mirror of https://github.com/ArduPilot/ardupilot
390 lines
13 KiB
C#
390 lines
13 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.Drawing;
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using System.Data;
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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 ArdupilotMega;
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using System.IO.Ports;
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using ArdupilotMega.Comms;
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using ArdupilotMega.Utilities;
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using System.Text.RegularExpressions;
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namespace ArdupilotMega.GCSViews
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{
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public partial class Terminal : MyUserControl
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{
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ICommsSerial comPort = MainV2.comPort.BaseStream;
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Object thisLock = new Object();
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public static bool threadrun = false;
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bool inlogview = false;
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List<string> cmdHistory = new List<string>();
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int history = 0;
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int inputStartPos = 0;
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public Terminal()
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{
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threadrun = false;
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InitializeComponent();
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}
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void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
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{
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if (!comPort.IsOpen)
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return;
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// if btr > 0 then this shouldnt happen
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comPort.ReadTimeout = 300;
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try
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{
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lock (thisLock)
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{
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System.Threading.Thread.Sleep(20);
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byte[] buffer = new byte[256];
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int a = 0;
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while (comPort.BytesToRead > 0)
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{
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byte indata = (byte)comPort.ReadByte();
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buffer[a] = indata;
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if (buffer[a] >= 0x20 && buffer[a] < 0x7f || buffer[a] == (int)'\n' || buffer[a] == (int)'\r')
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{
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a++;
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}
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if (a == (buffer.Length-1))
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break;
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}
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addText(ASCIIEncoding.ASCII.GetString(buffer,0,a+1));
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}
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}
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catch (Exception ex) { Console.WriteLine(ex.ToString()); if (!threadrun) return; TXT_terminal.AppendText("Error reading com port\r\n"); }
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}
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void addText(string data)
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{
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this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
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{
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TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
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data = data.Replace("U3","");
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data = data.Replace("U$", "");
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data = data.Replace(@"U""","");
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data = data.Replace("d'`F", "");
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data = data.Replace("U.", "");
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data = data.Replace("'`","");
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data = data.TrimEnd('\r'); // else added \n all by itself
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data = data.Replace("\0", "");
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TXT_terminal.AppendText(data);
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if (data.Contains("\b"))
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{
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TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
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TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
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}
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inputStartPos = TXT_terminal.SelectionStart;
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});
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}
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private void TXT_terminal_Click(object sender, EventArgs e)
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{
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// auto scroll
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TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
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TXT_terminal.ScrollToCaret();
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TXT_terminal.Refresh();
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}
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private void TXT_terminal_KeyDown(object sender, KeyEventArgs e)
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{
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/* if (e.KeyData == Keys.Up || e.KeyData == Keys.Down || e.KeyData == Keys.Left || e.KeyData == Keys.Right)
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{
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e.Handled = true; // ignore it
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}*/
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lock (thisLock)
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{
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switch (e.KeyData)
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{
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case Keys.Up:
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if (history > 0)
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{
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TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
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TXT_terminal.SelectedText = "";
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TXT_terminal.AppendText(cmdHistory[--history]);
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}
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e.Handled = true;
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break;
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case Keys.Down:
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if (history < cmdHistory.Count - 1)
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{
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TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
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TXT_terminal.SelectedText = "";
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TXT_terminal.AppendText(cmdHistory[++history]);
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}
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e.Handled = true;
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break;
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case Keys.Left:
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case Keys.Back:
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if (TXT_terminal.SelectionStart <= inputStartPos)
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e.Handled = true;
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break;
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//case Keys.Right:
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// break;
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}
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}
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}
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private void Terminal_FormClosing(object sender, FormClosingEventArgs e)
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{
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threadrun = false;
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try
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{
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if (comPort.IsOpen)
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{
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comPort.Close();
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}
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}
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catch { } // Exception System.IO.IOException: The specified port does not exist.
