void serial_DataReceived(object sender, SerialDataReceivedEventArgs e) //Serial 받는 부분
{
int intRecSize = serial.BytesToRead;
if (intRecSize != 0)
{
try
{
for (int i = 0; i < serial.BytesToRead; i++)
{
RecvDataList.Add((Byte)serial.ReadByte());
}
}
catch { }
}
}
public void process_Soft()
{
for (;;)
{
if (RecvDataList.Count < 10)
{
continue;
}
int bufferlen = RecvDataList.Count;
byte[] BtData = new byte[bufferlen];
RecvDataList.CopyTo(0, BtData, 0, bufferlen);
// size 가 500mb 보다 클시
if (flag_save == true)
{
string ff = Save_Path + name + ".txt";
var info = new FileInfo(ff);
if (info.Length >= 500000) // 변경할것
{
file.Close();
name2 = Regex.Replace(name, @"[\d-]", string.Empty);
file_num++; // file numbering
name = name2 + Convert.ToString(file_num);
file = new System.IO.StreamWriter(Save_Path + name + ".txt", append: true); // 저장 경로
}
}
if (flag_save == true)
{
for (int i = 0; i < bufferlen; i++)
{
file.WriteLine("{0}", BtData[i]);
}
}
RecvDataList.RemoveRange(0, bufferlen);
}
}
public void processMain()
{
for (;;)
{
if (RecvDataList.Count < 70)
{
continue;
}
if (!(RecvDataList[0] == 0xFF && RecvDataList[1] == 0xFF)) //FF, FF 확인
{
RecvDataList.RemoveRange(0, 1); //FF, FF전 데이터삭제
continue;
}
else if (RecvDataList[0] == 0xFF && RecvDataList[1] == 0xFF)
{
if (RecvDataList[bufferlength - 2] == 0xFF && RecvDataList[bufferlength - 1] == 0xFE) //FF, FE 확인
{
RecvDataList.CopyTo(0, Rec_Check, 0, bufferlength);
byte[] crc_cal = new byte[bufferlength - 6];
Array.Copy(Rec_Check, 2, crc_cal, 0, bufferlength - 6);
Crc = crc.ComputeHash(crc_cal);
if (Crc[Crc.Length - 2] != Rec_Check[66] || Crc[Crc.Length - 1] != Rec_Check[67])
{
RecvDataList.RemoveRange(0, bufferlength - 1);
continue;
}
//data parse :
for (int i = 0; i < 11; i++)
{
int k = 2 * i;
Tempo_FSR[i] = (Rec_Check[2 + k] << 8) + Rec_Check[3 + k]; // TMR + FSR
if (flag_save == true)
{
try
{
file.Write("{0}", Tempo_FSR[i]);
file.Write(",");
}
catch {}
}
}
//uwb hex to short
// uwb 1 : range , power + uwb 2 : range , power
for (int i = 0; i < 12; i++)
{
int k = 2 * i;
Tempo_UWB[i] = (short)((Rec_Check[24 + k] << 8) + Rec_Check[25 + k]); // UWB
if (flag_save == true)
{
try
{
file.Write("{0}", Tempo_UWB[i]);
file.Write(",");
}
catch { }
}
}
//Imu data int
// uwb 1 : range , power + uwb 2 : range , power
for (int i = 0; i < 9; i++)
{
int k = 2 * i;
Tempo_IMU[i] = (Rec_Check[48 + k] << 8) + Rec_Check[49 + k]; // IMU
if (flag_save == true)
{
try
{
file.Write("{0}", Tempo_IMU[i]);
if (i == 8)
{
//file.Write(";");
file.Write("\n");
}
else
{
file.Write(",");
}
}
catch { }
}
}
try
{
RecvDataList.RemoveRange(0, bufferlength - 1);
}
catch { }
}
else
{
RecvDataList.RemoveRange(0, bufferlength - 1); // 데이터 모두삭제
continue;
}
}
}
}
