edit proshivka

2025-04-30 12:16:18 +03:00
parent 1f97891439
commit 27a120fc7f
12 changed files with 707 additions and 4 deletions
--- a/DroneClientCpp/joypad.h
+++ b/DroneClientCpp/joypad.h
@ -0,0 +1,137 @@
+// joypad.h  ───────────────────────────────────────────────────────────
+#pragma once
+#include <iostream>
+#include <iomanip>
+#include <Windows.h>            //  <- для AllocConsole
+#using <System.dll>
+
+using namespace System;
+using namespace System::IO::Ports;
+using namespace System::Threading;
+
+/*---------------------------------------------------------------------
+  Joypad  (i-Bus → COM-порт)
+---------------------------------------------------------------------*/
+public ref class Joypad
+{
+public:
+    /* событие – _не подписывайтесь_  ➜  ничего в форме не вызовется */
+    delegate void TickHandler(array<UInt16>^ ch);
+    event TickHandler^ TickEvent;
+
+    Joypad()
+    {
+        // -------- открываем консоль один раз ----------------------
+        static bool consoleReady = false;
+        if (!consoleReady && ::AllocConsole())
+        {
+            FILE* fp;
+            freopen_s(&fp, "CONOUT$", "w", stdout);
+            std::cout << "   CH1   CH2   CH3   CH4   CH5   CH6\n";
+            consoleReady = true;
+        }
+        // ----------------------------------------------------------
+
+        _sp = gcnew SerialPort();
+        _sp->ReadTimeout = 200;
+        _sp->ReadBufferSize = 256;
+    }
+
+    /* ---------- запуск ------------------------------------------- */
+    bool Start(String^ port, int baud )
+    {
+        if (_run) return true;
+        try
+        {
+            _sp->PortName = port;
+            _sp->BaudRate = baud;
+            _sp->Parity = Parity::None;
+            _sp->DataBits = 8;
+            _sp->StopBits = StopBits::One;
+            _sp->Open();
+        }
+        catch (Exception^ ex)
+        {
+            System::Diagnostics::Debug::WriteLine("Serial error: " + ex->Message);
+            return false;
+        }
+
+        _run = true;
+        _thr = gcnew Thread(gcnew ThreadStart(this, &Joypad::RxLoop));
+        _thr->IsBackground = true;
+        _thr->Start();
+        return true;
+    }
+
+    /* ---------- остановка ---------------------------------------- */
+    void Stop()
+    {
+        _run = false;
+        if (_thr && _thr->IsAlive) _thr->Join();
+        if (_sp->IsOpen) _sp->Close();
+    }
+
+    property array<UInt16>^ Channels { array<UInt16>^ get() { return _ch; } }
+
+private:
+    // ----------- поток приёма i-Bus ---------------------------------
+    void RxLoop()
+    {
+        array<Byte>^ buf = gcnew array<Byte>(64);
+        array<Byte>^ pkt = gcnew array<Byte>(32);
+
+        while (_run)
+        {
+            int read = 0;
+            try { read = _sp->Read(buf, 0, buf->Length); }
+            catch (TimeoutException^) { continue; }
+
+            for (int i = 0; i < read; ++i)
+            {
+                _fifo[_head++] = buf[i];
+                if (_head >= _fifo->Length) _head = 0;
+
+                if (_fifo[_head] == 0x20 && _fifo[(_head + 1) & 0x7F] == 0x40)
+                {
+                    for (int j = 0; j < 32; ++j)
+                        pkt[j] = _fifo[(_head + j) & 0x7F];
+
+                    if (!CheckPkt(pkt)) continue;
+                    ParseChannels(pkt);
+
+                    // -------- 1) печать в консоль ----------------
+                    std::cout << '\r';
+                    for (int k = 0; k < 6; ++k)
+                        std::cout << std::setw(6) << _ch[k] << ' ';
+                    std::cout << std::flush;
+                    // ---------------------------------------------
+
+                    // -------- 2) необязательный вызов события ----
+                        TickEvent(_ch);            // raise
+                }
+            }
+        }
+    }
+
+    bool CheckPkt(array<Byte>^ p)
+    {
+        UInt16 sum = 0; for (int i = 0; i < 30; ++i) sum += p[i];
+        sum = 0xFFFF - sum;
+        return sum == (p[30] | p[31] << 8);
+    }
+
+    void ParseChannels(array<Byte>^ p)
+    {
+        for (int i = 0; i < 14; ++i)
+            _ch[i] = (UInt16)(p[2 + i * 2] | p[3 + i * 2] << 8);
+    }
+
+    /* ---------- поля --------------------------------------------- */
+    SerialPort^ _sp;
+    Thread^ _thr;
+    bool        _run = false;
+
+    array<UInt16>^ _ch = gcnew array<UInt16>(14);
+    array<Byte>^ _fifo = gcnew array<Byte>(128);
+    int _head = 0;
+};