mirror of https://github.com/ArduPilot/ardupilot
613 lines
19 KiB
C#
613 lines
19 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.ComponentModel;
|
|
using System.Data;
|
|
using System.Drawing;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Windows.Forms;
|
|
using System.Net;
|
|
using System.IO;
|
|
|
|
namespace ArdupilotMega
|
|
{
|
|
public partial class _3DRradio : Form
|
|
{
|
|
public delegate void LogEventHandler(string message, int level = 0);
|
|
|
|
public delegate void ProgressEventHandler(double completed);
|
|
|
|
string firmwarefile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "radio.hm_trp.hex";
|
|
|
|
public _3DRradio()
|
|
{
|
|
InitializeComponent();
|
|
|
|
S3.DataSource = Enumerable.Range(0, 500).ToArray();
|
|
RS3.DataSource = S3.DataSource;
|
|
}
|
|
|
|
bool getFirmware()
|
|
{
|
|
//https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
|
|
|
|
return Common.getFilefromNet("https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex", firmwarefile);
|
|
}
|
|
|
|
void Sleep(int mstimeout)
|
|
{
|
|
DateTime endtime = DateTime.Now.AddMilliseconds(mstimeout);
|
|
|
|
while (DateTime.Now < endtime)
|
|
{
|
|
System.Threading.Thread.Sleep(1);
|
|
Application.DoEvents();
|
|
}
|
|
}
|
|
|
|
private void BUT_upload_Click(object sender, EventArgs e)
|
|
{
|
|
ArduinoSTK comPort = new ArduinoSTK();
|
|
|
|
string version = "";
|
|
|
|
uploader.Uploader uploader = new uploader.Uploader();
|
|
|
|
try
|
|
{
|
|
comPort.PortName = MainV2.comPort.BaseStream.PortName;
|
|
comPort.BaudRate = 115200;
|
|
|
|
comPort.Open();
|
|
|
|
}
|
|
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
|
|
|
|
bool bootloadermode = false;
|
|
|
|
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
|
|
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
|
|
|
|
try
|
|
{
|
|
uploader_ProgressEvent(0);
|
|
uploader_LogEvent("Trying Bootloader Mode");
|
|
uploader.port = comPort;
|
|
uploader.connect_and_sync();
|
|
uploader_LogEvent("In Bootloader Mode");
|
|
bootloadermode = true;
|
|
}
|
|
catch {
|
|
comPort.Close();
|
|
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
|
|
comPort.Open();
|
|
uploader_LogEvent("Trying Firmware Mode");
|
|
bootloadermode = false;
|
|
}
|
|
|
|
|
|
|
|
if (bootloadermode || doConnect(comPort))
|
|
{
|
|
if (getFirmware())
|
|
{
|
|
uploader.IHex iHex = new uploader.IHex();
|
|
|
|
iHex.LogEvent += new LogEventHandler(iHex_LogEvent);
|
|
|
|
iHex.ProgressEvent += new ProgressEventHandler(iHex_ProgressEvent);
|
|
|
|
try
|
|
{
|
|
iHex.load(firmwarefile);
|
|
}
|
|
catch { MessageBox.Show("Bad Firmware File"); goto exit; }
|
|
|
|
if (!bootloadermode)
|
|
{
|
|
try
|
|
{
|
|
comPort.Write("AT&UPDATE\r\n");
|
|
string left = comPort.ReadExisting();
|
|
Console.WriteLine(left);
|
|
Sleep(700);
|
|
comPort.BaudRate = 115200;
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
try
|
|
{
|
|
uploader.upload(comPort, iHex);
|
|
}
|
|
catch (Exception ex) { MessageBox.Show("Upload Failed " + ex.Message); }
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Failed to download new firmware");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Failed to identify Radio");
|
|
}
|
|
|
|
exit:
|
|
