private void DataReceiveHandler(object sender, SerialDataReceivedEventArgs args)
{
SerialPort port = (SerialPort)sender;
string all_str = port.ReadExisting();
port.DiscardInBuffer();
string rx_data_str = "-------";
int start_index = all_str.IndexOf('D');
if (start_index != -1 && start_index + word_length <= all_str.Length)
{
rx_data_str = all_str.Substring(start_index, word_length);
}
else
{
start_index = all_str.IndexOf('T');
if (start_index != -1 && start_index + word_length <= all_str.Length)
{
rx_data_str = all_str.Substring(start_index, word_length);
}
}
RXData board_data = RXDataParser(rx_data_str);
if (board_data.valid)
{
UpdateBoard(board_data);
}
}
public void RefreshPoint()
{
int data;
while (true)
{
// 关闭窗体时结束线程
if (leave == true)
{
break;
}
// 按钮控制运行或暂停
if (pause == false)
{
// 获取最新的数据添加到链表中
data = RXData.ReadData();
DataList.Add(data);
if (DataList.Count > SIZE)
{
DataList.RemoveAt(0);
}
// 由链表生成点集
if (DataList.Count != 0)
{
DataPoint = new Point[DataList.Count];
}
for (int i = 0; i < DataList.Count; i++)
{
// 描点 (x,y)
DataPoint[i] = new Point(i * 10, pictureBox1.Height - DataList[i] - SPACE);
}
// 刷新显示
pictureBox1.Refresh();
// 显示百分比
if (DataList.Count > 0)
{
label1.Text = DataList[DataList.Count - 1].ToString() + "%";
}
}
Thread.Sleep(400);
}
}
private void UpdateBoard(RXData board_data)
{
// verificar si el id esta en el array de ids;
int index = Array.IndexOf(ids, board_data.id);
bool valid = true;
if (index > -1)
{
if (board_data.timeout)
{
board_array[index].Enabled = false;
}
else
{
board_array[index].Enabled = true;
switch (board_data.angle)
{
case AngleType.ROLL_DATA:
board_array[index].Roll = board_data.sign * board_data.value;
break;
case AngleType.PITCH_DATA:
board_array[index].Pitch = board_data.sign * board_data.value;
break;
case AngleType.YAW_DATA:
board_array[index].Yaw = board_data.sign * board_data.value;
break;
default:
valid = false;
break;
}
}
must_redraw = valid;
index_to_draw = index;
}
}
private RXData RXDataParser(string rx_data)
{
// verifiar que tenga length adecuado:
RXData ret = new RXData();
bool valid = true;
valid = (rx_data.Length == word_length);
ret.value = 0;
ret.angle = AngleType.ROLL_DATA;
ret.valid = false;
if (valid)
{
if (rx_data[0] == data_char)
{
if (rx_data[1] >= '0' && rx_data[1] <= '7')
{
ret.id = rx_data[1];
int value = 0;
try {
value = Convert.ToInt32(rx_data.Substring(4, 3));
} catch {
valid = false;
}
if ((value <= 180 && value >= -180) && valid)
{
ret.value = value;
switch (rx_data[2])
{
case 'R':
ret.angle = AngleType.ROLL_DATA;
break;
case 'C':
ret.angle = AngleType.PITCH_DATA;
break;
case 'O':
ret.angle = AngleType.YAW_DATA;
break;
default:
valid = false;
break;
}
if (rx_data[3] == '+' || rx_data[3] == '-')
{
ret.sign = (rx_data[3] == '+') ? 1 : -1;
ret.valid = valid;
}
else
{
valid = false;
}
}
else
{
valid = false;
}
}
else
{
valid = false;
}
}
else if (rx_data[0] == timeout_char)
{
ret.timeout = true;
if (rx_data[1] >= '0' && rx_data[1] <= '7')
{
ret.id = rx_data[1];
}
else
{
valid = false;
}
}
else
{
valid = false;
}
}
else
{
valid = false;
}
ret.valid = valid;
return(ret);
}
