Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 90 | gunterl | 1 | using System; |
| 2 | using System.Collections.Generic; |
||
| 3 | using System.Text; |
||
| 4 | using System.IO.Ports; |
||
| 5 | using System.Threading; |
||
| 6 | |||
| 7 | namespace Robotics.Serial |
||
| 8 | { |
||
| 9 | class SerialCom |
||
| 10 | { |
||
| 11 | public delegate void BotEventHandler(object sender, EventArgs ev); |
||
| 12 | public static event BotEventHandler BotEvent; |
||
| 13 | |||
| 14 | public string ComPort = "COM1"; |
||
| 15 | public static SerialPort serialPort1;// = new SerialPort(); |
||
| 16 | public bool isOpen = false; |
||
| 17 | |||
| 18 | // --------------------------------------------------------------------------- |
||
| 19 | /// <summary> |
||
| 20 | /// Decode Message from the Roboboard |
||
| 21 | /// </summary> |
||
| 22 | /// <param name="message"></param> |
||
| 23 | /// <returns></returns> |
||
| 24 | // --------------------------------------------------------------------------- |
||
| 25 | public static string DecodeMessage(string command) |
||
| 26 | { |
||
| 27 | string message = command.Substring(0, command.Length - 2); |
||
| 28 | string target = ""; |
||
| 29 | target += (char)command[command.Length - 2]; |
||
| 30 | target += (char)command[command.Length - 1]; |
||
| 31 | //----------------------------------------------------------- |
||
| 32 | // check CRC |
||
| 33 | Int16 tmpcrc = 0; |
||
| 34 | for (int i = 0; i < message.Length; i++) |
||
| 35 | { |
||
| 36 | tmpcrc += (Int16)message[i]; |
||
| 37 | } |
||
| 38 | tmpcrc %= 4096; |
||
| 39 | |||
| 40 | string crc = ""; |
||
| 41 | crc += (char)((byte)'=' + (tmpcrc / 64)); |
||
| 42 | crc += (char)((byte)'=' + (tmpcrc % 64)); |
||
| 43 | |||
| 44 | if (crc != target) return ""; |
||
| 45 | //----------------------------------------------------------- |
||
| 46 | // decode message |
||
| 47 | target = ""; |
||
| 48 | message = command.Substring(3, command.Length - 5); |
||
| 49 | |||
| 50 | int index = 0; |
||
| 51 | uint a, b, c, d; |
||
| 52 | uint x, y, z; |
||
| 53 | int len = message.Length; |
||
| 54 | message = message + "====="; |
||
| 55 | |||
| 56 | while (index <= len) |
||
| 57 | { |
||
| 58 | a = (uint)message[index++] - '='; |
||
| 59 | b = (uint)message[index++] - '='; |
||
| 60 | c = (uint)message[index++] - '='; |
||
| 61 | d = (uint)message[index++] - '='; |
||
| 62 | |||
| 63 | x = (a << 2) | (b >> 4); |
||
| 64 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
| 65 | z = ((c & 0x03) << 6) | d; |
||
| 66 | |||
| 67 | target += (char)x; |
||
| 68 | target += (char)y; |
||
| 69 | target += (char)z; |
||
| 70 | } |
||
| 71 | return target; |
||
| 72 | } |
||
| 73 | |||
| 74 | // --------------------------------------------------------------------------- |
||
| 75 | /// <summary> |
||
| 76 | /// Encode Message to send to the Board |
||
| 77 | /// </summary> |
||
| 78 | /// <param name="message"></param> |
||
| 79 | /// <returns></returns> |
||
| 80 | // --------------------------------------------------------------------------- |
||
| 81 | public static string EncodeMessage(string message) |
||
| 82 | { |
||
| 83 | string target = ""; |
||
| 84 | byte a, b, c; |
||
| 85 | int len = message.Length; |
||
| 86 | int ptr = 0; |
||
| 87 | |||
| 88 | while (len > 0) |
||
| 89 | { |
||
| 90 | if (len > 0) { a = (byte)message[ptr++]; len--; } else a = 0; |
||
| 91 | if (len > 0) { b = (byte)message[ptr++]; len--; } else b = 0; |
||
| 92 | if (len > 0) { c = (byte)message[ptr++]; len--; } else c = 0; |
||