if (comPort.IsOpen)
|
|
comPort.Close();
|
|
|
|
}
|
|
|
|
void iHex_ProgressEvent(double completed)
|
|
{
|
|
try
|
|
{
|
|
Progressbar.Value = (int)(completed * 100);
|
|
Application.DoEvents();
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
void uploader_LogEvent(string message, int level = 0)
|
|
{
|
|
try
|
|
{
|
|
if (level == 0)
|
|
{
|
|
Console.Write(message);
|
|
lbl_status.Text = message;
|
|
Application.DoEvents();
|
|
}
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
void iHex_LogEvent(string message, int level = 0)
|
|
{
|
|
try
|
|
{
|
|
if (level == 0)
|
|
{
|
|
lbl_status.Text = message;
|
|
Console.WriteLine(message);
|
|
Application.DoEvents();
|
|
}
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
void uploader_ProgressEvent(double completed)
|
|
{
|
|
try
|
|
{
|
|
Progressbar.Value = (int)(completed * 100);
|
|
Application.DoEvents();
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
private void BUT_getcurrent_Click(object sender, EventArgs e)
|
|
{
|
|
SerialPort comPort = new SerialPort();
|
|
|
|
try {
|
|
|
|
comPort.PortName = MainV2.comPort.BaseStream.PortName;
|
|
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
|
|
|
|
comPort.ReadTimeout = 4000;
|
|
|
|
comPort.Open();
|
|
|
|
|
|
}
|
|
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
|
|
|
|
lbl_status.Text = "Connecting";
|
|
|
|
if (doConnect(comPort))
|
|
{
|
|
comPort.DiscardInBuffer();
|
|
|
|
lbl_status.Text = "Doing Command ATI & RTI";
|
|
|
|
ATI.Text = doCommand(comPort, "ATI1").Trim();
|
|
|
|
RTI.Text = doCommand(comPort, "RTI1").Trim();
|
|
|
|
RSSI.Text = doCommand(comPort, "ATI7").Trim();
|
|
|
|
lbl_status.Text = "Doing Command ATI5";
|
|
|
|
string answer = doCommand(comPort, "ATI5");
|
|
|
|
string[] items = answer.Split('\n');
|
|
|
|
foreach (string item in items)
|
|
{
|
|
if (item.StartsWith("S"))
|
|
{
|
|
string[] values = item.Split(':', '=');
|
|
|
|
if (values.Length == 3)
|
|
{
|
|
Control[] controls = this.Controls.Find(values[0].Trim(), false);
|
|
|
|
if (controls.Length > 0)
|
|
{
|
|
if (controls[0].GetType() == typeof(CheckBox))
|
|
{
|
|
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
|
|
}
|
|
else
|
|
{
|
|
controls[0].Text = values[2].Trim();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// remote
|
|
foreach (Control ctl in this.Controls)
|
|
{
|
|
if (ctl.Name.StartsWith("RS") && ctl.Name != "RSSI")
|
|
ctl.ResetText();
|
|
}
|
|
|
|
|
|
comPort.DiscardInBuffer();
|
|
|
|
lbl_status.Text = "Doing Command RTI5";
|
|
|
|
answer = doCommand(comPort, "RTI5");
|
|
|
|
items = answer.Split('\n');
|
|
|
|
foreach (string item in items)
|
|
{
|
|
if (item.StartsWith("S"))
|
|
{
|
|
string[] values = item.Split(':', '=');
|
|
|
|
if (values.Length == 3)
|
|
{
|
|
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
|
|
|
|
if (controls[0].GetType() == typeof(CheckBox))
|
|
{
|
|
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
|
|
}
|
|
else if (controls[0].GetType() == typeof(TextBox))
|
|
{
|
|
((TextBox)controls[0]).Text = values[2].Trim();
|
|
}
|
|
else if (controls[0].GetType() == typeof(ComboBox))
|
|
{
|
|
((ComboBox)controls[0]).SelectedText = values[2].Trim();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
