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Author Topic: Control Arduino with VB.Net/C#  (Read 8814 times)
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I am planning to build a simple robot that consists of a (simple) mobile platform, an arduino to control all hardware of that platform and a mini ITX mainboard with windows and .Net to use as 'intelligence'.
I want to use the Arduino (for now) only as a 'bridge' between the Windows environment and the hardware and was looking for ways to connect the Arduino to the .Net framework.
I didn't find really that much 'off the shelf' .Net classes/applications so I decided to create my own.
I never programmed in C before so this is going to be my first try.

What I want to achieve:
A .net Class to be used by my own programs that is capable of writing to the output ports of the Arduino and reading from the input ports.
I also want to 'catch' events when a value of an input pin is changed.
This obviously also needs a sketch on the Arduino to connect to and a kind of 'protocol' to connect this all together.

I'm currently creating and testing the class so the 'protocol' is working as it should.

I would really like to know if someone else is interested in using this class or has a lot of knowledge on the .net part or the C language of the Arduino to give me hints/tips to enhance the code.

I use an Arduino Duemilanove and want to connect the AdaFruit Motorshield and some distance sensors for starters.

If someone is interested I can publish my code so far.
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Hi Vulture,

I'm using VB.net to talk to my arduino and I would like to give your code a look.

Greetings,
EriSan500
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You both might find this page http://www.arduino.cc/playground/Main/InterfacingWithSoftware and in particular this link http://www.acraigie.com/programming/firmatavb/default.html useful.

Andrew
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@Andrew. I looked at the links you sugested (of course), but I decided to try and build my own code.
I enjoy doing it (also for educational purposes), so why not.
Another reason I didn't want to use the Firmata solution is that I want to add some functions of my own (like the ones to control the MotorShield) that can be controlled through external .Net code.

I am nearly ready with the initial code so I can test this.
When everything works I will post my code here so the comments can flow in...
(I'm especially interested in de .Net code to do the serial communication because I thing that needs some finetuning...)
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OK,
I did some tests today and I think the basics are working.
There is still extra work to do in checking wrong input etc. but that's for later.

Here is the Arduino code:

Code:

const int dd = 13;                      // highest digital portnumber
const int aa = 5;                       // highest analog portnumber
int D[dd];                              // define digital enables
int R[dd];                              // define digital directions
int T[dd];                              // define digital triggers
int V[dd];                              // define digital values
int A[aa];                              // define analog enables
int S[aa];                              // define analog triggers
int W[aa];                              // define analog values
int cp = 0;                            // char pointer
boolean cfound = false;                    // complete command found
byte stringIn[200];                     // commandbuffer
long previousMillis = 0;                // intervalcheck for watchdog
long interval = 1000;                  // interval between watchdogs
int sa;
byte bt;

void setup() {
  for (int i=0; i <= dd; i++) {
    D[i]=0;                            // enable digital port (default to 0)
    R[i]=0;                            // direction of digital port (0=output, 1=input) (default to 0)
    T[i]=0;                            // enable digital trigger (default to 0)
    V[i]=-1;                            // value of digital port (default to -1 for first trigger)
  }
  for (int i=0; i <= aa; i++) {
    A[i]=0;                            // enable analogl port (default to 0)
    S[i]=0;                            // enable analog trigger (default to 0)
    W[i]=-1;                            // value of analog port (default to -1 for first trigger)
  }

  Serial.begin(9600);
  delay(500);
  Serial.print("(H)");
}

void loop() {
  sa = Serial.available();              // count serial buffer bytes
  if (sa > 0) {                          // if buffer not empty process buffer content
    for (int i=0; i <= sa-1; i++){
      bt = Serial.read();            // read one byte from the serial buffer
      stringIn[cp] = bt;
      cp++;
      if (int(bt) == 41) {            // check for last command char )
        cfound = true;
        break;                             // end for loop
      }
    }
  }

  if (cfound == true) {
    if (int(stringIn[0]) == 40) {      //check if first char of command is (
      exCommand();
    }
    cleanstring();
    cfound = false;
  }