| 93 | target += (char)((a >> 2) + (byte)'='); |
||
| 94 | target += (char)((((a & 0x03) << 4) | ((b & 0xf0) >> 4)) + (byte)'='); |
||
| 95 | target += (char)((((b & 0x0f) << 2) | ((c & 0xc0) >> 6)) + (byte)'='); |
||
| 96 | target += (char)((c & 0x3f) + (byte)'='); |
||
| 97 | } |
||
| 98 | return target; |
||
| 99 | } |
||
| 100 | |||
| 101 | // --------------------------------------------------------------------------- |
||
| 102 | /// <summary> |
||
| 103 | /// Creates a complete message including the command and the address byte |
||
| 104 | /// header. It calls thr EncodeMessage function to encode the message body. |
||
| 105 | /// command and adress byte will not be encoded. An additional 2 Byte CRC will |
||
| 106 | /// be added at the end of the message |
||
| 107 | /// </summary> |
||
| 108 | /// <param name="cmd"></param> |
||
| 109 | /// <param name="adr"></param> |
||
| 110 | /// <param name="message"></param> |
||
| 111 | /// <returns></returns> |
||
| 112 | // --------------------------------------------------------------------------- |
||
| 113 | public string CreateMessage(char cmd, char adr, string message) |
||
| 114 | { |
||
| 115 | string target = ""; |
||
| 116 | target += '#'; |
||
| 117 | target += adr; |
||
| 118 | target += cmd; |
||
| 119 | target += EncodeMessage(message); |
||
| 120 | |||
| 121 | //----------------------------------------------------------- |
||
| 122 | //add CRC |
||
| 123 | Int16 tmpcrc = 0; |
||
| 124 | for (int i = 0; i < target.Length; i++) |
||
| 125 | { |
||
| 126 | tmpcrc += (Int16)target[i]; |
||
| 127 | } |
||
| 128 | tmpcrc %= 4096; |
||
| 129 | target += (char)((byte)'=' + (tmpcrc / 64)); |
||
| 130 | target += (char)((byte)'=' + (tmpcrc % 64)); |
||
| 131 | //----------------------------------------------------------- |
||
| 132 | target += (char)'\r'; |
||
| 133 | return target; |
||
| 134 | } |
||
| 135 | |||
| 136 | // --------------------------------------------------------------------------- |
||
| 137 | /// <summary> |
||
| 138 | /// Initialize the COM Port. ComPort must be set before calling this function |
||
| 139 | /// </summary> |
||
| 140 | /// <returns></returns> |
||
| 141 | // --------------------------------------------------------------------------- |
||
| 142 | public int InitPort() |
||
| 143 | { |
||
| 144 | serialPort1 = new SerialPort(); |
||
| 145 | serialPort1.DataReceived += new System.IO.Ports.SerialDataReceivedEventHandler(serialPort1_DataReceived); |
||
| 146 | try |
||
| 147 | { |
||
| 148 | serialPort1.PortName = ComPort; |
||
| 149 | serialPort1.BaudRate = 57600; |
||
| 150 | serialPort1.DataBits = 8; |
||
| 151 | serialPort1.Open(); |
||
| 152 | serialPort1.DiscardInBuffer(); |
||
| 153 | serialPort1.DiscardOutBuffer(); |
||
| 154 | isOpen = true; |
||
| 155 | } |
||
| 156 | catch |
||
| 157 | { |
||
| 158 | isOpen = false; |
||
| 159 | return 1; |
||
| 160 | } |
||
| 161 | return 0; |
||
| 162 | } |
||
| 163 | |||
| 164 | // --------------------------------------------------------------------------- |
||
| 165 | /// <summary> |
||
| 166 | /// Writes a string to the Com Port |
||
| 167 | /// </summary> |
||
| 168 | /// <param name="data"></param> |
||
| 169 | // --------------------------------------------------------------------------- |
||
| 170 | public void SerialWrite(string data) |
||
| 171 | { |
||
| 172 | serialPort1.Write(data); |
||
| 173 | } |
||
| 174 | |||
| 175 | // --------------------------------------------------------------------------- |
||
| 176 | /// <summary> |
||
| 177 | /// Writes a string to the comport and adds a CR/LF at the end |