Console.WriteLine("Odd config line :" + item);
|
|
}
|
|
}
|
|
}
|
|
|
|
// off hook
|
|
doCommand(comPort, "ATO");
|
|
|
|
lbl_status.Text = "Done";
|
|
}
|
|
else
|
|
{
|
|
|
|
// off hook
|
|
doCommand(comPort, "ATO");
|
|
|
|
lbl_status.Text = "Fail";
|
|
MessageBox.Show("Failed to enter command mode");
|
|
}
|
|
|
|
comPort.Close();
|
|
}
|
|
|
|
string Serial_ReadLine(SerialPort comPort)
|
|
{
|
|
StringBuilder sb = new StringBuilder();
|
|
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
|
|
|
|
while (DateTime.Now < Deadline)
|
|
{
|
|
if (comPort.BytesToRead > 0)
|
|
{
|
|
byte data = (byte)comPort.ReadByte();
|
|
sb.Append((char)data);
|
|
if (data == '\n')
|
|
break;
|
|
}
|
|
}
|
|
|
|
return sb.ToString();
|
|
}
|
|
|
|
string doCommand(SerialPort comPort, string cmd, int level = 0)
|
|
{
|
|
if (!comPort.IsOpen)
|
|
return "";
|
|
|
|
comPort.ReadTimeout = 1000;
|
|
// setup to known state
|
|
comPort.Write("\r\n");
|
|
// alow some time to gather thoughts
|
|
Sleep(100);
|
|
// ignore all existing data
|
|
comPort.DiscardInBuffer();
|
|
lbl_status.Text = "Doing Command "+cmd;
|
|
Console.WriteLine("Doing Command "+cmd);
|
|
// write command
|
|
comPort.Write(cmd + "\r\n");
|
|
// read echoed line or existing data
|
|
string temp;
|
|
try
|
|
{
|
|
temp = Serial_ReadLine(comPort);
|
|
}
|
|
catch { temp = comPort.ReadExisting(); }
|
|
Console.WriteLine("cmd "+cmd + " echo "+ temp);
|
|
// delay for command
|
|
Sleep(500);
|
|
// get responce
|
|
string ans = "";
|
|
while (comPort.BytesToRead > 0)
|
|
{
|
|
try
|
|
{
|
|
ans = ans + Serial_ReadLine(comPort) +"\n";
|
|
}
|
|
catch { ans = ans + comPort.ReadExisting() + "\n"; }
|
|
Sleep(50);
|
|
|
|
if (ans.Length > 500)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
Console.WriteLine("responce " +level+ " " + ans);
|
|
|
|
// try again
|
|
if (ans == "" && level == 0)
|
|
return doCommand(comPort, cmd, 1);
|
|
|
|
return ans;
|
|
}
|
|
|
|
bool doConnect(SerialPort comPort)
|
|
{
|
|
// clear buffer
|
|
comPort.DiscardInBuffer();
|
|
// setup a known enviroment
|
|
comPort.Write("\r\n");
|
|
// wait
|
|
Sleep(1100);
|
|
// send config string
|
|
comPort.Write("+++");
|
|
// wait
|
|
Sleep(1100);
|
|
// check for config responce "OK"
|
|
Console.WriteLine("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
|
|
string conn = comPort.ReadExisting();
|
|
Console.WriteLine("Connect first responce "+conn + " " + conn.Length);
|
|
if (conn.Contains("OK"))
|
|
{
|
|
//return true;
|
|
}
|
|
else
|
|
{
|
|
// cleanup incase we are already in cmd mode
|
|
comPort.Write("\r\n");
|
|
}
|
|
|
|
string version = doCommand(comPort, "ATI");
|
|
|
|
Console.Write("Connect Version: " + version.Trim() + "\n");
|
|
|
|
if (version.Contains("on HM-TRP"))
|
|
{
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
private void BUT_savesettings_Click(object sender, EventArgs e)
|
|
{
|
|
SerialPort comPort = new SerialPort();
|
|
|
|
try {
|
|
comPort.PortName = MainV2.comPort.BaseStream.PortName;
|
|
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
|
|
|
|
comPort.ReadTimeout = 4000;
|
|
|
|
comPort.Open();
|
|
|
|
|
|
}
|
|
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
