protected virtual void OnxIMUdataRead(xIMUdata e)
{
if (xIMUdataRead != null)
{
xIMUdataRead(this, e);
}
}
protected virtual void OnxIMUdataReceived(xIMUdata e) { if (xIMUdataReceived != null) xIMUdataReceived(this, e); }
/// <summary>
/// Decodes a complete packet
/// </summary>
/// <param name="packet"></param>
public void DecodePacket(byte[] packet)
{
xIMUdata dataObject = null;
try
{
dataObject = PacketConstruction.DeconstructPacket(packet);
}
catch
{
ReadErrors++; // invalid packet
}
if (dataObject != null) // if packet successfully deconstructed
{
OnxIMUdataRead(dataObject);
if (dataObject is ErrorData)
{
OnErrorDataRead((ErrorData)dataObject); PacketsReadCounter.ErrorPackets++;
}
else if (dataObject is CommandData)
{
OnCommandDataRead((CommandData)dataObject); PacketsReadCounter.CommandPackets++;
}
else if (dataObject is RegisterData)
{
OnRegisterDataRead((RegisterData)dataObject); PacketsReadCounter.WriteRegisterPackets++;
}
else if (dataObject is DateTimeData)
{
OnDateTimeDataRead((DateTimeData)dataObject); PacketsReadCounter.WriteDateTimePackets++;
}
else if (dataObject is RawBatteryAndThermometerData)
{
OnRawBatteryAndThermometerDataRead((RawBatteryAndThermometerData)dataObject); PacketsReadCounter.RawBatteryAndThermometerDataPackets++;
}
else if (dataObject is CalBatteryAndThermometerData)
{
OnCalBatteryAndThermometerDataRead((CalBatteryAndThermometerData)dataObject); PacketsReadCounter.CalBatteryAndThermometerDataPackets++;
}
else if (dataObject is RawInertialAndMagneticData)
{
OnRawInertialAndMagneticDataRead((RawInertialAndMagneticData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalInertialAndMagneticData)
{
OnCalInertialAndMagneticDataRead((CalInertialAndMagneticData)dataObject); PacketsReadCounter.CalInertialAndMagneticDataPackets++;
}
else if (dataObject is QuaternionData)
{
OnQuaternionDataRead((QuaternionData)dataObject); PacketsReadCounter.QuaternionDataPackets++;
}
else if (dataObject is DigitalIOdata)
{
OnDigitalIODataRead((DigitalIOdata)dataObject); PacketsReadCounter.DigitalIOdataPackets++;
}
else if (dataObject is RawAnalogueInputData)
{
OnRawAnalogueInputDataRead((RawAnalogueInputData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalAnalogueInputData)
{
OnCalAnalogueInputDataRead((CalAnalogueInputData)dataObject); PacketsReadCounter.CalAnalogueInputDataPackets++;
}
else if (dataObject is PWMoutputData)
{
OnPWMoutputDataRead((PWMoutputData)dataObject); PacketsReadCounter.PWMoutputDataPackets++;
}
else if (dataObject is RawADXL345busData)
{
OnRawADXL345busDataRead((RawADXL345busData)dataObject); PacketsReadCounter.RawADXL345busDataPackets++;
}
else if (dataObject is CalADXL345busData)
{
OnCalADXL345busDataRead((CalADXL345busData)dataObject); PacketsReadCounter.CalADXL345busDataPackets++;
}
}
}
/// <summary>
/// Data received event to decode packet and call associated data object received event. Decoding exceptions handled and ignored.