  for (int i=0; i<dd; i++) {           // check all digital ports
    if ((D[i] == 1) && (R[i] == 1)) {  // is port enabled and input?
      int dr = digitalRead(i);
      if (dr != V[i]) {                // value changed?
        V[i] = dr;                     // store value
        if (T[i] == 1) {               // enable trigger?
          Serial.print("(D");
          Serial.print(byte(i));
          Serial.print(byte(V[i]));
          Serial.print(")");
        }
      }
    }
  }
  for (int i=0; i<aa; i++) {            // check analog values
    if (A[i] == 1) {
      int ar = analogRead(i);
      if (ar != W[i]) {                 // value changed?
        if (S[i] > 0) {                 // analog trigger set?
          if (((ar - W[i]) > S[i]) || ((W[i] - ar) > S[i])) {
            Serial.print("(A");
            Serial.print(byte(i));
            Serial.print(highByte(ar));
            Serial.print(lowByte(ar));
            Serial.print(")");
          }
        }
        W[i] = ar;                      // store value
      }
    }
  }

  if (millis() - previousMillis > interval) {
    previousMillis = millis();  
    Serial.print("(H)");                // send watchdog trigger
  }

}

void cleanstring(void) {
  for (int i=0; i<=200; i++) {
    stringIn[i] = 0;                  // null out string
    cp = 0;
  }
}

void exCommand(void) {
  char c = stringIn[1];                // command type
  int n = int(stringIn[2]);            // portnumber
  int v = int(stringIn[3]);            // value
  
  switch (c) {
  case 'D':                        // enable digital pin
    if (v == 1) {
      D[n] = 1;
    }
    else {
      D[n] = 0;
    }
    break;
  case 'A':                        // enable analog pin
    if (v == 1) {
      A[n] = 1;
    }
    else {
      A[n] = 0;
    }
    break;
  case 'R':                        // set direction of digital pin
    switch (v) {
    case 0:                          // input
      R[n] = 0;
      pinMode(n, INPUT);
    case 1:                        // output digital
      R[n] = 1;
      pinMode(n, OUTPUT);
      break;
    case 2:                        // output analog
      R[n] = 2;
      pinMode(n, OUTPUT);
      break;
    }
    break;
  case 'T':                        // set trigger on digital pin
    if (v == 1) {
      T[n] = 1;
    }
    else {
      T[n] = 0;
    }
    break;
  case 'S':                        // set trigger on analog pin
    S[n] = v;
    break;
  case 'V':                        // get value of digital pin
    V[n] = digitalRead(n);
    Serial.print("(D");
    Serial.print(byte(n));
    Serial.print(byte(V[n]));
    Serial.print(")");
    break;
  case 'W':                        // get value of analog pin
    W[n] = analogRead(n);
    Serial.print("(A");
    Serial.print(byte(n));
    Serial.print(highByte(W[n]));
    Serial.print(lowByte(W[n]));
    Serial.print(")");
    break;
  case 'P':                            // write value to digital port
    switch ( R[n]) {
      case 1:                          // digital output
        digitalWrite(n, v);
        break;
      case 2:                          // PWM output
        analogWrite(n, v);
        break;
    }
      break;  
  }

}

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I have to post this in two sets...

Code:
Public Class Arduino_Net
    Private WithEvents serialPort1 As System.IO.Ports.SerialPort
    Private CommandBuffer As String
    Private Receiving As Boolean
    Private BufferPointer As Integer
    Private CBuffer(30) As Byte

    Private _ComPort As String = "COM8"
    Private _BaudRate As Integer = 9600

    'Private WithEvents DataCheckTimer As System.Timers.Timer
    Private WithEvents WatchDogTimer As System.Timers.Timer

    Public Enum DigitalDirection
        Input = 0
        DigitalOutput = 1
        PWMOutput = 2
    End Enum


    Public Event DigitalDataReceived(ByVal DPortNr As Integer, ByVal Value As Integer)

    Public Event AnalogDataReceived(ByVal APortNr As Integer, ByVal Value As Integer)

    Public Event LogMessageReceived(ByVal Message As String, ByVal DebugLevel As Integer)

   Public Event WatchdogReceived()

    Public Event ConnectionLost()

    Public Property ComPort() As String
        Get
            Return _ComPort
        End Get
        Set(ByVal value As String)
            _ComPort = value
        End Set
    End Property

