feat: 添加16个遥控通道
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4fd583d9f9
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@ -0,0 +1,347 @@
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.CompilerServices;
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using System.Runtime.InteropServices;
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using System.Text;
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namespace Autolabor
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{
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[StructLayout(LayoutKind.Sequential)]
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public struct SerialDevice
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{
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
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public string port;
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
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public string description;
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
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public string hardware_id;
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public UInt16 vid;
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public UInt16 pid;
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
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public string serial_num;
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}
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public class SerialBaseException : Exception
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{
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public SerialBaseException(string message)
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:base(message)
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{
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}
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}
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public class SerialBase
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{
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public static IntPtr DllImportResolver(string libraryName, Assembly assembly, DllImportSearchPath? searchPath)
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{
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if (libraryName == "serial_base")
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{
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if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
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{
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if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
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{
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return NativeLibrary.Load("libserial_base-mac-arm64.dylib", assembly, searchPath);
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}
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else
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{
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return NativeLibrary.Load("libserial_base-mac.dylib", assembly, searchPath);
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}
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}
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else if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
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{
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if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
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{
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return NativeLibrary.Load("libserial_base-linux-arm64.so", assembly, searchPath);
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}
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else
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{
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return NativeLibrary.Load("libserial_base-linux.so", assembly, searchPath);
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}
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}
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else if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
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{
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if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
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{
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return IntPtr.Zero;
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}
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else
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{
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return NativeLibrary.Load("serial_base-win.dll", assembly, searchPath);
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}
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}
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}
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return IntPtr.Zero;
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}
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[DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_enumerate_ports(IntPtr excep,IntPtr[] portlist ,ref int portsize);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_create(IntPtr excep,ref IntPtr serial,string port, int baudrate, int timeout);
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[DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_open(IntPtr excep,IntPtr serial);
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[DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_close(IntPtr excep,IntPtr serial);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_is_open(IntPtr excep,IntPtr serial,ref bool opened);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_write(IntPtr excep,IntPtr serial, IntPtr data,int size);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_available(IntPtr excep,IntPtr serial, ref int avaiable_size);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_read(IntPtr excep,IntPtr serial, int buffer_size,IntPtr data,ref int recev_size);
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[DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_readline(IntPtr excep,IntPtr serial, StringBuilder data,ref int recev_size);
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[DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern bool al_serial_delete(IntPtr excep,ref IntPtr serial);
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private IntPtr _serialPtr;
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public string Port=string.Empty;
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public int Baudrate = 0;
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public int ReadTimeout = 80;
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private const int PortInfoBufferSize = 32;
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private const int ReadBufferSize = 1024;
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private const int WriteBufferSize = 1024;
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private const int ExceptionBufferSize = 256; //固定尺寸，不能修改
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private IntPtr _readBuffer;
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private IntPtr _writeBuffer;
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private IntPtr _exceptionBuffer;
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private static bool dynamicLibLoaded = false;
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public SerialBase()
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{
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_serialPtr=IntPtr.Zero;
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_readBuffer = Marshal.AllocHGlobal(ReadBufferSize);
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_writeBuffer = Marshal.AllocHGlobal(WriteBufferSize);
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_exceptionBuffer = Marshal.AllocHGlobal(ExceptionBufferSize);
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if (dynamicLibLoaded == false)
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{
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NativeLibrary.SetDllImportResolver(Assembly.GetExecutingAssembly(), SerialBase.DllImportResolver);
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dynamicLibLoaded = true;
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}
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}
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public static List<SerialDevice> EnumeratePorts()
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{
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if (dynamicLibLoaded == false)
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{
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NativeLibrary.SetDllImportResolver(Assembly.GetExecutingAssembly(), SerialBase.DllImportResolver);
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dynamicLibLoaded = true;
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}
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IntPtr[] portinfoPtrs = new IntPtr[PortInfoBufferSize];
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IntPtr _tmpExceptionBuffer = Marshal.AllocHGlobal(ExceptionBufferSize);
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List<SerialDevice> result = new List<SerialDevice>();
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int copySize = 0;
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for (int i = 0; i < PortInfoBufferSize; i++)
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{
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portinfoPtrs[i] = Marshal.AllocHGlobal(Marshal.SizeOf<SerialDevice>());
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}
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bool success = al_serial_enumerate_ports(_tmpExceptionBuffer, portinfoPtrs, ref copySize);
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if (success == false)
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{
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for (int i = 0; i < PortInfoBufferSize; i++)
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{
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Marshal.FreeHGlobal(portinfoPtrs[i]);
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}
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throw new SerialBaseException(_tmpExceptionBuffer.ToString());
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}
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for (int i = 0; i < copySize; i++)
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{
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result.Add(Marshal.PtrToStructure<SerialDevice>(portinfoPtrs[i]));
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}
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for (int i = 0; i < PortInfoBufferSize; i++)
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{
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Marshal.FreeHGlobal(portinfoPtrs[i]);
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}