/// </summary>
private void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
int numBytesRead;
byte[] serialBuffer;
// Fetch bytes from serial buffer
try
{
numBytesRead = serialPort.BytesToRead; // get the number of bytes in the serial buffer
serialBuffer = new byte[numBytesRead]; // local array to hold bytes in the serial buffer
serialPort.Read(serialBuffer, 0, numBytesRead); // transfer bytes
}
catch
{
return; // return on exception; e.g. serial port closed unexpectedly
}
// Process each byte one-by-one
for (int i = 0; i < numBytesRead; i++)
{
receiveBuffer[receiveBufferIndex++] = serialBuffer[i]; // add new byte to buffer
if ((serialBuffer[i] & 0x80) == 0x80) // if new byte was packet framing char
{
xIMUdata dataObject = null;
try
{
byte[] encodedPacket = new byte[receiveBufferIndex];
Array.Copy(receiveBuffer, encodedPacket, encodedPacket.Length);
dataObject = PacketConstruction.DeconstructPacket(encodedPacket);//解码
}
catch
{
ReceptionErrors++; // invalid packet
}
if (dataObject != null) // if packet successfully deconstructed
{
OnxIMUdataReceived(dataObject);
if (dataObject is ErrorData)
{
OnErrorDataReceived((ErrorData)dataObject); PacketsReadCounter.ErrorPackets++;
}
else if (dataObject is CommandData)
{
OnCommandDataReceived((CommandData)dataObject); PacketsReadCounter.CommandPackets++;
}
else if (dataObject is RegisterData)
{
OnRegisterDataReceived((RegisterData)dataObject); PacketsReadCounter.WriteRegisterPackets++;
}
else if (dataObject is DateTimeData)
{
OnDateTimeDataReceived((DateTimeData)dataObject); PacketsReadCounter.WriteDateTimePackets++;
}
else if (dataObject is RawBatteryAndThermometerData)
{
OnRawBatteryAndThermometerDataReceived((RawBatteryAndThermometerData)dataObject); PacketsReadCounter.RawBatteryAndThermometerDataPackets++;
}
else if (dataObject is CalBatteryAndThermometerData)
{
OnCalBatteryAndThermometerDataReceived((CalBatteryAndThermometerData)dataObject); PacketsReadCounter.CalBatteryAndThermometerDataPackets++;
}
else if (dataObject is RawInertialAndMagneticData)
{
OnRawInertialAndMagneticDataReceived((RawInertialAndMagneticData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalInertialAndMagneticData)
{
OnCalInertialAndMagneticDataReceived((CalInertialAndMagneticData)dataObject);
PacketsReadCounter.CalInertialAndMagneticDataPackets++;
}
else if (dataObject is QuaternionData)
{
OnQuaternionDataReceived((QuaternionData)dataObject); PacketsReadCounter.QuaternionDataPackets++;
}
else if (dataObject is DigitalIOdata)
{
OnDigitalIODataReceived((DigitalIOdata)dataObject); PacketsReadCounter.DigitalIOdataPackets++;
}
else if (dataObject is RawAnalogueInputData)
{
OnRawAnalogueInputDataReceived((RawAnalogueInputData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalAnalogueInputData)
{
OnCalAnalogueInputDataReceived((CalAnalogueInputData)dataObject); PacketsReadCounter.CalAnalogueInputDataPackets++;
}
else if (dataObject is PWMoutputData)
{
OnPWMoutputDataReceived((PWMoutputData)dataObject); PacketsReadCounter.PWMoutputDataPackets++;
}
else if (dataObject is RawADXL345busData)
{
OnRawADXL345busDataReceived((RawADXL345busData)dataObject); PacketsReadCounter.RawADXL345busDataPackets++;
}
else if (dataObject is CalADXL345busData)
{
OnCalADXL345busDataReceived((CalADXL345busData)dataObject); PacketsReadCounter.CalADXL345busDataPackets++;
}
//csvfileWriter.WriteData(dataObject);
}
receiveBufferIndex = 0; // reset buffer.
}
}
}
/// <summary>
/// Write <see cref="xIMUdata"/> object to appropriate CSV file. Will create new file if required.
/// </summary>
/// <param name="xIMUdataObject">
/// x-IMU data object.