    Public Property BaudRate() As String
        Get
            Return _BaudRate
        End Get
        Set(ByVal value As String)
            _BaudRate = value
        End Set
    End Property

    Public Sub New()
        'DataCheckTimer = New System.Timers.Timer(50)
        'AddHandler DataCheckTimer.Elapsed, AddressOf CheckTimerElapsed
    End Sub

    Public Sub New(ByVal PortName As String)
        Me.ComPort = PortName.Trim
        'DataCheckTimer = New System.Timers.Timer(50)
        'AddHandler DataCheckTimer.Elapsed, AddressOf CheckTimerElapsed
    End Sub

    Public Function StartCommunication() As Boolean
        Dim _ReturnValue As Boolean = False
        Try
            Dim components As System.ComponentModel.IContainer = New System.ComponentModel.Container()
            serialPort1 = New System.IO.Ports.SerialPort(components)
            serialPort1.PortName = _ComPort
            serialPort1.BaudRate = _BaudRate
            serialPort1.ReceivedBytesThreshold = 1

            serialPort1.Open()
            If Not serialPort1.IsOpen Then
                WriteDebug("Unable to open comport...")
                _ReturnValue = False
                Exit Function
            Else
                serialPort1.DtrEnable = True
                WriteDebug("Serial port is open")
                System.Threading.Thread.Sleep(1000)
                Dim Command As Byte() = {40, 0, 0, 0, 41, 0}
                'send some empty commands to clear all buffers on Arduino
                Me.SendCommand(Command)
                Me.SendCommand(Command)
                'DataCheckTimer.Enabled = True
                'DataCheckTimer.Start()
                WatchDogTimer = New System.Timers.Timer(5000)
                WatchDogTimer.Enabled = True
                WatchDogTimer.Start()
                _ReturnValue = True
            End If

            ' callback for text coming back from the arduino
            AddHandler serialPort1.DataReceived, AddressOf OnReceived
        Catch ex As Exception
            WriteDebug("Error opening comport...")
            _ReturnValue = False
        End Try
        Return _ReturnValue
    End Function

    Public Sub SetDigitalDirection(ByVal Port As Integer, ByVal Direction As DigitalDirection)
        'TODO check value and portnumber
        Dim Command1 As Byte() = {40, 82, Port, Direction, 41, 0}
        Me.SendCommand(Command1)
    End Sub

    Public Sub SetDigitalValue(ByVal Port As Integer, ByVal Value As Integer)
        'TODO check value and portnumber
        Dim Command1 As Byte() = {40, 80, Port, Value, 41, 0}
        Me.SendCommand(Command1)
    End Sub

    Public Sub EnableDigitalPort(ByVal Port As Integer, ByVal Enable As Boolean)
        'TODO check value and portnumber
        If Enable Then
            Dim Command1 As Byte() = {40, 68, Port, 1, 41, 0}
            Me.SendCommand(Command1)
        Else
            Dim Command1 As Byte() = {40, 68, Port, 0, 41, 0}
            Me.SendCommand(Command1)
        End If
    End Sub
    Public Sub EnableAnalogPort(ByVal Port As Integer, ByVal Enable As Boolean)
        'TODO check value and portnumber
        If Enable Then
            Dim Command1 As Byte() = {40, 65, Port, 1, 41, 0}
            Me.SendCommand(Command1)
        Else
            Dim Command1 As Byte() = {40, 65, Port, 0, 41, 0}
            Me.SendCommand(Command1)
        End If
    End Sub

    Public Sub EnableDigitalTrigger(ByVal Port As Integer, ByVal Enable As Boolean)
        'TODO check value and portnumber
        If Enable Then
            Dim Command1 As Byte() = {40, 84, Port, 1, 41, 0}
            Me.SendCommand(Command1)
        Else
            Dim Command1 As Byte() = {40, 84, Port, 0, 41, 0}
            Me.SendCommand(Command1)
        End If
    End Sub

    Public Sub EnableAnalogTrigger(ByVal Port As Integer, ByVal Threshold As Integer)
        'TODO check value and portnumber
        Dim Command1 As Byte() = {40, 83, Port, Threshold, 41, 0}
        Me.SendCommand(Command1)
    End Sub

