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 UsbLibrary;
using MotorControl;
using System.Threading;
namespace MCtl
{
public partial class Form1 : Form
{
private byte OfflineCnt;
public byte OnlineBoard;
private UsbHidPort usb;
public ushort usOnboardID = 0xffff;
private ushort usRxCnt;
private ushort usTotalLength = 5;
private bool bCheckID = true;
private MotorControl.MSG stcMSG;
public byte byteID;
private byte[] RxBuffer = new byte[0x3e8];
private delegate void DecodeDataHandler(byte[] byteTemp, ushort usLength);
public Form1()
{
InitializeComponent();
this.usb = new UsbHidPort();
this.usb.ProductId = 0x100;
this.usb.VendorId = 0x1920;
this.usb.OnSpecifiedDeviceArrived += new EventHandler(this.usb_OnSpecifiedDeviceArrived);
this.usb.OnSpecifiedDeviceRemoved += new EventHandler(this.usb_OnSpecifiedDeviceRemoved);
this.usb.OnDeviceArrived += new EventHandler(this.usb_OnDeviceArrived);
this.usb.OnDeviceRemoved += new EventHandler(this.usb_OnDeviceRemoved);
this.usb.OnDataRecieved += new DataRecievedEventHandler(this.usb_OnDataRecieved);
}
private void Form1_Load(object sender, EventArgs e)
{
}
private string GetLocalText(string ChString, string EnString)
{
if (Thread.CurrentThread.CurrentUICulture.Name == "zh-CN") return ChString;
return EnString;
}
#region USB
private void MyLog(byte[] bytes)
{
//if (bytes[1] == 0) return;
Console.WriteLine(BitConverter.ToString(bytes));
}
public void Send(byte cmd, byte ch, int data)
{
byte[] byteSend = new byte[5];
short num = (short)data;
byteSend[0] = 0xff;
byteSend[1] = cmd;
byteSend[2] = ch;
byteSend[3] = (byte)(num & 0xff);
byteSend[4] = (byte)(num >> 8);
try
{
this.SendUSBMsg(3, byteSend, (byte)byteSend.Length);
MyLog(byteSend);
// if (this.spSerialPort.IsOpen) this.spSerialPort.Write(byteSend, 0, 5);
if (cmd != 0)
{
if (this.OnlineBoard == 0)
this.Status1.Text = this.GetLocalText("端口未打开！待发送数据：", "Port not open, datas to send are:") + byteSend[0].ToString("x") + " " + byteSend[1].ToString("x") + " " + byteSend[2].ToString("x") + " " + byteSend[3].ToString("x") + " " + byteSend[4].ToString("x") + " ";
else
this.Status1.Text = this.GetLocalText("已发送：", "Send:") + byteSend[0].ToString("x") + " " + byteSend[1].ToString("x") + " " + byteSend[2].ToString("x") + " " + byteSend[3].ToString("x") + " " + byteSend[4].ToString("x") + " ";
}
}
catch (Exception)
{
}
}
public void SendMessage(byte cmd, byte ch, int data)
{
this.stcMSG.cmd = ((CMD)cmd) | ((CMD)(this.byteID << 4));
this.stcMSG.ch = ch;
this.stcMSG.data = data;
this.Send((byte)this.stcMSG.cmd, this.stcMSG.ch, this.stcMSG.data);
}
private sbyte SendUSBMsg(byte ucType, byte[] byteSend, byte ucLength)
{
try
{
if (this.usb.SpecifiedDevice != null)
{
byte[] array = new byte[0x43];
array[1] = ucLength;
array[2] = ucType;
byteSend.CopyTo(array, 3);
this.usb.SpecifiedDevice.SendData(array);
}
}
catch (Exception exception)
{
MessageBox.Show(exception.ToString());
}
return 0;
}
private void usb_OnDataRecieved(object sender, DataRecievedEventArgs args)
{
if (base.InvokeRequired)
{
try
{
base.Invoke(new DataRecievedEventHandler(this.usb_OnDataRecieved), new object[] { sender, args });
}
catch (Exception)
{
}
}
else
{
byte usLength = args.data[1];
switch (args.data[2])
{
case 0:
return;
case 1:
for (int i = 0; i < usLength; i++)
{
args.data[i] = args.data[i + 3];
}
