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Copy pathArduinoReader.cpp
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281 lines (264 loc) · 10.1 KB
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#include "ArduinoReader.h"
#include <thread>
#include <String>
#include <iostream>
#define DEBUGSTREAM \
if (debugDisabled) {} \
else std::cout
#define RFERROR \
else { \
onFatalError("ReadFile", GetLastError()); \
return false; \
}
void ArduinoReader::onFatalError(std::string function, unsigned long error) {
if (error == 995) { //This is expected, as we call CancelSynchronousIo
std::cout << "Closing, aborted active I/O\n";
} else {
std::cout << function << " failed with error: ";
char buffer[255];
FormatMessageA(FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS | FORMAT_MESSAGE_ARGUMENT_ARRAY, NULL, error, 0, (LPSTR)&buffer, 255, NULL);
std::cout << buffer;
}
onFatalError();
}
void ArduinoReader::onFatalError() {
if (!shouldStop) { //if the program is already stopping, window will likely be invalid (fatal error on stop is pretty likely since CancelSynchronousIo triggers one)
std::cout << "Closing due to fatal error" << std::endl;
wxCloseEvent* event = new wxCloseEvent(wxEVT_CLOSE_WINDOW, WINDOW_ID);
event->SetEventObject(window);
window->GetEventHandler()->QueueEvent(event);
}
}
unsigned int ArduinoReader::parseInt(unsigned char* buffer) {
return ((unsigned int)buffer[0] << 24) | ((unsigned int)buffer[1] << 16) | ((unsigned int)buffer[2] << 8) | buffer[3];
}
ArduinoReader::ArduinoReader(mainWindow* window, threadSafeScreen* tss, bool resetFlag, bool debug, std::string comPort, long baud) : window{ window }, tss{ tss }, resetFlag{ resetFlag }, debugDisabled{ !debug }, comPort{ comPort }, baud{ baud } {
readerThread = std::thread(&ArduinoReader::startReal, this);
}
ArduinoReader::~ArduinoReader() {
//join owned thread
shouldStop = true; //setting a variable across threads would usually be risky, but that's the point of std::atomic
CancelSynchronousIo(readerThread.native_handle()); //without this, the code could get stuck indefinitely waiting for serial data
readerThread.join();
//close handle
CloseHandle(serialHandle);
}
bool ArduinoReader::waitForArduinoStart() {
constexpr char startMessage[] = "VS START";
char buffer = '\0';
int index = 0;
unsigned long bytesRead = 0;
if (!WriteFile(serialHandle, startMessage, 8, &bytesRead, NULL)) { //send VS START to arduino; arduino could use this to know when to send the image when not using --reset
onFatalError("WriteFile", GetLastError());
return false;
}
while (!shouldStop) {
if (ReadFile(serialHandle, &buffer, 1, &bytesRead, NULL)) {
if (buffer == startMessage[index]) {
index++;
if (index == 8) {
std::cout << "VS START Received\n";
return true;
}
} else {
index = 0;
}
} RFERROR
}
return false;
}
bool ArduinoReader::readHeader() {
unsigned char buffer[8];
unsigned long bytesRead = 0;
if (ReadFile(serialHandle, &buffer, 8, &bytesRead, NULL)) {
xRes = parseInt(buffer);
yRes = parseInt(buffer + 4);
std::cout << "X resolution: " << xRes << "\nY resolution: " << yRes << std::endl;
tss->setImage(wxImage{ xRes,yRes,true });
window->updateNextFrame = true;
} RFERROR
return true;
}
bool ArduinoReader::mainLoop() {
//get packet type
char buffer = 0;
unsigned long bytesRead = 0;
if (ReadFile(serialHandle, &buffer, 1, &bytesRead, NULL)) {
switch (buffer) {
case 0: {//update buffer
unsigned char* data = (unsigned char*)malloc((size_t)xRes * yRes * 3);//malloc, not new, because according to https://docs.wxwidgets.org/trunk/classwx_image.html#a2c97634b43bdd143f34418fb1f98a690
if (ReadFile(serialHandle, data, (unsigned long)xRes * yRes * 3, &bytesRead, NULL)) {
tss->setImage(wxImage{ xRes,yRes,data,false });
window->updateNextFrame = true;
DEBUGSTREAM << "Received updated buffer\n";
} else {
free(data);
onFatalError("ReadFile", GetLastError());
return false;
}
break;//wxImage takes ownership of the data, and frees it, but the data has to be allocated with malloc
}
case 1: {//set pixel
unsigned char data[11];
if (ReadFile(serialHandle, data, 11, &bytesRead, NULL)) {
int x = parseInt(data);
int y = parseInt(data + 4);
tss->setPixel(x, y, data[8], data[9], data[10]);
window->updateNextFrame = true;
DEBUGSTREAM << "Set pixel " << x << "," << y << " to [" << (int)data[8] << "," << (int)data[9] << "," << (int)data[10] << "]\n";
} RFERROR
break;
}
case 2: {//draw line
unsigned char data[19];
if (ReadFile(serialHandle, data, 19, &bytesRead, NULL)) {
int x1 = parseInt(data);
int y1 = parseInt(data + 4);
int x2 = parseInt(data + 8);
int y2 = parseInt(data + 12);
tss->drawLine(x1, y1, x2, y2, data[16], data[17], data[18]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew line from " << x1 << "," << y1 << " to " << x2 << "," << y2 << " with color [" << (int)data[16] << "," << (int)data[17] << "," << (int)data[18] << "]\n";
} RFERROR
break;
}
case 3: {//draw triangle
unsigned char data[27];
