C# Serial Recive '& Send RTK IMUdata LOGGING

STA23_Monitor_dgv_rev12.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;
using System.IO;
using static System.Windows.Forms.LinkLabel;
using System.Diagnostics;


namespace STA23_Monitor_dgv_rev12
{
    public partial class Form1 : Form
    {

        // Stopwatchクラス生成
       Stopwatch  sw = new System.Diagnostics.Stopwatch();
        int i;
        static int mcount,tset;
        static string fnstrng;
        static int dcount;
        static string key;
        static int stop_rcv;
        static int itow0, itow0_1;
         
        static int itowmiss;
        static int ordererror;
        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();
            radioButton1.Checked = true;
           

        }

        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();
            sw.Start();
            // LOG FILE NAME
            //Filename Timestamp
            DateTime dt = DateTime.Now;
            string fn = dt.ToString($"{dt:MMddHHmmss}");
            fnstrng = "c:/RTK_Log/mon_"+ portComboBox.Text+"_" + fn + ".csv";
            textBox3.Text = fnstrng;
        }

        public static  bool isDataReceivedBusy ;
        private void Form1_Load(object sender, EventArgs e)
        {
            this.Text = "STA23_Monitor_dgv_rev12";
            tset = 0;
            stop_rcv = 0;
            key = " ";
            label1.Text = "t1200_Mode";
            string[] ports = SerialPort.GetPortNames();
            foreach (string port in ports)
            {
                portComboBox.Items.Add(port);
            }
            if (portComboBox.Items.Count > 0)
            { portComboBox.SelectedIndex = 0; }

        }
        //
        static async void Delay(int n)
        {
                await Task.Delay(n);//msec delay
       
        }


        delegate void DataDelegate(string sdata);
        //=================printdata 内でデータ処理================================
        private void printdata(string text)
        {
           //Debug.Print("Busy false=" + sw.ElapsedMilliseconds.ToString());
            isDataReceivedBusy = false;
            Debug.Print("[printdata IN]" + text );
            if(textBox2.Text=="[s]")
            {
                richTextBox5.ScrollToCaret();
                richTextBox5.AppendText(text);
            }
            //split itow check
            if (text.Length > 3)
            {
                char[] c0 = text.ToCharArray();
                if (c0[1] != '[' && c0[1]!='+' )
                {
                    ordererror = 1;
                    label3.Text = "ORDER ERROR:c0[1]=" + c0[1];
                    Debug.Print("ORDER ERROR:c0[1]=" + c0[1]);
                }
                else if (c0[1] == '[')
                {
                    ordererror = 0;
                    if (c0[2] == 'B' && c0[3] == 'a')
                    {
                        string[] text1 = text.Split(',');
                        dcount++;
                        itow0_1 = itow0;
                        itow0 = Convert.ToInt32(text1[1]);
                        
                        Debug.Print("<<itow0-itow0_1=" + (itow0 - itow0_1).ToString()+">>");
                        int sa = itow0 - itow0_1;
                        if (sa>110 && sa<130 )
                        {
                            label1.Text="t120_Stop";
                        }
                        else if(sa>1100)
                        {
                            label1.Text = "t1200_Mode";
                        }
                        else
                        {
                            itowmiss++;
                        }
                        textBox1.Text ="itow="+ text1[1] + ":itowmiss=" + itowmiss.ToString()+":dcount="+dcount.ToString();
                    }
                }
            }
            // Debug.Print("printdataIn="+sw.ElapsedMilliseconds.ToString());
          
           // if (dcount % 10 == 0)
            //{ 
             //   label2.Text = dcount.ToString();
           // }
            //text = text.Remove(0, 1);
            List<string> lines = new List<string>();
            lines.Add(text);
            File.AppendAllLines(@fnstrng, lines, Encoding.GetEncoding("shift-jis"));
            if (ordererror == 0 )
            {
                if (radioButton1.Checked == true && itow0 - itow0_1 > 1100 )
                {
                    richTextBox1.ScrollToCaret();
                    richTextBox2.ScrollToCaret();
                    richTextBox3.ScrollToCaret();
                    richTextBox4.ScrollToCaret();
                    richTextBox5.ScrollToCaret();
                    //richTextBox1.AppendText(text);
                    string[] text1 = text.Split('[');
                    Debug.Print(">>>>>>>>>>>text1[0]=" + text1[0] + "text1[1]=" + text1[1]);
                    char[] c = text1[1].ToCharArray();

                    Debug.Print("c[0]=" + Convert.ToInt32(c[0]) + "c[1]=" + Convert.ToInt32(c[1]) + "c[2]=" + c[2]);
                    if (c[0] == 'm' || c[0] == 'p' || c[0] == 's' )
                    {
                        richTextBox1.AppendText(text);
                        mcount++;
                    }

                    if ( c[0] == 'B' && c[1] == 'a')
                    {
                        richTextBox2.AppendText(text);
                    }
                    if (c[0] == 'R' && c[1] == 'o')
                    {
                        richTextBox3.AppendText(text);
                    }
                    if ( c[0] == 'B' && c[1] == 'N' || textBox2.Text == "[d]")
                    {
                        richTextBox4.AppendText(text);
                    }
                    if (c[0] == '<' || c[1] == '<')
                    {
                        richTextBox5.AppendText(text);
                    }

                }

            }
            else if(textBox2.Text=="[d]")
            {
                richTextBox4.ScrollToCaret();
                richTextBox4.AppendText(text);
            }
           //if (key != " ")
            //{
            //    serialPort1.Write(key);
            //    key = " ";
            //}
            //Delay();
        }


        // -------------------Serial受信部--------------------------------------------------
        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            if (stop_rcv == 0)
            {
             Debug.Print("DataRecived=" + sw.ElapsedMilliseconds.ToString());
             // フラグを設定する
             isDataReceivedBusy = true;
             string str = serialPort1.ReadLine();
            
            DataDelegate a = new DataDelegate(printdata);
             BeginInvoke(a, str);
            }

        }
        //-----------------------------------------------------------------------------------
        

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

        private void button6_Click(object sender, EventArgs e)
        {
            // textBox2.Text = "a";
            Debug.Print("------------PUSH a");
            //if (serialPort1.IsOpen)
            Debug.Print("--------------aPushed=" + sw.ElapsedMilliseconds.ToString());
            if (isDataReceivedBusy==false)
            {
                serialPort1.Write("a");
                Debug.Print("-------------aSent=" + sw.ElapsedMilliseconds.ToString());
                key = "a";
                textBox2.Text = "[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");
                key = "s";
                textBox2.Text = "[s]";
            }
           
        }

        private void textBox1_TextChanged(object sender, EventArgs e)
        {

        }

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


        private void button8_KeyDown(object sender, KeyEventArgs e)
        {

        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox1.Checked== true)
            {
                stop_rcv = 1;
            }
            else
            {
                stop_rcv = 0;
            }
        }

        // 't' push
        private void button8_Click(object sender, EventArgs e)
        {
          
            //label1.Text = "tPushed";
            Debug.Print("------------tPushed=" + sw.ElapsedMilliseconds.ToString());
            if (!isDataReceivedBusy)
            {
                serialPort1.Write("t");
                Debug.Print("----------------tSent=" + sw.ElapsedMilliseconds.ToString());
                key = "t";
                //Delay();
                textBox2.Text = "[t]";
                if (tset <= 1)
              {
                        tset = 10;
                   // label1.Text = "t120_Stop";
                    dcount = 0;
              }
              else
              {
                    
                    tset = 0;
                      // label1.Text = "t1200_Mode";
              }

                
            }
        }
    }
}