/// </param>
public void WriteData(xIMUdata xIMUdataObject)
{
if (xIMUdataObject is ErrorData)
{
WriteErrorData((ErrorData)xIMUdataObject);
}
else if (xIMUdataObject is CommandData)
{
WriteCommandData((CommandData)xIMUdataObject);
}
else if (xIMUdataObject is RegisterData)
{
WriteRegisterData((RegisterData)xIMUdataObject);
}
else if (xIMUdataObject is DateTimeData)
{
WriteDateTimeData((DateTimeData)xIMUdataObject);
}
else if (xIMUdataObject is RawBatteryAndThermometerData)
{
WriteRawBatteryAndThermometerData((RawBatteryAndThermometerData)xIMUdataObject);
}
else if (xIMUdataObject is CalBatteryAndThermometerData)
{
WriteCalBatteryAndThermometerData((CalBatteryAndThermometerData)xIMUdataObject);
}
else if (xIMUdataObject is RawInertialAndMagneticData)
{
WriteRawInertialAndMagneticData((RawInertialAndMagneticData)xIMUdataObject);
}
else if (xIMUdataObject is CalInertialAndMagneticData)
{
WriteCalInertialAndMagneticData((CalInertialAndMagneticData)xIMUdataObject);
}
else if (xIMUdataObject is QuaternionData)
{
WriteQuaternionData((QuaternionData)xIMUdataObject);
}
else if (xIMUdataObject is DigitalIOdata)
{
WriteDigitalIOdata((DigitalIOdata)xIMUdataObject);
}
else if (xIMUdataObject is RawAnalogueInputData)
{
WriteRawAnalogueInputData((RawAnalogueInputData)xIMUdataObject);
}
else if (xIMUdataObject is CalAnalogueInputData)
{
WriteCalAnalogueInputData((CalAnalogueInputData)xIMUdataObject);
}
else if (xIMUdataObject is PWMoutputData)
{
WritePWMoutputData((PWMoutputData)xIMUdataObject);
}
else if (xIMUdataObject is RawADXL345busData)
{
WriteRawADXL345busData((RawADXL345busData)xIMUdataObject);
}
else if (xIMUdataObject is CalADXL345busData)
{
WriteCalADXL345busData((CalADXL345busData)xIMUdataObject);
}
else
{
throw new Exception("xIMUdata object unhandled.");
}
}
/// <summary>
/// Write <see cref="xIMUdata"/> object to appropriate CSV file. Will create new file if required.
/// </summary>
/// <param name="xIMUdataObject">
/// x-IMU data object.
/// </param>
public void WriteData(xIMUdata xIMUdataObject)
{
if (xIMUdataObject is ErrorData) WriteErrorData((ErrorData)xIMUdataObject);
else if (xIMUdataObject is CommandData) WriteCommandData((CommandData)xIMUdataObject);
else if (xIMUdataObject is RegisterData) WriteRegisterData((RegisterData)xIMUdataObject);
else if (xIMUdataObject is DateTimeData) WriteDateTimeData((DateTimeData)xIMUdataObject);
else if (xIMUdataObject is RawBatteryAndThermometerData) WriteRawBatteryAndThermometerData((RawBatteryAndThermometerData)xIMUdataObject);
else if (xIMUdataObject is CalBatteryAndThermometerData) WriteCalBatteryAndThermometerData((CalBatteryAndThermometerData)xIMUdataObject);
else if (xIMUdataObject is RawInertialAndMagneticData) WriteRawInertialAndMagneticData((RawInertialAndMagneticData)xIMUdataObject);
else if (xIMUdataObject is CalInertialAndMagneticData) WriteCalInertialAndMagneticData((CalInertialAndMagneticData)xIMUdataObject);
else if (xIMUdataObject is QuaternionData) WriteQuaternionData((QuaternionData)xIMUdataObject);
else if (xIMUdataObject is DigitalIOdata) WriteDigitalIOdata((DigitalIOdata)xIMUdataObject);
else if (xIMUdataObject is RawAnalogueInputData) WriteRawAnalogueInputData((RawAnalogueInputData)xIMUdataObject);
else if (xIMUdataObject is CalAnalogueInputData) WriteCalAnalogueInputData((CalAnalogueInputData)xIMUdataObject);
else if (xIMUdataObject is PWMoutputData) WritePWMoutputData((PWMoutputData)xIMUdataObject);
else if (xIMUdataObject is RawADXL345busData) WriteRawADXL345busData((RawADXL345busData)xIMUdataObject);
else if (xIMUdataObject is CalADXL345busData) WriteCalADXL345busData((CalADXL345busData)xIMUdataObject);
else
{
throw new Exception("xIMUdata object unhandled.");
}
}
/// <summary>
/// Reads file. Interpreted packets are provided in individual events.
/// </summary>
/// <param name="isAsync">
/// Enables OnAsyncReadProgressChanged event for use when called within background worker.
/// </param>
private void DoRead(bool isAsync)
{
int previousProgressPercentage = 0;
byte[] readBuffer = new byte[256];
byte readBufferIndex = 0;
// Read the source file into a byte array.
byte[] fileBuffer = new byte[fileStream.Length];
int numBytesToRead = (int)fileStream.Length;
int numBytesRead = 0;
if (isAsync)
{
OnAsyncReadProgressChanged(new AsyncReadProgressChangedEventArgs(0, "Reading file..."));
}
while (numBytesToRead > 0)
{
int n = fileStream.Read(fileBuffer, numBytesRead, numBytesToRead); // Read may return anything from 0 to numBytesToRead.
if (n == 0)
{
break; // Break when the end of the file is reached.