    Public Sub GetDigitalValue(ByVal Port As Integer)
        'TODO check value and portnumber
        Dim Command1 As Byte() = {40, 86, Port, 0, 41, 0}
        Me.SendCommand(Command1)
    End Sub

    Public Sub GetAnalogValue(ByVal Port As Integer)
        'TODO check value and portnumber
        Dim Command1 As Byte() = {40, 87, Port, 0, 41, 0}
        Me.SendCommand(Command1)
    End Sub

    Private Sub SendCommand(ByVal Command As Byte())
        Try
            If Command.Length > 0 Then
                If serialPort1.IsOpen Then
                    serialPort1.Write(Command, 0, Command.Length - 1)
                End If
            End If
        Catch ex As Exception

        End Try
    End Sub

    Private Sub OnReceived(ByVal sender As Object, ByVal e As System.IO.Ports.SerialDataReceivedEventArgs)
        If Receiving = False Then
            Receiving = True
            ProcessSerialData()
            Receiving = False
        End If
    End Sub

    Private Sub CheckTimerElapsed(ByVal sender As Object, ByVal e As System.Timers.ElapsedEventArgs)
        If Receiving = False Then
            Receiving = True
            ProcessSerialData()
            Receiving = False
        End If
    End Sub

    Private Sub ProcessSerialData()
        Try
            Dim BytesRead As Integer
            While serialPort1.BytesToRead > 0
                BytesRead = serialPort1.Read(CBuffer, BufferPointer, serialPort1.BytesToRead)
                BufferPointer += BytesRead
                While BufferPointer > 0
                    'search start of new command in buffer
                    Dim CommandStart As Integer = -1
                    For i As Short = 0 To BufferPointer
                        If CBuffer(i) = CByte(40) Then
                            CommandStart = i
                            Exit For
                        End If
                    Next
                    If CommandStart = -1 Then
                        'no begin of command found. this is no valid situation
                        ClearCBuffer()
                    End If
                    If CommandStart > 0 Then
                        'begin of command found somewhere in buffer. dismiss al bytes before startcharacter
                        LeftShiftCBuffer(CommandStart)
                    End If

                    'at this point we should have a clean commandbuffer

                    'search end of command in buffer
                    Dim Commandend As Integer = 0
                    For i As Short = 0 To BufferPointer
                        If CBuffer(i) = CByte(41) Then
                            Commandend = i
                            Exit For
                        End If
                    Next
                    If Commandend > 0 Then
                        'commandend found. there should be a complete command in the buffer
                        Dim CommandBytes(Commandend) As Byte
                        For i As Integer = 0 To Commandend
                            CommandBytes(i) = CBuffer(i)
                        Next
                        'execute command
                        ProcessCommand(CommandBytes)
                        'reset pointer
                        LeftShiftCBuffer(Commandend + 1)
                    Else
                        Exit While
                    End If
                End While
            End While
        Catch ex As Exception
        End Try
    End Sub

    Private Sub ClearCBuffer()
        For i As Integer = 0 To CBuffer.Length - 1
            CBuffer(i) = 0
        Next
        BufferPointer = 0
    End Sub

    Private Sub LeftShiftCBuffer(ByVal NrOfPlaces As Integer)
        For i As Integer = NrOfPlaces To CBuffer.Length - 1
            CBuffer(i - NrOfPlaces) = CBuffer(i)
        Next
        For i As Integer = CBuffer.Length - NrOfPlaces To CBuffer.Length - 1
            CBuffer(i) = 0
        Next
        BufferPointer -= NrOfPlaces
    End Sub
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Part 2:

Code:

    Private Sub ProcessCommand(ByVal CommandBytes As Byte())
        Try
            If ((CommandBytes(0) = CByte(40)) And (CommandBytes(CommandBytes.Length - 1) = CByte(41))) Then
                Dim PType As Char = ChrW(CommandBytes(1))
                Dim PNumber As Integer
                Dim Value As Integer
                Dim CFound As Boolean = False
                Select Case PType
                    Case "D"
                        PNumber = CInt(CommandBytes(2))
                        Value = CInt(CommandBytes(3))
                        RaiseEvent DigitalDataReceived(PNumber, Value)
                    Case "A"
                        PNumber = CInt(CommandBytes(2))
                        Value = (CInt(CommandBytes(3)) * 255) + CInt(CommandBytes(4))
                        RaiseEvent AnalogDataReceived(PNumber, Value)
                    Case "H"
                        PNumber = 0
                        Value = 0
                        RaiseEvent WatchdogReceived()
                        If Not IsNothing(WatchDogTimer) Then
                            WatchDogTimer.Stop()
                            WatchDogTimer.Dispose()
                        End If
                        WatchDogTimer = New System.Timers.Timer(5000)
                        WatchDogTimer.Enabled = True
                        WatchDogTimer.Start()
                    Case "Q"
                        Dim CommandString As String = String.Empty
                        For i As Integer = 0 To CommandBytes.Length - 1
                            CommandString += CommandBytes(i).ToString + " "
                        Next
                        WriteDebug("Arduino Q msg: " + CommandString)
                    Case Else
                        Dim CommandString As String = String.Empty
                        For i As Integer = 0 To CommandBytes.Length - 1
                            CommandString += CommandBytes(i).ToString + " "
                        Next
                        WriteDebug("Arduino msg: " + CommandString)
                End Select
            Else
                Dim CommandString As String = String.Empty
                For i As Integer = 1 To CommandBytes.Length - 1
                    CommandString += CommandBytes(i).ToString
                Next
                WriteDebug("Error:bad commandformat received: " + CommandString)
            End If
        Catch ex As Exception
            WriteDebug("Error:bad commandformat received")
        End Try
    End Sub

    Private Sub WatchdogTimerElaped(ByVal sender As Object, ByVal e As System.Timers.ElapsedEventArgs) Handles WatchDogTimer.Elapsed
        RaiseEvent ConnectionLost()
        If Not IsNothing(WatchDogTimer) Then
            WatchDogTimer.Stop()
            WatchDogTimer.Dispose()
        End If
    End Sub

    Private Sub WriteDebug(ByVal Message As String, Optional ByVal Level As Integer = 0)
        RaiseEvent LogMessageReceived(Message, Level)
    End Sub
End Class


I left out most of the comment lines because otherwise it didn't even fit in two posts...

I'm realy interested in the communication part between the Arduino and the .Net Class.
Perhaps there is a more robust way (on the .Net Class side as well as on the Arduino side).
I'm also making a testapplication to demonstrate all the functions of the class and some documentation.

Any comments are welcome.
« Last Edit: January 28, 2010, 07:09:42 am by vulture » Logged

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You set dd to 13, which results in allocating arrays that can hold 13 values, with indices from 0 to 12. Then, you proceed, in setup, to initialize all 14 values.

You do the same with aa, except that you set it to 5. There are 6 analog ports in each of my Arduinos. Do you have a cheap clone that's missing an analog port?

Code:
for (int i=0; i <= sa-1; i++)

This would make more sense as:

Code:
for (int i=0; i < sa; i++)

Why is bt a global variable? sa?

In the block to read the serial data, cp should be initialized before the for loop that populates the stringIn array.

There is no reason to cast the byte bt to an int before comparing it to 41.

What is the significance of 41? Will you remember 6 months from now? Magic numbers, like 41, are to be avoided. Use a #define statement at the top of the program to give a meaningful name to the number, and use that name, instead, throughout the program.

Code:
#define EOD 41

if(bt == EOD)
{
}

(Change EOD to whatever 41 really means).

Code:
if (cfound == true)

This is redundant. All you need is:
Code:
if (cfound)

The expression in the parentheses is evaluated. If the evaluation results in true, the following block is executed. The cfound variable is a boolean, so it, by itself, is either true or false.

Other than these things (some major, some nit-picky), the code looks good. The C# side of things should be interesting, too.
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Quote
The C# side of things should be interesting, too.

Small correction, Vulture posted VB.Net code.  smiley-wink

Greetings,
EriSan500
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@EriSan500

Those other 2 posts came in while I was hunting and pecking...
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@PaulS:

Thanks, that's what I was looking for.
Some solid syntax advice.

As I said, C is new to me, so I'm learning as I go along.
I implemented all of your sugestions (code below) except for one.
You said cp isn't initialized, but it is, namely at the start of the code.
So that should be no problem.