||
| 178 | /// </summary> |
||
| 179 | /// <param name="data"></param> |
||
| 180 | // --------------------------------------------------------------------------- |
||
| 181 | public void SerialWriteLine(string data) |
||
| 182 | { |
||
| 183 | serialPort1.WriteLine(data); |
||
| 184 | } |
||
| 185 | |||
| 186 | // --------------------------------------------------------------------------- |
||
| 187 | /// <summary> |
||
| 188 | /// colse the COm port if open |
||
| 189 | /// </summary> |
||
| 190 | // --------------------------------------------------------------------------- |
||
| 191 | public void ClosePort() |
||
| 192 | { |
||
| 193 | if (isOpen) |
||
| 194 | { |
||
| 195 | serialPort1.Close(); |
||
| 196 | } |
||
| 197 | } |
||
| 198 | |||
| 199 | // --------------------------------------------------------------------------- |
||
| 200 | /// <summary> |
||
| 201 | /// Message functions |
||
| 202 | /// </summary> |
||
| 203 | // --------------------------------------------------------------------------- |
||
| 204 | public string GetLastMessage() |
||
| 205 | { |
||
| 206 | if (messagevalid == true) |
||
| 207 | { |
||
| 208 | return botmessage; |
||
| 209 | } |
||
| 210 | else return ""; |
||
| 211 | } |
||
| 212 | |||
| 213 | public bool IsMessageValid() |
||
| 214 | { |
||
| 215 | return messagevalid; |
||
| 216 | } |
||
| 217 | |||
| 218 | public bool IsMessageError() |
||
| 219 | { |
||
| 220 | return messageerror; |
||
| 221 | } |
||
| 222 | |||
| 223 | public bool IsMessageOverrun() |
||
| 224 | { |
||
| 225 | return messageoverrun; |
||
| 226 | } |
||
| 227 | |||
| 228 | public void InvalidateMessage() |
||
| 229 | { |
||
| 230 | messagevalid = false; |
||
| 231 | messageerror = false; |
||
| 232 | messageoverrun = false; |
||
| 233 | } |
||
| 234 | |||
| 235 | public char GetMessageCmd() |
||
| 236 | { |
||
| 237 | return message_cmd; |
||
| 238 | } |
||
| 239 | |||
| 240 | public char GetMessageAdr() |
||
| 241 | { |
||
| 242 | return message_adr; |
||
| 243 | } |
||
| 244 | |||
| 245 | public string MessageAddByte(byte value, string command) |
||
| 246 | { |
||
| 247 | command = command + (char)value; |
||
| 248 | return command; |
||
| 249 | } |
||
| 250 | |||
| 251 | public string MessageAddInt16(Int16 value, string command) |
||
| 252 | { |
||
| 253 | byte s = 0; |
||
| 254 | s = (byte)value; |
||
| 255 | command = command + (char)s; |
||
| 256 | Int16 value1 = (Int16)(value >> 8); |
||
| 257 | s = (byte)value1; |
||
| 258 | command = command + (char)s; |
||
| 259 | return command; |
||
| 260 | } |
||
| 261 | |||
| 262 | public string MessageAddInt32(Int32 value, string command) |
||
| 263 | { |
||
| 264 | byte s = 0; |
||
| 265 | s = (byte)value; |
||
| 266 | command = command + (char)s; |
||
| 267 | Int32 value1 = (Int32)(value >> 8); |
||
| 268 | s = (byte)value1; |
||
| 269 | command = command + (char)s; |
||
| 270 | value1 = (Int32)(value >> 8); |
||
| 271 | s = (byte)value1; |
||
| 272 | command = command + (char)s; |
||
| 273 | value1 = (Int32)(value >> 8); |
||
| 274 | s = (byte)value1; |
||
| 275 | command = command + (char)s; |
||
| 276 | return command; |
||
| 277 | } |
||
| 278 | |||
| 279 | public byte MessageReadByte(string command) |
||
| 280 | { |
||
| 281 | byte bvalue = (byte)command[0]; |
||
| 282 | return bvalue; |
||
| 283 | } |
||
| 284 | |||
| 285 | public Int16 MessageReadInt16(string command) |
||
| 286 | { |
||
| 287 | int index = 0; |
||
| 288 | Int16 tmp2; |
||
| 289 | Int16 result; |
||
| 290 | |||
| 291 | Int16 tmp; |
||