}
numBytesRead += n;
numBytesToRead -= n;
}
// Process each byte one-by-one
for (int i = 0; i < numBytesRead; i++)
{
if (isAsync)
{
int newProgressPercentage = (int)(Math.Round(100d * ((double)i / (double)numBytesRead)));
if (backgroundWorker.CancellationPending)
{
break;
}
if (newProgressPercentage != previousProgressPercentage)
{
OnAsyncReadProgressChanged(new AsyncReadProgressChangedEventArgs(newProgressPercentage, "Processed " + string.Format("{0:n0}", i / 1024) + " KB of " + string.Format("{0:n0}", numBytesRead / 1024) + " KB"));
previousProgressPercentage = newProgressPercentage;
}
}
// Process byte
readBuffer[readBufferIndex++] = fileBuffer[i]; // add to buffer
if ((fileBuffer[i] & 0x80) == 0x80) // if packet framing char
{
xIMUdata dataObject = null;
try
{
byte[] encodedPacket = new byte[readBufferIndex];
Array.Copy(readBuffer, encodedPacket, encodedPacket.Length);
dataObject = PacketConstruction.DeconstructPacket(encodedPacket);
}
catch
{
ReadErrors++; // invalid packet
}
if (dataObject != null) // if packet successfully deconstructed
{
OnxIMUdataRead(dataObject);
if (dataObject is ErrorData)
{
OnErrorDataRead((ErrorData)dataObject); PacketsReadCounter.ErrorPackets++;
}
else if (dataObject is CommandData)
{
OnCommandDataRead((CommandData)dataObject); PacketsReadCounter.CommandPackets++;
}
else if (dataObject is RegisterData)
{
OnRegisterDataRead((RegisterData)dataObject); PacketsReadCounter.WriteRegisterPackets++;
}
else if (dataObject is DateTimeData)
{
OnDateTimeDataRead((DateTimeData)dataObject); PacketsReadCounter.WriteDateTimePackets++;
}
else if (dataObject is RawBatteryAndThermometerData)
{
OnRawBatteryAndThermometerDataRead((RawBatteryAndThermometerData)dataObject); PacketsReadCounter.RawBatteryAndThermometerDataPackets++;
}
else if (dataObject is CalBatteryAndThermometerData)
{
OnCalBatteryAndThermometerDataRead((CalBatteryAndThermometerData)dataObject); PacketsReadCounter.CalBatteryAndThermometerDataPackets++;
}
else if (dataObject is RawInertialAndMagneticData)
{
OnRawInertialAndMagneticDataRead((RawInertialAndMagneticData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalInertialAndMagneticData)
{
OnCalInertialAndMagneticDataRead((CalInertialAndMagneticData)dataObject); PacketsReadCounter.CalInertialAndMagneticDataPackets++;
}
else if (dataObject is QuaternionData)
{
OnQuaternionDataRead((QuaternionData)dataObject); PacketsReadCounter.QuaternionDataPackets++;
}
else if (dataObject is DigitalIOdata)
{
OnDigitalIODataRead((DigitalIOdata)dataObject); PacketsReadCounter.DigitalIOdataPackets++;
}
else if (dataObject is RawAnalogueInputData)
{
OnRawAnalogueInputDataRead((RawAnalogueInputData)dataObject); PacketsReadCounter.RawInertialAndMagneticDataPackets++;
}
else if (dataObject is CalAnalogueInputData)
{
OnCalAnalogueInputDataRead((CalAnalogueInputData)dataObject); PacketsReadCounter.CalAnalogueInputDataPackets++;
}
else if (dataObject is PWMoutputData)
{
OnPWMoutputDataRead((PWMoutputData)dataObject); PacketsReadCounter.PWMoutputDataPackets++;
}
else if (dataObject is RawADXL345busData)
{
OnRawADXL345busDataRead((RawADXL345busData)dataObject); PacketsReadCounter.RawADXL345busDataPackets++;
}
else if (dataObject is CalADXL345busData)
{
OnCalADXL345busDataRead((CalADXL345busData)dataObject); PacketsReadCounter.CalADXL345busDataPackets++;
}
}
readBufferIndex = 0; // reset buffer.
}
}
}