You are right about the arrays.
I'm used to VB.Net and when you define an array there with 14, the array really has 15 values (0-14). But I read the reference information on arrays and you are absolutely right (duh -> GODMember).

And yes, the PC part is in VB.Net and not C#.
I don't think that should be a problem. These classes are completely compatible.

When I have some webspace I will post the complete sketch and .Net project so it's more easy to read/use.
The real VB.Net code has more comment lines, so using this class is realy straight forward.

anyone more comments, on the VB.Net code perhaps?

thanks.
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New code with sugested changes:

Code:

const int dd = 14;                      // number of digital ports
const int aa = 6;                       // number of analog ports
int D[dd];                              // define digital enables
int R[dd];                              // define digital directions
int T[dd];                              // define digital triggers
int V[dd];                              // define digital values
int A[aa];                              // define analog enables
int S[aa];                              // define analog triggers
int W[aa];                              // define analog values
int cp = 0;                            // char pointer
boolean cfound = false;                    // complete command found
byte stringIn[200];                     // commandbuffer
long previousMillis = 0;                // intervalcheck for watchdog
long interval = 1000;                   // interval between watchdogs

#define SOC 40
#define EOC 41

void setup() {
  for (int i=0; i < dd; i++) {
    D[i]=0;                            // enable digital port (default to 0)
    R[i]=0;                            // direction of digital port (0=output, 1=input) (default to 0)
    T[i]=0;                            // enable digital trigger (default to 0)
    V[i]=-1;                            // value of digital port (default to -1 for first trigger)
  }
  for (int i=0; i < aa; i++) {
    A[i]=0;                            // enable analogl port (default to 0)
    S[i]=0;                            // enable analog trigger (default to 0)
    W[i]=-1;                            // value of analog port (default to -1 for first trigger)
  }

  Serial.begin(9600);
  delay(500);
  Serial.print("(H)");
}

void loop() {
  int sa;
  byte bt;
  sa = Serial.available();              // count serial buffer bytes
  if (sa > 0) {                          // if buffer not empty process buffer content
    for (int i=0; i < sa; i++){
      bt = Serial.read();            // read one byte from the serial buffer
      stringIn[cp] = bt;
      cp++;
      if (bt == EOC) {                    // check for last command char )
        cfound = true;
        break;                             // end for loop
      }
    }
  }

  if (cfound) {
    if (int(stringIn[0]) == SOC) {      //check if first char of command is (
      exCommand();
    }
    cleanstring();
    cfound = false;
  }

  for (int i=0; i<dd; i++) {           // check all digital ports
    if ((D[i] == 1) && (R[i] == 1)) {  // is port enabled and input?
      int dr = digitalRead(i);
      if (dr != V[i]) {                // value changed?
        V[i] = dr;                     // store value
        if (T[i] == 1) {               // enable trigger?
          Serial.print("(D");
          Serial.print(byte(i));
          Serial.print(byte(V[i]));
          Serial.print(")");
        }
      }
    }
  }
  for (int i=0; i<aa; i++) {            // check analog values
    if (A[i] == 1) {
      int ar = analogRead(i);
      if (ar != W[i]) {                 // value changed?
        if (S[i] > 0) {                 // analog trigger set?
          if (((ar - W[i]) > S[i]) || ((W[i] - ar) > S[i])) {
            Serial.print("(A");
            Serial.print(byte(i));
            Serial.print(highByte(ar));
            Serial.print(lowByte(ar));
            Serial.print(")");
          }
        }
        W[i] = ar;                      // store value
      }
    }
  }

  if (millis() - previousMillis > interval) {
    previousMillis = millis();  
    Serial.print("(H)");                // send watchdog trigger
  }