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Marshal.FreeHGlobal(_tmpExceptionBuffer);
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return result;
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}
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public void Open()
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{
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if (_serialPtr == IntPtr.Zero)
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{
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if (al_serial_create(_exceptionBuffer, ref _serialPtr, Port, Baudrate, ReadTimeout) == false) {
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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}
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else
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{
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if (al_serial_open(_exceptionBuffer,_serialPtr) == false)
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{
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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}
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}
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public void Close()
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{
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if (_serialPtr == IntPtr.Zero)
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{
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return;
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}
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else
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{
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if (al_serial_close(_exceptionBuffer,_serialPtr) == false)
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{
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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}
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}
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public bool IsOpen()
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{
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if (_serialPtr == IntPtr.Zero)
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{
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return false;
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}
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bool opened = false;
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if (al_serial_is_open(_exceptionBuffer, _serialPtr,ref opened) == false)
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{
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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return opened;
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}
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public void Write(byte[] data)
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{
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if (_serialPtr == IntPtr.Zero)
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{
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throw new SerialBaseException("Serial is not open.");
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}
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int sendCount = 0;
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// 分批发送数据
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while (sendCount < data.Length) {
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int needSend = (data.Length - sendCount) >= WriteBufferSize
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? WriteBufferSize
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: (data.Length - sendCount);
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Marshal.Copy(data,sendCount,_writeBuffer, needSend);
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if (al_serial_write(_exceptionBuffer, _serialPtr, _writeBuffer,needSend) == false)
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{
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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sendCount += needSend;
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}
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}
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public byte[] Read()
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{
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if (_serialPtr == IntPtr.Zero)
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{
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throw new SerialBaseException("Serial is not open.");
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}
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int recvSize = 0;
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if (al_serial_read(_exceptionBuffer, _serialPtr,ReadBufferSize, _readBuffer,ref recvSize) == false)
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{
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throw new SerialBaseException(_exceptionBuffer.ToString());
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}
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Byte[] recvData = new byte[recvSize];
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Marshal.Copy(_readBuffer, recvData, 0, recvSize);
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return recvData;
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}
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~SerialBase() {
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al_serial_delete(_exceptionBuffer, ref _serialPtr);
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_serialPtr=IntPtr.Zero;
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Marshal.FreeHGlobal(_readBuffer);
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Marshal.FreeHGlobal(_writeBuffer);
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Marshal.FreeHGlobal(_exceptionBuffer);
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}
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}
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}
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@ -1,9 +1,7 @@
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namespace LoraGamepad.ViewModels
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{
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public class MainWindowViewModel : ViewModelBase
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{
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public TProViewModel TProViewModels { get; }
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public MainWindowViewModel()
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@ -2,16 +2,41 @@
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xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
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xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
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xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
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mc:Ignorable="d" d:DesignWidth="800" d:DesignHeight="450"
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mc:Ignorable="d" d:DesignWidth="600" d:DesignHeight="400"
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x:Class="LoraGamepad.Views.TProView">
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<DockPanel>
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<Button DockPanel.Dock="Bottom"
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HorizontalAlignment="Center">
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Add an item
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</Button>
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<StackPanel>
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<CheckBox Margin="4">Walk the dog</CheckBox>
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<CheckBox Margin="4">Buy some milk</CheckBox>
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</StackPanel>
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</DockPanel>
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<Grid RowDefinitions="60,*,40,2*">
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<Grid Grid.Row="0" Background="Blue" ColumnDefinitions="*,3*,*">
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<Slider Grid.Column="0"/>
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<Button Grid.Column="2" Width="100" Height="40"/>
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</Grid>
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<Grid Grid.Row="1" Background="Gray" ColumnDefinitions="2*,*,4*,*,2*">
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<Button Grid.Column="0" Width="80" Height="60"/>
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<Slider Grid.Column="1" Orientation="Vertical"/>
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<Slider Grid.Column="3" Orientation="Vertical"/>
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<Button Grid.Column="4" Width="80" Height="60"/>
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</Grid>
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<Grid Grid.Row="2" Background="Yellow">
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<StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
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<Button Width="40" Margin="10"/>
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<Button Width="40" Margin="10"/>
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<Button Width="40" Margin="10"/>
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<Button Width="40" Margin="10"/>
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<Button Width="40" Margin="10"/>
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<Button Width="40" Margin="10"/>
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</StackPanel>
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</Grid>
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<Grid Grid.Row="3" Background="Green" ColumnDefinitions="*,2*,*">
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<Grid Grid.Column="0">
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<Slider VerticalAlignment="Center"/>
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<Slider Orientation="Vertical" HorizontalAlignment="Center"/>
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</Grid>
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<Grid Grid.Column="1" Background="Purple">
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<TextBox Text="Hello T-Pro!"/>
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</Grid>
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<Grid Grid.Column="2">
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<Slider VerticalAlignment="Center"/>
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<Slider Orientation="Vertical" HorizontalAlignment="Center"/>
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</Grid>
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</Grid>
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</Grid>
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</UserControl>
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