feat: 添加16个遥控通道

LoraGamepad/Models/SerialBase.cs

@@ -0,0 +1,347 @@
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+using System.Text;
+
+
+namespace Autolabor
+{
+
+[StructLayout(LayoutKind.Sequential)]
+    public struct SerialDevice
+    {
+        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)] 
+        public string port;
+        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)] 
+        public string description;
+        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)] 
+        public string hardware_id;
+        public UInt16 vid;
+        public UInt16 pid;
+        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)] 
+        public string serial_num;
+        
+    }
+    public class SerialBaseException : Exception
+    {
+        public SerialBaseException(string message)
+        :base(message)
+        {
+          
+        }
+    }
+    
+    public class SerialBase
+    {
+        public static IntPtr DllImportResolver(string libraryName, Assembly assembly, DllImportSearchPath? searchPath)
+        {
+            
+            if (libraryName == "serial_base")
+            {
+
+                if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
+                {
+                    if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
+                    {
+                        
+                        return NativeLibrary.Load("libserial_base-mac-arm64.dylib", assembly, searchPath);
+
+                    }
+                    else
+                    {
+                        return NativeLibrary.Load("libserial_base-mac.dylib", assembly, searchPath);
+                    }
+
+                }
+                else if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
+                    {
+                        return NativeLibrary.Load("libserial_base-linux-arm64.so", assembly, searchPath);
+                    }
+                    else
+                    {
+                        return NativeLibrary.Load("libserial_base-linux.so", assembly, searchPath);
+                    }
+
+                }
+                else if (System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+                {
+                    if (System.Runtime.InteropServices.RuntimeInformation.ProcessArchitecture == Architecture.Arm64)
+                    {
+                        return IntPtr.Zero;
+                    }
+                    else
+                    {
+                        return NativeLibrary.Load("serial_base-win.dll", assembly, searchPath);
+                    }
+
+                }
+
+            }
+            return IntPtr.Zero;
+        }
+
+        [DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_enumerate_ports(IntPtr excep,IntPtr[] portlist ,ref int portsize);
+        
+        
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_create(IntPtr excep,ref IntPtr serial,string port, int baudrate, int timeout);
+        
+        [DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_open(IntPtr excep,IntPtr serial);
+        
+        [DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_close(IntPtr excep,IntPtr serial);
+
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_is_open(IntPtr excep,IntPtr serial,ref bool opened);
+
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_write(IntPtr excep,IntPtr serial, IntPtr data,int size);
+
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        
+        private static extern bool al_serial_available(IntPtr excep,IntPtr serial, ref int avaiable_size);
+        
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_read(IntPtr excep,IntPtr serial, int buffer_size,IntPtr data,ref int recev_size);
+        
+        [DllImport("serial_base",CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_readline(IntPtr excep,IntPtr serial, StringBuilder data,ref int recev_size);
+        
+        [DllImport("serial_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
+        private static extern bool al_serial_delete(IntPtr excep,ref IntPtr serial);
+
+        
+        private IntPtr _serialPtr;
+        
+        public string Port=string.Empty;
+
+        public int Baudrate = 0;
+
+        public int ReadTimeout = 80;
+        
+        
+        private const int PortInfoBufferSize = 32;
+        private const int ReadBufferSize = 1024;
+        private const int WriteBufferSize = 1024;
+        private const int ExceptionBufferSize = 256; //固定尺寸，不能修改
+        
+        private IntPtr _readBuffer;
+        private IntPtr _writeBuffer;
+        private IntPtr _exceptionBuffer;
+        
+        private static bool dynamicLibLoaded = false;
+        
+        public SerialBase()
+        {
+            _serialPtr=IntPtr.Zero;
+            _readBuffer = Marshal.AllocHGlobal(ReadBufferSize);
+            _writeBuffer = Marshal.AllocHGlobal(WriteBufferSize);
+            _exceptionBuffer = Marshal.AllocHGlobal(ExceptionBufferSize);
+
+            if (dynamicLibLoaded == false)
+            {
+                NativeLibrary.SetDllImportResolver(Assembly.GetExecutingAssembly(), SerialBase.DllImportResolver);
+
+                dynamicLibLoaded = true;
+                
+            }
+        }
+
+        public static  List<SerialDevice>  EnumeratePorts()