| 292 | tmp2 = (Int16)command[index++]; |
||
| 293 | result = (Int16)command[index++]; |
||
| 294 | result = (Int16)(result << 8); |
||
| 295 | result += (Int16)tmp2; |
||
| 296 | return result; |
||
| 297 | } |
||
| 298 | |||
| 299 | public Int32 MessageReadInt32(string command) |
||
| 300 | { |
||
| 301 | int index = 0; |
||
| 302 | Int32 tmp0; |
||
| 303 | Int32 tmp1; |
||
| 304 | Int32 tmp2; |
||
| 305 | Int32 result; |
||
| 306 | |||
| 307 | Int16 tmp; |
||
| 308 | tmp0 = (Int32)command[index++]; |
||
| 309 | tmp1 = (Int32)command[index++]; |
||
| 310 | tmp2 = (Int32)command[index++]; |
||
| 311 | result = (Int32)command[index++]; |
||
| 312 | result = (Int32)(result << 8); |
||
| 313 | result += (Int32)tmp2; |
||
| 314 | result = (Int32)(result << 8); |
||
| 315 | result += (Int32)tmp1; |
||
| 316 | result = (Int32)(result << 8); |
||
| 317 | result += (Int32)tmp0; |
||
| 318 | return result; |
||
| 319 | } |
||
| 320 | |||
| 321 | |||
| 322 | // --------------------------------------------------------------------------- |
||
| 323 | /// <summary> |
||
| 324 | /// serial data receive message handler. |
||
| 325 | /// </summary> |
||
| 326 | /// <param name="sender"></param> |
||
| 327 | /// <param name="e"></param> |
||
| 328 | // --------------------------------------------------------------------------- |
||
| 329 | private static string command; |
||
| 330 | private static bool messagevalid = false; |
||
| 331 | private static bool messageerror = false; |
||
| 332 | private static bool messageoverrun = false; |
||
| 333 | private static char message_cmd = (char)0; |
||
| 334 | private static char message_adr = (char)0; |
||
| 335 | private static int receiver_status = 0; |
||
| 336 | private static string botmessage; |
||
| 337 | |||
| 338 | private static void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e) |
||
| 339 | { |
||
| 340 | int data; |
||
| 341 | EventArgs ev = new EventArgs(); |
||
| 342 | while (serialPort1.BytesToRead > 0) |
||
| 343 | { |
||
| 344 | data = serialPort1.ReadChar(); |
||
| 345 | //Console.Write((char)data); |
||
| 346 | switch (receiver_status) |
||
| 347 | { |
||
| 348 | case 0: |
||
| 349 | if (data.CompareTo('#') == 0) |
||
| 350 | { |
||
| 351 | command = "#"; |
||
| 352 | receiver_status++; |
||
| 353 | } |
||
| 354 | break; |
||
| 355 | case 1: |
||
| 356 | message_adr = (char)data; |
||
| 357 | command = command + (char)data; |
||
| 358 | receiver_status++; |
||
| 359 | break; |
||
| 360 | case 2: |
||
| 361 | message_cmd = (char)data; |
||
| 362 | command = command + (char)data; |
||
| 363 | receiver_status++; |
||
| 364 | break; |
||
| 365 | case 3: |
||
| 366 | if ((data.CompareTo(13) != 0) && (data.CompareTo(10) != 0)) |
||
| 367 | { |
||
| 368 | command = command + (char)data; |
||
| 369 | if (command.Length > 350) |
||
| 370 | { |
||
| 371 | command = ""; |
||
| 372 | serialPort1.DiscardInBuffer(); |
||
| 373 | } |
||
| 374 | } |
||
| 375 | else |
||
| 376 | { |
||
| 377 | if (messagevalid == true) |
||
| 378 | { |
||
| 379 | messageoverrun = true; |
||
| 380 | } |
||
| 381 | else |
||
| 382 | { |
||
| 383 | botmessage = DecodeMessage(command); |
||
| 384 | if (botmessage == "") |
||
| 385 | { |
||
| 386 | messageerror = true; |
||
| 387 | } |
||
| 388 | else |
||
| 389 | { |
||
| 390 | messagevalid = true; |
||
| 391 | } |
||
| 392 | } |
||
| 393 | BotEvent(sender, ev); |
||
| 394 | receiver_status = 0; |
||
| 395 | command = ""; |
||
| 396 | } |
||
| 397 | break; |
||
| 398 | } |
||
| 399 | |||
| 400 | } |
||
| 401 | } |
||
| 402 | } |
||
| 403 | } |