Merge remote-tracking branch 'origin/release-beta-0.3'

TestJiashuoConsole/Program.cs

@@ -13,6 +13,7 @@ class Program
 	{
 		static void Main(string[] args)
 		{
+			/*
 			Instruction ins1 = new Instruction("MOVE 100, 2");
 			Instruction ins2 = new Instruction("MOVE -100, 2");
 			Instruction ins3 = new Instruction("MOVE 0, 2");
@@ -34,6 +35,9 @@ static void Main(string[] args)
 			string input = File.ReadAllText("demo_forward_until_bump.igp");
 			HLProgram pro = new HLProgram(input);
 			File.WriteAllText("demo_forward_until_bump_with_description.igp", pro.ToString(true));
+			 */
+
+			string[] ports = System.IO.Ports.SerialPort.GetPortNames();
 
 		}
 	}

UI/App.config

@@ -19,6 +19,9 @@
             <setting name="PopupWindowForNewIns" serializeAs="String">
                 <value>True</value>
             </setting>
+            <setting name="ComPortListIndex" serializeAs="String">
+                <value>0</value>
+            </setting>
         </iRobotGUI.Properties.Settings>
     </userSettings>
 </configuration>

UI/Controls/ProgramList.xaml.cs

@@ -418,7 +418,7 @@ private void RemoveSelection()
 				return;
 
 			// Just remove the pointer. We don't care the source in HLProgram.
-			pvm.Remove(index);
+			pvm.RemoveAt(index);
 
 			UpdateContent();
 		}

UI/MainWindow.xaml.cs

@@ -270,6 +270,7 @@ void NewCmdExecuted(object target, ExecutedRoutedEventArgs e)
 		{
 			igpFile = null;
 			programList.Program = new HLProgram();
+			textBlockStatus.Text = Directory.GetCurrentDirectory();
 		}
 
 		/// <summary>
@@ -513,9 +514,9 @@ private void MenuItemRevealInExplorer_Click(object sender, RoutedEventArgs e)
 		#region Window callbacks
 		private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
 		{
-			if (igpFile == "")
-			{
-				// No file is open
+			// No file is open
+			if (string.IsNullOrEmpty(igpFile))
+			{				
 				if (programList.Program.ToString() == "") return;
 			}
 			else
@@ -535,15 +536,13 @@ private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs
 		}
 		#endregion Window callbacks
 
+		#region Control Callbacks
 		private void InstructionPanel_AddNewInstruction(string opcode)
 		{
 			programList.AddNewInstruction(opcode);
 		}
-
-
-		#region ProgramList' Callbacks
+
 		// For debugging
-
 		private void programList_ProgramChanged()
 		{
 			HLProgram program = programList.Program;

UI/Properties/Settings.settings

@@ -11,5 +11,8 @@
     <Setting Name="PopupWindowForNewIns" Type="System.Boolean" Scope="User">
       <Value Profile="(Default)">True</Value>
     </Setting>
+    <Setting Name="ComPortListIndex" Type="System.Int32" Scope="User">
+      <Value Profile="(Default)">0</Value>
+    </Setting>
   </Settings>
 </SettingsFile>

UI/UI.csproj

@@ -356,9 +356,6 @@
       <Install>false</Install>
     </BootstrapperPackage>
   </ItemGroup>
-  <ItemGroup>
-    <Resource Include="Remarks.txt" />
-  </ItemGroup>
   <ItemGroup>
     <Resource Include="pic\backward.png" />
     <Resource Include="pic\bump.png" />

UI/WinAvr/WinAvrConfiguation.cs

@@ -11,7 +11,7 @@ namespace iRobotGUI.WinAvr
 	/// </summary>
 	public class WinAvrConfiguation
 	{
-		public string comPort = "COM1";  // com4
+		public string comPort = "COM1";  // com1
 		public string firmwareVersion = STK500V1; // stk500v1
 
 		public const string STK500 = "stk500";