+        {
+            if (dynamicLibLoaded == false)
+            {
+                NativeLibrary.SetDllImportResolver(Assembly.GetExecutingAssembly(), SerialBase.DllImportResolver);
+                
+                dynamicLibLoaded = true;
+            }
+            
+            
+            IntPtr[] portinfoPtrs = new IntPtr[PortInfoBufferSize];
+            
+            IntPtr _tmpExceptionBuffer = Marshal.AllocHGlobal(ExceptionBufferSize);
+            
+            List<SerialDevice> result = new List<SerialDevice>();
+
+            int copySize = 0;
+            
+            for (int i = 0; i < PortInfoBufferSize; i++)
+            {
+                portinfoPtrs[i] = Marshal.AllocHGlobal(Marshal.SizeOf<SerialDevice>());
+
+            }
+            
+            
+            bool success = al_serial_enumerate_ports(_tmpExceptionBuffer, portinfoPtrs, ref copySize);
+            
+            if (success == false)
+            {
+                for (int i = 0; i < PortInfoBufferSize; i++)
+                {
+                    Marshal.FreeHGlobal(portinfoPtrs[i]);
+                }
+                
+                throw new SerialBaseException(_tmpExceptionBuffer.ToString());
+            }
+
+            for (int i = 0; i < copySize; i++)
+            {
+
+                result.Add(Marshal.PtrToStructure<SerialDevice>(portinfoPtrs[i]));
+                
+            }
+            
+            for (int i = 0; i < PortInfoBufferSize; i++)
+            {
+                Marshal.FreeHGlobal(portinfoPtrs[i]);
+            }
+            
+            Marshal.FreeHGlobal(_tmpExceptionBuffer);
+            return result;
+        }
+
+        
+        public void Open()
+        {
+      
+            if (_serialPtr == IntPtr.Zero)
+            {
+
+                if (al_serial_create(_exceptionBuffer, ref _serialPtr, Port, Baudrate, ReadTimeout) == false) {
+
+                    throw new SerialBaseException(_exceptionBuffer.ToString());
+                  
+                }
+            }
+            else
+            {
+                if (al_serial_open(_exceptionBuffer,_serialPtr) == false)
+                {
+                    throw new SerialBaseException(_exceptionBuffer.ToString());
+                }
+                
+            }
+            
+        }
+        
+        public void Close()
+        {
+            
+
+            if (_serialPtr == IntPtr.Zero)
+            {
+                return;
+            }
+            else
+            {
+             
+                if (al_serial_close(_exceptionBuffer,_serialPtr) == false)
+                {
+                    throw new SerialBaseException(_exceptionBuffer.ToString());
+                }
+                
+                
+            }
+            
+        }
+        
+
+        public bool IsOpen()
+        {
+            
+            
+            if (_serialPtr == IntPtr.Zero)
+            {
+                return false;
+            }
+            
+            bool opened = false;
+            
+
+            if (al_serial_is_open(_exceptionBuffer, _serialPtr,ref opened) == false)
+            {
+                throw new SerialBaseException(_exceptionBuffer.ToString());
+            }
+
+            return opened;
+            
+        }
+
+        public void Write(byte[] data)
+        {
+
+            if (_serialPtr == IntPtr.Zero)
+            {
+                throw new SerialBaseException("Serial is not open.");  
+            }
+
+            int sendCount = 0;
+
+            // 分批发送数据
+            while (sendCount < data.Length) {
+
+                int needSend = (data.Length - sendCount) >= WriteBufferSize
+                    ? WriteBufferSize
+                    : (data.Length - sendCount);
+                
+                Marshal.Copy(data,sendCount,_writeBuffer, needSend);
+
+                if (al_serial_write(_exceptionBuffer, _serialPtr, _writeBuffer,needSend) == false)
+                {
+                    
+                    throw new SerialBaseException(_exceptionBuffer.ToString());
+                }
+                
+                sendCount += needSend;
+              
+            }
+            
+        }
+        
+        public byte[] Read()
+        {
+          
+            
+            if (_serialPtr == IntPtr.Zero)
+            {
+                throw new SerialBaseException("Serial is not open.");  
+            }
+            
+         
+            int recvSize = 0;
+            
+            if (al_serial_read(_exceptionBuffer, _serialPtr,ReadBufferSize, _readBuffer,ref recvSize) == false)
+            {
+                throw new SerialBaseException(_exceptionBuffer.ToString());
+            }
+
+         
+            Byte[] recvData = new byte[recvSize];
+            
+            Marshal.Copy(_readBuffer, recvData, 0, recvSize);
+
+            return recvData;
+
+        }
+        
+        
+        
+        
+
+        ~SerialBase() {
+            al_serial_delete(_exceptionBuffer, ref _serialPtr);
+            _serialPtr=IntPtr.Zero;
+            Marshal.FreeHGlobal(_readBuffer);
+            Marshal.FreeHGlobal(_writeBuffer);
+            Marshal.FreeHGlobal(_exceptionBuffer);
+
+        }
+    }
+}

