}
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else
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{
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if (controls[0].Text != values[2].Trim())
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{
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string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + controls[0].Text + "\r");
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if (cmdanswer.Contains("OK"))
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{
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}
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else
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{
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MessageBox.Show("Set Command error");
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}
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}
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}
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}
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}
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}
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}
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// write it
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doCommand(comPort, "AT&W");
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lbl_status.Text = "Done";
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}
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else
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{
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lbl_status.Text = "Fail";
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MessageBox.Show("Failed to enter command mode");
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}
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// return to normal mode
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comPort.WriteLine("ATZ");
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comPort.Close();
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}
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}
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} |