UI/Windows/ConfigurationWindow.xaml

@@ -1,12 +1,17 @@
 <Window x:Class="iRobotGUI.ConfigurationWindow"
         xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
         xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+		xmlns:p="clr-namespace:iRobotGUI.Properties" 
+		xmlns:iRobot="clr-namespace:iRobotGUI" 
         Title="Configuration" Height="258.359" Width="411.83" ResizeMode="NoResize" WindowStartupLocation="CenterOwner">
     <Grid>
         <Label Content="COM Port" HorizontalAlignment="Left" Margin="30,37,0,0" VerticalAlignment="Top"/>
-        <TextBox x:Name="textboxCom" HorizontalAlignment="Left" Height="24" Margin="98,39,0,0" TextWrapping="Wrap" Text="4" VerticalAlignment="Top" Width="120"/>
-        <Button Content="Auto Detect" HorizontalAlignment="Left" Margin="223,40,0,0" VerticalAlignment="Top" IsEnabled="False"/>
-        <Button Content="Device Manager" HorizontalAlignment="Left" Margin="296,40,0,0" VerticalAlignment="Top" Click="ButtonDeviceManager_Click"/>
+        <ComboBox x:Name="comboBoxCom" HorizontalAlignment="Left" Height="24" Margin="98,39,0,0" VerticalAlignment="Top" Width="142"
+				 SelectedIndex="{Binding Source={x:Static p:Settings.Default}, Path=ComPortListIndex, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
+				  ItemsSource="{Binding Source={x:Static iRobot:ConfigurationWindow.ports}}"/>
+
+		<Button Content="Refresh" HorizontalAlignment="Left" Margin="245,39,0,0" VerticalAlignment="Top" Click="ButtonRefresh_Click"/>
+		<Button Content="Device Manager" HorizontalAlignment="Left" Margin="296,39,0,0" VerticalAlignment="Top" Click="ButtonDeviceManager_Click"/>
 
         <Button x:Name="buttonOk" Content="OK" HorizontalAlignment="Left" Margin="98,183,0,0" VerticalAlignment="Top" Width="75" IsDefault="True" Click="buttonOk_Click"/>
         <Button Content="Cancel" HorizontalAlignment="Left" Margin="216,183,0,0" VerticalAlignment="Top" Width="75" IsCancel="True"/>

UI/Windows/ConfigurationWindow.xaml.cs

@@ -1,4 +1,5 @@
-using iRobotGUI.WinAvr;
+using iRobotGUI.Properties;
+using iRobotGUI.WinAvr;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -15,61 +16,89 @@
 
 namespace iRobotGUI
 {
-    /// <summary>
-    /// Interaction logic for ComWindow.xaml
-    /// </summary>
-    public partial class ConfigurationWindow : Window
-    {
-        private WinAvrConfiguation _config;
-        public WinAvrConfiguation Config
-        {
-            set
-            {
-                _config = value;
-                textboxCom.Text = value.comPort;
+	/// <summary>
+	/// Interaction logic for ComWindow.xaml
+	/// </summary>
+	public partial class ConfigurationWindow : Window
+	{
+		private WinAvrConfiguation _config;
+		public static string[] ports;
 
-                switch (value.firmwareVersion)
-                {
-                    case WinAvrConfiguation.STK500:
-                        radio0.IsChecked = true;
-                        break;
-                    case WinAvrConfiguation.STK500V1:
-                        radio1.IsChecked = true;
-                        break;
-                    case WinAvrConfiguation.STK500V2:
-                        radio2.IsChecked = true;
-                        break;
-                }
-            }
-            get
-            {
-                return _config;
-            }
-        }
+		public WinAvrConfiguation Config
+		{
+			set
+			{
+				_config = value;
 
-        public ConfigurationWindow()
-        {
-            InitializeComponent();
-        }
+				switch (value.firmwareVersion)
+				{
+					case WinAvrConfiguation.STK500:
+						radio0.IsChecked = true;
+						break;
+					case WinAvrConfiguation.STK500V1:
+						radio1.IsChecked = true;
+						break;
+					case WinAvrConfiguation.STK500V2:
+						radio2.IsChecked = true;
+						break;
+				}
+			}
+			get
+			{
+				return _config;
+			}
+		}
 
-        private void buttonOk_Click(object sender, RoutedEventArgs e)
-        {
-            _config.comPort = textboxCom.Text;
+		public ConfigurationWindow()
+		{
+			ports = System.IO.Ports.SerialPort.GetPortNames();
 
-            if (radio0.IsChecked ?? false)
-                _config.firmwareVersion = radio0.Content.ToString();
-            else if (radio1.IsChecked ?? false)
-                _config.firmwareVersion = radio1.Content.ToString();
-            else if (radio2.IsChecked ?? false)
-                _config.firmwareVersion = radio2.Content.ToString();
+			InitializeComponent();
 
-            WinAvrConnector.CustomizeMakefile();
-            DialogResult = true;
-        }
+			// https://msdn.microsoft.com/en-us/library/system.windows.controls.primitives.selector.selectedindex(v=vs.110).aspx
+			// If you set SelectedIndex to a value equal or greater than the number of child elements, the value is ignored.
+			// Try to select the first one.
+			if (comboBoxCom.SelectedIndex == -1) comboBoxCom.SelectedIndex = 0;
 