LoraGamepad/ViewModels/MainWindowViewModel.cs

@@ -1,9 +1,7 @@
 namespace LoraGamepad.ViewModels
 {
-    
     public class MainWindowViewModel : ViewModelBase
     {
-
         public TProViewModel TProViewModels { get; }
 
         public MainWindowViewModel()

LoraGamepad/Views/TProView.axaml

@@ -2,16 +2,41 @@
              xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-             mc:Ignorable="d" d:DesignWidth="800" d:DesignHeight="450"
+             mc:Ignorable="d" d:DesignWidth="600" d:DesignHeight="400"
              x:Class="LoraGamepad.Views.TProView">
-    <DockPanel>
+    <Grid RowDefinitions="60,*,40,2*">
-        <Button DockPanel.Dock="Bottom"
+        <Grid Grid.Row="0" Background="Blue" ColumnDefinitions="*,3*,*">
-                HorizontalAlignment="Center">
+            <Slider Grid.Column="0"/>
-            Add an item
+            <Button Grid.Column="2" Width="100" Height="40"/>
-        </Button>
+        </Grid>
-        <StackPanel>
+        <Grid Grid.Row="1" Background="Gray" ColumnDefinitions="2*,*,4*,*,2*">
-            <CheckBox Margin="4">Walk the dog</CheckBox>
+            <Button Grid.Column="0" Width="80" Height="60"/>
-            <CheckBox Margin="4">Buy some milk</CheckBox>
+            <Slider Grid.Column="1" Orientation="Vertical"/>
+            <Slider Grid.Column="3" Orientation="Vertical"/>
+            <Button Grid.Column="4" Width="80" Height="60"/>
+        </Grid>
+        <Grid Grid.Row="2" Background="Yellow">
+            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
+                <Button Width="40" Margin="10"/>
+                <Button Width="40" Margin="10"/>
+                <Button Width="40" Margin="10"/>
+                <Button Width="40" Margin="10"/>
+                <Button Width="40" Margin="10"/>
+                <Button Width="40" Margin="10"/>
             </StackPanel>
-    </DockPanel>
+        </Grid>    
+        <Grid Grid.Row="3" Background="Green" ColumnDefinitions="*,2*,*">
+            <Grid Grid.Column="0">
+                <Slider VerticalAlignment="Center"/>
+                <Slider Orientation="Vertical" HorizontalAlignment="Center"/>
+            </Grid>
+            <Grid Grid.Column="1" Background="Purple">
+                <TextBox Text="Hello T-Pro!"/>
+            </Grid>
+            <Grid Grid.Column="2">
+                <Slider VerticalAlignment="Center"/>
+                <Slider Orientation="Vertical" HorizontalAlignment="Center"/>
+            </Grid>
+        </Grid>
+    </Grid>
 </UserControl>