private void RPLidarA3_DataResponseContentProcess_SCAN(byte[] responseData)
{
CacheBuffer.AddRange(responseData);
if (CacheBuffer.Count > 2)
{
if (CacheBuffer[0] == 0xA5 && CacheBuffer[1] == 0x5A && !isFrist)
{
CacheBuffer.RemoveAt(0);
CacheBuffer.RemoveAt(1);
isFrist = true;
}
}
CalcNum = CacheBuffer.Count / StructLen - 1;
//Debug.Log(
// "buffer.Count: " + CacheBuffer.Count +
// //" data: " + SerialCommunicationUtility.ByteToHexString(responseData) +
// " all.data:[" + SerialCommunicationUtility.ByteToHexString(CacheBuffer.ToArray()) + "]" +
// " StructLen:" + StructLen +
// " CalcNum:" + CalcNum
//);
if (CalcNum > 5)
{
CacheBufferLen = CalcNum * StructLen;
TempBuffer = CacheBuffer.GetRange(0, CacheBufferLen);
for (int i = 0; i < CalcNum; i++)
{
_res = Convert.ToInt32(SerialCommunicationUtility.BinaryConversion(TempBuffer[i * StructLen + 2], TempBuffer[i * StructLen + 1]), 16);
_angle = (_res >> 1) / 64f;
_dis = Convert.ToInt32(SerialCommunicationUtility.BinaryConversion(TempBuffer[i * StructLen + 4], TempBuffer[i * StructLen + 3]), 16) / 4f;
if (_dis > 10)
{
SerialDatas.Add(new SerialData()
{
angle = _angle, distance = _dis
});
}
}
CacheBuffer.RemoveRange(0, CacheBufferLen);
if (UpdateSerialData != null)
{
Loom.RunAsync(() =>
{
Loom.QueueOnMainThread(() =>
{
UpdateSerialData(SerialDatas);
SerialDatas.Clear();
});
});
}
}
}
/// <summary>
/// 监听给串口发的消息
/// </summary>
/// <param name="sendData"></param>
private void SerialCom_SerialPortSendMessageReportEvent(byte[] sendData)
{
string text = SerialCommunicationUtility.ByteToHexString(sendData);
Debug.Log("Message.. => " + text.ToString());
}