|
|
|
|
lbl_status.Text = "Connecting";
|
|
|
|
if (doConnect(comPort))
|
|
{
|
|
comPort.DiscardInBuffer();
|
|
|
|
lbl_status.Text = "Doing Command";
|
|
|
|
if (RTI.Text != "")
|
|
{
|
|
|
|
// remote
|
|
string answer = doCommand(comPort, "RTI5");
|
|
|
|
string[] items = answer.Split('\n');
|
|
|
|
foreach (string item in items)
|
|
{
|
|
if (item.StartsWith("S"))
|
|
{
|
|
string[] values = item.Split(':', '=');
|
|
|
|
if (values.Length == 3)
|
|
{
|
|
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
|
|
|
|
if (controls.Length > 0)
|
|
{
|
|
if (controls[0].GetType() == typeof(CheckBox))
|
|
{
|
|
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
|
|
|
|
if (value != values[2].Trim())
|
|
{
|
|
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + value + "\r");
|
|
|
|
if (cmdanswer.Contains("OK"))
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Set Command error");
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (controls[0].Text != values[2].Trim() && controls[0].Text != "")
|
|
{
|
|
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + controls[0].Text + "\r");
|
|
|
|
if (cmdanswer.Contains("OK"))
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Set Command error");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// write it
|
|
doCommand(comPort, "RT&W");
|
|
|
|
// return to normal mode
|
|
doCommand(comPort, "RTZ");
|
|
|
|
Sleep(100);
|
|
}
|
|
|
|
comPort.DiscardInBuffer();
|
|
{
|
|
//local
|
|
string answer = doCommand(comPort, "ATI5");
|
|
|
|
string[] items = answer.Split('\n');
|
|
|
|
foreach (string item in items)
|
|
{
|
|
if (item.StartsWith("S"))
|
|
{
|
|
string[] values = item.Split(':', '=');
|
|
|
|
if (values.Length == 3)
|
|
{
|
|
Control[] controls = this.Controls.Find(values[0].Trim(), false);
|
|
|
|
if (controls.Length > 0)
|
|
{
|
|
if (controls[0].GetType() == typeof(CheckBox))
|
|
{
|
|
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
|
|
|
|
if (value != values[2].Trim())
|
|
{
|
|
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + value + "\r");
|
|
|
|
if (cmdanswer.Contains("OK"))
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Set Command error");
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (controls[0].Text != values[2].Trim())
|
|
{
|
|
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + controls[0].Text + "\r");
|
|
|
|
if (cmdanswer.Contains("OK"))
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Set Command error");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// write it
|
|
doCommand(comPort, "AT&W");
|
|
|
|
|
|
// return to normal mode
|
|
doCommand(comPort, "ATZ");
|
|
}
|
|
|
|
lbl_status.Text = "Done";
|
|
}
|
|
else
|
|
{
|
|
|
|
// return to normal mode
|
|
doCommand(comPort, "ATZ");
|
|
|
|
lbl_status.Text = "Fail";
|
|
MessageBox.Show("Failed to enter command mode");
|
|
}
|
|
|
|
|
|
comPort.Close();
|
|
}
|
|
|
|
private void BUT_syncS2_Click(object sender, EventArgs e)
|
|
{
|
|
RS2.Text = S2.Text;
|
|
}
|
|
|
|
private void BUT_syncS3_Click(object sender, EventArgs e)
|
|
{
|
|
RS3.Text = S3.Text;
|
|
}
|
|
|
|
private void BUT_syncS5_Click(object sender, EventArgs e)
|
|
{
|
|
RS5.Checked = S5.Checked;
|
|
}
|
|
}
|
|
} |