if (ReadFile(serialHandle, data, 27, &bytesRead, NULL)) {
int x1 = parseInt(data);
int y1 = parseInt(data + 4);
int x2 = parseInt(data + 8);
int y2 = parseInt(data + 12);
int x3 = parseInt(data + 16);
int y3 = parseInt(data + 20);
tss->drawTriangle(x1, y1, x2, y2, x3, y3, data[24], data[25], data[26]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew triangle with vertices [" << x1 << "," << y1 << "], [" << x2 << "," << y2 << "], [" << x3 << "," << y3 << "] and color [" << (int)data[24] << "," << (int)data[25] << "," << (int)data[26] << "]\n";
} RFERROR
break;
}
case 4: {//draw rectangle
unsigned char data[19];
if (ReadFile(serialHandle, data, 19, &bytesRead, NULL)) {
int x = parseInt(data);
int y = parseInt(data + 4);
int width = parseInt(data + 8);
int height = parseInt(data + 12);
tss->drawRectangle(x, y, width, height, data[16], data[17], data[18]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew rectangle with TL corner [" << x << "," << y << "], width " << width << ", height " << height << ", and color [" << (int)data[16] << "," << (int)data[17] << (int)data[18] << "]\n";
} RFERROR
break;
}
case 5: {//draw polygon
char buffer = 0;
if (ReadFile(serialHandle, &buffer, 1, &bytesRead, NULL)) {
int vertices = (int)buffer;
if (vertices > 2) {
unsigned char* data = new unsigned char[8 * vertices + 3];
if (ReadFile(serialHandle, data, 8 * vertices + 3, &bytesRead, NULL)) {
std::vector<wxPoint> verticesArray{};
unsigned char* ptr = data;
for (int i = 0; i < vertices; i++) {
verticesArray.push_back(wxPoint(parseInt(ptr), parseInt(ptr + 4)));
ptr += 8;
}
tss->drawPolygon(verticesArray, ptr[0], ptr[1], ptr[2]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew polygon with vertices ";
for (wxPoint p : verticesArray) {
DEBUGSTREAM << "[" << p.x << "," << p.y << "], ";
}
DEBUGSTREAM << "and color [" << (int)ptr[0] << "," << (int)ptr[1] << "," << (int)ptr[2] << "]\n";
} RFERROR
delete data;
} else {
std::cout << "Vertices was less than 3: " << vertices << std::endl;
onFatalError();
return false;
}
} RFERROR
break;
}
case 6: { //draw ellipse
unsigned char data[19];
if (ReadFile(serialHandle, data, 19, &bytesRead, NULL)) {
int x = parseInt(data);
int y = parseInt(data + 4);
int width = parseInt(data + 8);
int height = parseInt(data + 12);
tss->drawEllipse(x, y, width, height, data[16], data[17], data[18]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew ellipse with center [" << x << "," << y << "], width " << width << ", height " << height << ", and color [" << (int)data[16] << "," << (int)data[17] << "," << (int)data[18] << "]\n";
} RFERROR
break;
}
case 7: { //draw text
unsigned char buffer[9];
if (ReadFile(serialHandle, buffer, 9, &bytesRead, NULL)) {
int x = parseInt(buffer);
int y = parseInt(buffer + 4);
int chars = (int)buffer[8];
unsigned char* data = new unsigned char[chars + 3];
if (ReadFile(serialHandle, data, chars + 3, &bytesRead, NULL)) {
std::string text((char*) data, chars);
tss->drawText(x, y, text, data[chars], data[chars + 1], data[chars + 2]);
window->updateNextFrame = true;
DEBUGSTREAM << "Drew text with corner [" << x << "," << y << "], text \"" << text << "\", and color [" << (int)data[chars] << "," << (int)data[chars + 1] << "," << (int)data[chars + 2] << "]\n";
} RFERROR
delete data;
} RFERROR
break;
}
default: {//invalid
std::cout << "Invalid packet type received: " << (int)buffer << std::endl;
onFatalError();
return false;
}
}
} RFERROR
return true;
}
void ArduinoReader::startReal() {
if (initializeSerial()) {
if (waitForArduinoStart()) {
if (readHeader()) {
while (!shouldStop && mainLoop()) {}
}
}
}
}
bool ArduinoReader::initializeSerial() {
std::cout << "Opening port " << comPort << " with baud rate " << baud << std::endl;
comPort = "\\\\.\\" + comPort;
serialHandle = CreateFileA(comPort.c_str(), GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
if (serialHandle == INVALID_HANDLE_VALUE) {
onFatalError("CreateFileA", GetLastError());
return false;
}
dcb.DCBlength = sizeof(dcb);
if (!GetCommState(serialHandle, &dcb)) {
onFatalError("GetCommState", GetLastError());
return false;
}
dcb.BaudRate = baud;
dcb.ByteSize = 8;
dcb.Parity = NOPARITY;
dcb.StopBits = ONESTOPBIT;
dcb.fDtrControl = false;
dcb.fRtsControl = resetFlag; //RTS resets arduino, but leaving it on would keep it in a reset loop
if (!SetCommState(serialHandle, &dcb)) {
onFatalError("SetCommState", GetLastError());
return false;
}
if (resetFlag) {
std::this_thread::sleep_for(std::chrono::milliseconds(1)); //sleep for 1 millisecond, to give RTS time to register
dcb.fRtsControl = false;
std::cout << "Reset Arduino\n";
if (!SetCommState(serialHandle, &dcb)) { //turn off rts, so the arduino is able to start
onFatalError("SetCommState", GetLastError()); //EscapeCommFunction failing isn't really fatal, since manual reset is always possible, but it implies a larger issue with the connection
return false;
}
}
return true;
}
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