C# SerialTest Recive & Send flag

STA23_SerialTest_rev02.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO.Ports;
using System.Diagnostics;
using static System.Net.Mime.MediaTypeNames;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using System.Threading;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.ToolBar;

namespace STA23_SerialTest_rev02
{
    public partial class Form1 : Form
    {
        int i;
       public struct rdata
        {
            public string[] lines;
            public string[] sline;
            public string[] sline1;
            public string[] sline2;
            public string[] sline3;
            public string[] sline4;

            public string itowB;
        }
        static rdata r;
        public Form1()
        {
            InitializeComponent();

        }

        private void button1_Click(object sender, EventArgs e)
        {
            serialPort1.BaudRate = 115200;
            serialPort1.Parity = Parity.None;
            serialPort1.DataBits = 8;
            serialPort1.StopBits = StopBits.One;
            serialPort1.Handshake = Handshake.None;
            serialPort1.PortName = portComboBox.Text;
            serialPort1.Open();
        }

        public static bool isDataReceivedBusy ;
        private void Form1_Load(object sender, EventArgs e)
        {
            this.Text = "STA23_Serial_Test_rev02";
            string[] ports = SerialPort.GetPortNames();
            foreach (string port in ports)
            {
                portComboBox.Items.Add(port);
            }
            if (portComboBox.Items.Count > 0)
                portComboBox.SelectedIndex = 0;
        }

        

        delegate void DataDelegate(string sdata);
        //=================printdata 内でデータ処理================================
        private void printdata(string text)
        {
            Debug.Print("[printdata IN]"+text);
            richTextBox1.AppendText(text);
            if (text.IndexOf('[') > 0)
            {
                r.lines = text.Split('[');
                Debug.Print("lines=" + r.lines[1]);

                if (r.lines.Length > 0)
                {
                    r.sline = r.lines[1].Split(',');
                    Debug.Print("sline=" + r.sline[1]);
                    if (r.sline.Length>0)
                    {
                        if (r.sline[0] == "m]" || r.sline[0] == "p]" || r.sline[0] == "s]")
                        {
                            r.sline1 = r.sline;
                            Debug.Print("sline1=" + r.sline1[1]);
                            inputtbox1(r.sline1);
                            textBox2.Text = "[" + r.sline1[0];
                        }

                        if (r.sline[0] == "Base]")
                        {
                            r.sline2 = r.sline;
                            Debug.Print("sline2=" + r.sline2[1]);
                            inputtbox2(r.sline2);
                        }

                        if (r.sline[0] == "Rover]")
                        {
                            r.sline3 = r.sline;
                             Debug.Print("sline3=" + r.sline3[1]);
                        }

                        if (r.sline[0] == "BNO]")
                        {
                            r.sline4 = r.sline;
                            Debug.Print("sline4=" + r.sline4[1]);
                        }
                    }
                }
            }
            isDataReceivedBusy = false;
        }


        // -------------------Serial受信部--------------------------------------------------
        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            // フラグを設定する
            isDataReceivedBusy = true;
            string str = serialPort1.ReadLine();
            DataDelegate a = new DataDelegate(printdata);
            BeginInvoke(a, str);
            
        }
        //-----------------------------------------------------------------------------------
        //[m]:md,flagsB,flagsR,pdopB,pdopR,haccB,haccR,miscount0,misflags,count_upB-count_upB0,tp,tp0
        //[Base]:itowB,NYB,EXB,DZB,gSpeedB,headMotB)
        //[Rover]:itowR,NYR,EXR,DZR,gSpeedR,mHead,bnHosei+eX[0],relLm);
        //[BNO]:eX[0],eY[0],eZ[0],laX[0],laY[0],laZ[0],grX[0],grY[0],grZ[0]);
        private void inputtbox1(string[] s)//[m]行入力 textBox3-11
        {
            textBox3.Text = s[1];//flagsB
            textBox4.Text = s[2];//flagsR
            textBox5.Text = s[5];//haccB
            textBox6.Text = s[6];//haccR
            textBox7.Text = s[7];//miscount
            textBox8.Text = s[8];//misflags
            textBox9.Text = s[9];//coutn_upB

        }

        private void inputtbox2(string[] s)//[Base]行入力 textBox3-11
        {
            textBox11.Text = s[1];//itowB
            textBox12.Text = s[2];//NYB
            textBox13.Text = s[3];//EXB
            textBox14.Text = s[4];//DZR
            textBox15.Text = s[5];//gSpeed
            textBox16.Text = s[6];//headMotB
            

        }


        private void button2_Click(object sender, EventArgs e)
        {

        }

        private void button3_Click(object sender, EventArgs e)
        {
            serialPort1.Close();
        }

        private void button4_Click(object sender, EventArgs e)
        {
           // textBox2.Text = "p";
            Debug.Print("PUSH p");
            if (isDataReceivedBusy==false)
            {
                serialPort1.Write("p");
            }
            
        }

        private void button5_Click(object sender, EventArgs e)
        {
            //textBox2.Text = "d";
            Debug.Print("PUSH d");
            // if (serialPort1.IsOpen)
            if (isDataReceivedBusy==false)
                {
                        serialPort1.Write("d");
                textBox2.Text = "[d]";
                }
            
        }

        private void button6_Click(object sender, EventArgs e)
        {
           // textBox2.Text = "a";
            Debug.Print("PUSH a");
            //if (serialPort1.IsOpen)
            if (isDataReceivedBusy==false)
            {
                serialPort1.Write("a");
            }
           
        }

        private void button2_Click_1(object sender, EventArgs e)
        {
          //  textBox2.Text = "s";
            Debug.Print("PUSH s");
            // if (serialPort1.IsOpen)
            if (!isDataReceivedBusy)
            {
                serialPort1.Write("s");
            }
           
        }

        private void textBox1_TextChanged(object sender, EventArgs e)
        {

        }

        private void button7_Click(object sender, EventArgs e)
        {
            textBox2.Text = "";
        }
    }
}