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System.Threading.Thread.Sleep(400);
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MainV2.giveComport = false;
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}
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private void TXT_terminal_KeyPress(object sender, KeyPressEventArgs e)
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{
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if (e.KeyChar == '\r')
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{
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if (comPort.IsOpen)
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{
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try
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{
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string cmd = "";
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lock (thisLock)
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{
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if (MainV2.MONO)
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{
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cmd = TXT_terminal.Text.Substring(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
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}
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else
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{
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cmd = TXT_terminal.Text.Substring(inputStartPos, TXT_terminal.Text.Length - inputStartPos - 1);
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}
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TXT_terminal.Select(inputStartPos, TXT_terminal.Text.Length - inputStartPos);
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TXT_terminal.SelectedText = "";
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if (cmd.Length > 0 && (cmdHistory.Count == 0 || cmdHistory.Last() != cmd))
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{
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cmdHistory.Add(cmd);
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history = cmdHistory.Count;
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}
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}
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// do not change this \r is correct - no \n
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if (cmd == "+++")
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{
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comPort.Write(Encoding.ASCII.GetBytes(cmd), 0, cmd.Length);
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}
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else
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{
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comPort.Write(Encoding.ASCII.GetBytes(cmd + "\r"), 0, cmd.Length + 1);
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}
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}
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catch { CustomMessageBox.Show("Error writing to com port"); }
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}
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}
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/*
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if (comPort.IsOpen)
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{
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try
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{
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comPort.Write(new byte[] { (byte)e.KeyChar }, 0, 1);
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}
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catch { MessageBox.Show("Error writing to com port"); }
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}
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e.Handled = true;*/
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}
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private void waitandsleep(int time)
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{
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DateTime start = DateTime.Now;
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while ((DateTime.Now - start).TotalMilliseconds < time)
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{
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try
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{
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if (comPort.BytesToRead > 0)
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{
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return;
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}
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}
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catch { threadrun = false; return; }
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}
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}
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private void readandsleep(int time)
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{
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DateTime start = DateTime.Now;
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while ((DateTime.Now - start).TotalMilliseconds < time)
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{
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try
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{
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if (comPort.BytesToRead > 0)
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{
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comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
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}
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}
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catch { threadrun = false; return; }
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}
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}
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private void Terminal_Load(object sender, EventArgs e)
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{
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try
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{
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MainV2.giveComport = true;
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if (comPort.IsOpen)
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comPort.Close();
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comPort.ReadBufferSize = 1024 * 1024;
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comPort.PortName = MainV2.comPortName;
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comPort.Open();
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comPort.toggleDTR();
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comPort.DiscardInBuffer();
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System.Threading.Thread t11 = new System.Threading.Thread(delegate()
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{
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threadrun = true;
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// 10 sec
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waitandsleep(10000);
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// 100 ms
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readandsleep(100);
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try
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{
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comPort.Write("\n\n\n");
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// 1 secs
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readandsleep(1000);
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comPort.Write("\r\r\r?\r");
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}
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catch { threadrun = false; return; }
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while (threadrun)
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{
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try
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{
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System.Threading.Thread.Sleep(10);
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if (inlogview)
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continue;
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if (!comPort.IsOpen)
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break;
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if (comPort.BytesToRead > 0)
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{
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comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
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}
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}
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catch { }
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}
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threadrun = false;
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comPort.DtrEnable = false;
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comPort.Close();
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Console.WriteLine("Comport thread close");
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});
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t11.IsBackground = true;
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t11.Name = "Terminal serial thread";
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t11.Start();
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// doesnt seem to work on mac
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//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
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TXT_terminal.AppendText("Opened com port\r\n");
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inputStartPos = TXT_terminal.SelectionStart;
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}
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catch (Exception) { TXT_terminal.AppendText("Cant open serial port\r\n"); return; }
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TXT_terminal.Focus();
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}
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private void BUTsetupshow_Click(object sender, EventArgs e)
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{
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if (comPort.IsOpen)
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{
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try
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{
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System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
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byte[] data = encoding.GetBytes("exit\rsetup\rshow\r");
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comPort.Write(data, 0, data.Length);
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}
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catch { }
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}
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TXT_terminal.Focus();
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}
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private void BUTradiosetup_Click(object sender, EventArgs e)
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{
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if (comPort.IsOpen)
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{
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try
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{
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System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
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byte[] data = encoding.GetBytes("exit\rsetup\r\nradio\r");
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comPort.Write(data, 0, data.Length);
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}
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catch { }
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}
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TXT_terminal.Focus();
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}
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private void BUTtests_Click(object sender, EventArgs e)
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{
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if (comPort.IsOpen)
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{
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try
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{
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System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
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byte[] data = encoding.GetBytes("exit\rtest\r?\r\n");
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comPort.Write(data, 0, data.Length);
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}
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catch { }
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}
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TXT_terminal.Focus();
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}
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private void Logs_Click(object sender, EventArgs e)
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{
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Form Log = new Log();
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ThemeManager.ApplyThemeTo(Log);
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inlogview = true;
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Log.ShowDialog();
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inlogview = false;
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}
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private void BUT_logbrowse_Click(object sender, EventArgs e)
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{
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Form logbrowse = new LogBrowse();
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ThemeManager.ApplyThemeTo(logbrowse);
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logbrowse.ShowDialog();
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}
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}
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} |