-        private void ButtonDeviceManager_Click(object sender, RoutedEventArgs e)
-        {
-            System.Diagnostics.Process.Start("devmgmt.msc");
-        }
-    }
+		}
+
+		private void buttonOk_Click(object sender, RoutedEventArgs e)
+		{
+			_config.comPort = comboBoxCom.Text;
+
+			if (radio0.IsChecked ?? false)
+				_config.firmwareVersion = radio0.Content.ToString();
+			else if (radio1.IsChecked ?? false)
+				_config.firmwareVersion = radio1.Content.ToString();
+			else if (radio2.IsChecked ?? false)
+				_config.firmwareVersion = radio2.Content.ToString();
+
+			WinAvrConnector.CustomizeMakefile();
+			DialogResult = true;
+		}
+
+		private void ButtonDeviceManager_Click(object sender, RoutedEventArgs e)
+		{
+			System.Diagnostics.Process.Start("devmgmt.msc");
+		}
+
+		protected override void OnClosing(System.ComponentModel.CancelEventArgs e)
+		{
+			Settings.Default.Save();
+			base.OnClosing(e);
+		}
+
+		private void ButtonRefresh_Click(object sender, RoutedEventArgs e)
+		{
+			ports = System.IO.Ports.SerialPort.GetPortNames();
+
+			int previousIndex = comboBoxCom.SelectedIndex;
+			comboBoxCom.ItemsSource = ports;
+
+			// Select the previously selected item again.
+			if (previousIndex < 0) comboBoxCom.SelectedIndex = 0;
+			else if (previousIndex < ports.Length) comboBoxCom.SelectedIndex = previousIndex;
+			else comboBoxCom.SelectedIndex = ports.Length - 1;
+		}
+	}
 }

cprogram/demo_forward-bump-turn.igp

@@ -0,0 +1,8 @@
+LOOP 2,0,0  // Loop when the sensor Cliff Left is not detected...
+DRIVE 500,32767  // Drive forward at 50cm/s straightly 
+LOOP 0,0,0  // Loop when the sensor Bump is not detected...
+DELAY 100  // Delay for 100ms.
+END_LOOP   // Description not implemented.
+SONG 60,32,62,32,64,32,60,32,60,32,62,32,64,32,60,32,64,32,65,32,67,32  // Play a song.
+ROTATE 90  // Turn left by 90 degree(s).
+END_LOOP   // Description not implemented.

cprogram/demo_song-led.igp

@@ -0,0 +1,7 @@
+SONG 64,32,64,32,65,32,67,32,67,32,65,32,64,32,62,32,60,32,60,32,62,32,64,32,64,48,62,16,62,64  // Play a song.
+LOOP 0,0,0  // Loop when the sensor Bump is not detected...
+LED 0,255,255  // Turn off both Play LED and Advance LED.
+DELAY 500  // Delay for 500ms.
+LED 10,0,255  // Turn on both Play LED and Advance LED.
+DELAY 500  // Delay for 500ms.
+END_LOOP   // Description not implemented.

cprogram/makefile

@@ -201,7 +201,7 @@ LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
 AVRDUDE_PROGRAMMER = stk500v1
 
 # com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = COM1    # programmer connected to serial device
+AVRDUDE_PORT = 22    # programmer connected to serial device
 
 AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
 #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
@@ -245,7 +245,7 @@ DEBUG_BACKEND = avarice
 GDBINIT_FILE = __avr_gdbinit
 
 # When using avarice settings for the JTAG
-JTAG_DEV = /dev/COM1
+JTAG_DEV = /dev/22
 
 # Debugging port used to communicate between GDB / avarice / simulavr.
 DEBUG_PORT = 4242

cprogram/mc_t.c

@@ -163,6 +163,7 @@ void delay(uint16_t time_ms)
 // Delay for the specified time in ms and update sensor values
 void delaySensors(uint16_t time_ms)
 {
+  /*
   uint8_t temp;
 
   timer_on = 1;
@@ -184,6 +185,27 @@ void delaySensors(uint16_t time_ms)
       sensors_flag = 1;
     }
   }
+  */
+
+  uint8_t temp;
+
+  delay(time_ms);
+
+  // Prepare the sensor.
+  sensors_index = 0;
+  sensors_flag = 1;	  
+  byteTx(CmdSensors);
+  byteTx(0);
+
+  // Wait for the sensor.
+  while(!sensors_flag) ;
+
+  for(temp = 0; temp < Sen0Size; temp++)
+    sensors[temp] = sensors_in[temp];
+
+  // Update running totals of distance and angle
+  distance += (int)((sensors[SenDist1] << 8) | sensors[SenDist0]);
+  angle += (int)((sensors[SenAng1] << 8) | sensors[SenAng0]);
 }