this.DecodeData(args.data, usLength);
return;
default:
return;
}
}
}
private void usb_OnDeviceArrived(object sender, EventArgs e)
{
this.Status1.Text = "Find USB Device!";
}
private void usb_OnDeviceRemoved(object sender, EventArgs e)
{
this.Status1.Text = "USB Device Removed!";
}
private void usb_OnSpecifiedDeviceArrived(object sender, EventArgs e)
{
this.Status1.Text = "My Device Connected!";
this.OnlineBoard = (byte)(this.OnlineBoard | 2);
//this.SetBaudrate(this.spSerialPort.BaudRate);
}
private void usb_OnSpecifiedDeviceRemoved(object sender, EventArgs e)
{
this.Status1.Text = "My Device DisConnected!";
this.OnlineBoard = (byte)(this.OnlineBoard & 0xfd);
}
private bool CheckHead(byte[] byteData, byte[] byteHeadTemp, int byteHeadLength)
{
for (byte i = 0; i < byteHeadLength; i = (byte)(i + 1))
{
if (byteData[i] != byteHeadTemp[i]) return false;
}
return true;
}
private void ByteCopy(byte[] byteFrom, byte[] byteTo, ushort usFromIndex, ushort usToIndex, ushort usLength)
{
for (int i = 0; i < usLength; i++)
{
byteTo[usToIndex + i] = byteFrom[usFromIndex + i];
}
}
public void DecodeData(byte[] byteTemp, ushort usLength)
{
if (base.InvokeRequired)
{
try
{
base.Invoke(new DecodeDataHandler(this.DecodeData), new object[] { byteTemp, usLength });
}
catch (Exception)
{
}
}
else
{
this.ByteCopy(byteTemp, this.RxBuffer, 0, this.usRxCnt, usLength);
this.usRxCnt = (ushort)(this.usRxCnt + usLength);
while (this.usRxCnt >= this.usTotalLength)
{
if (!this.CheckHead(this.RxBuffer, new byte[] { 0xff, 240 }, 2))
{
this.ByteCopy(this.RxBuffer, this.RxBuffer, 1, 0, this.usRxCnt);
this.usRxCnt = (ushort)(this.usRxCnt - 1);
}
else
{
// if (this.formConfig != null) this.formConfig.DecodeData(this.RxBuffer);
if (this.RxBuffer[1] == 240)
{
short num = BitConverter.ToInt16(this.RxBuffer, 3);
if (num == 0 | (num & 0xff) == 0xff) this.usOnboardID = 0;
}
this.ByteCopy(this.RxBuffer, this.RxBuffer, this.usTotalLength, 0, (ushort)(this.usRxCnt - this.usTotalLength));
this.usRxCnt = (ushort)(this.usRxCnt - this.usTotalLength);
}
}
}
}
protected override void OnHandleCreated(EventArgs e)
{
try
{
base.OnHandleCreated(e);
this.usb.RegisterHandle(base.Handle);
}
catch (Exception)
{
}
}
protected override void WndProc(ref Message m)
{
try
{
this.usb.ParseMessages(ref m);
base.WndProc(ref m);
}
catch (Exception)
{
}
}
#endregion
private void button1_Click(object sender, EventArgs e)
{
var rnd = new Random(Environment.TickCount);
var v = rnd.Next(500, 2500);
SendMessage(2, 0, v);
Console.WriteLine("转:" + v);
}
private void timer1_Tick(object sender, EventArgs e)
{
if (this.OnlineBoard == 0)
{
this.textBoxBoard.Text = this.GetLocalText("离线", "Offline");
this.textBoxBoard.BackColor = Color.Yellow;
}
else if (this.bCheckID)
{
this.bCheckID = false;
this.usOnboardID = 0xffff;
this.Send(0, 0x12, 0);
}
else
{
this.bCheckID = true;
if (this.usOnboardID == 0xffff)
this.OfflineCnt = (byte)(this.OfflineCnt + 1);
else
this.OfflineCnt = 0;
if (this.usOnboardID == 0xffff)
this.textBoxBoard.Text = this.GetLocalText("离线", "Offline");
else
this.textBoxBoard.Text = this.GetLocalText("在线", "Online");
if (this.textBoxBoard.Text == this.GetLocalText("离线", "Offline"))
this.textBoxBoard.BackColor = Color.Yellow;
else if ((this.usOnboardID & ((int)1) << this.byteID) == 0) this.textBoxBoard.BackColor = Color.Lime;
}
}
}
}