}

void cleanstring(void) {
  for (int i=0; i<=200; i++) {
    stringIn[i] = 0;                  // null out string
    cp = 0;
  }
}

void exCommand(void) {
  char c = stringIn[1];                // command type
  int n = int(stringIn[2]);            // portnumber
  int v = int(stringIn[3]);            // value
  
  switch (c) {
  case 'D':                        // enable digital pin
    if (v == 1) {
      D[n] = 1;
    }
    else {
      D[n] = 0;
    }
    break;
  case 'A':                        // enable analog pin
    if (v == 1) {
      A[n] = 1;
    }
    else {
      A[n] = 0;
    }
    break;
  case 'R':                        // set direction of digital pin
    switch (v) {
    case 0:                          // input
      R[n] = 0;
      pinMode(n, INPUT);
    case 1:                        // output digital
      R[n] = 1;
      pinMode(n, OUTPUT);
      break;
    case 2:                        // output analog
      R[n] = 2;
      pinMode(n, OUTPUT);
      break;
    }
    break;
  case 'T':                        // set trigger on digital pin
    if (v == 1) {
      T[n] = 1;
    }
    else {
      T[n] = 0;
    }
    break;
  case 'S':                        // set trigger on analog pin
    S[n] = v;
    break;
  case 'V':                        // get value of digital pin
    V[n] = digitalRead(n);
    Serial.print("(D");
    Serial.print(byte(n));
    Serial.print(byte(V[n]));
    Serial.print(")");
    break;
  case 'W':                        // get value of analog pin
    W[n] = analogRead(n);
    Serial.print("(A");
    Serial.print(byte(n));
    Serial.print(highByte(W[n]));
    Serial.print(lowByte(W[n]));
    Serial.print(")");
    break;
  case 'P':                            // write value to digital port
    switch ( R[n]) {
      case 1:                          // digital output
        digitalWrite(n, v);
        break;
      case 2:                          // PWM output
        analogWrite(n, v);
        break;
    }
      break;  
  }

}

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I was thinking that cp is initialized once, and then incremented in loop. I see that it is reset in clearstring.

The clearstring function isn't really needed. If you changed this:
Code:
 sa = Serial.available();              // count serial buffer bytes
  if (sa > 0) {                          // if buffer not empty process buffer content
    for (int i=0; i < sa; i++){
      bt = Serial.read();            // read one byte from the serial buffer
      stringIn[cp] = bt;
      cp++;
      if (bt == EOC) {                    // check for last command char )
        cfound = true;
        break;                             // end for loop
      }
    }
  }

to this:
Code:
 sa = Serial.available();              // count serial buffer bytes
  if (sa > 0) {                          // if buffer not empty process buffer content
    [glow]cp = 0;[/glow]
    for (int i=0; i < sa; i++){
      bt = Serial.read();            // read one byte from the serial buffer
      stringIn[cp] = bt;
      cp++;
        [glow]stringIn[cp] = '\0'; // Add a null at the end[/glow]
      if (bt == EOC) {                    // check for last command char )
        cfound = true;
        break;                             // end for loop
      }
    }
  }

you could get rid of the clearstring function and all calls to it.

I'm not current on VB.net, so I won't comment on that code. That's why I was looking forward to seeing your C# code (after all, that's the topic title). I am conversant with C#.

The thing with god members is something I do not like. The title is conferred on anyone that makes 500 posts - relevant or not, right or not.

I've made some mistakes in some of my posts.
« Last Edit: January 28, 2010, 04:21:45 pm by PaulS » Logged

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@PaulS: the function of the cp variable is to point at the last character in the serial received  buffer.
I'm not realy familiair with it's workings, but in VB.Net the event for receiving serial data is no guarantee that all data is received. So to anticipate on the fact that when serial data is received  there might come more for the same command, I created this 'pointer' to keep track of the last received byte. The clearstring function is called after a complete command is found and not after the serial buffer is read.
I can try your sugestions (everything that can be stripped from this code is in favour of the speed...) and let you know. This will depend on the way VB.Net is sending its serial data.

I'm sorry I let you down with the VB.Net ;-)
The title mentioned 'VB.Net/C#' because these are completely compatible.
I will create a seperate dll from this class and that's useable by VB.Net and C# without changes.
(Perhaps someone is interested in a COM registered dll so it's also compatible with for instance vbscript...)
There are some websites that do VB.Net to C# conversions.
Perhaps you can use them if you want the code in C#.
I started programming in VB.Net some time ago and it's hard to switch to another language after that.
But since the .Net eara VB is a mature language again, so there is really no need for me to switch...
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OK. That makes sense, and is a perfectly reasonable way to do things.

I've got C# code that talks to my Arduino, already, so I wasn't looking for any. But, I was interested in whether you were doing anything different. I'm not really sure it's possible, considering how simple the serial class is in C#.
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