public bool TryReadSerialHeader(SerialPort serial, ref SerialHeader header)
{
if (!serial.IsNotNullAndOpened())
{
return(false);
}
var buf = new byte[SerialHeaderDef.HeaderLength];
if (serial.Read(buf, 0, SerialHeaderDef.HeaderLength) != SerialHeaderDef.HeaderLength)
{
return(false);
}
header = new SerialHeader(buf);
return(true);
}
void SerialRecieveLoop()
{
SerialHeader header = default;
AxisOrangeData data = default;
AxisOrangeButton button = default;
while (serialDevice.IsNotNullAndOpened())
{
// serial read
if (serialDevice.BytesToRead >= SerialHeaderDef.HeaderLength &&
serialReader.TryReadSerialHeader(serialDevice, ref header))
{
if (header.dataId == SerialHeaderDef.ImuDataId)
{
if (serialReader.TryReadImuData(serialDevice, header.dataLength, ref data))
{
OnSensorDataUpdate.Invoke(data);
}
}
else if (header.dataId == SerialHeaderDef.ButtonDataId)
{
if (serialReader.TryReadButtonData(serialDevice, header.dataLength, ref button))
{
OnSensorButtonUpdate.Invoke(button);
}
}
else
{
// Do Nothing
}
}
// finish loop?
if (isListening)
{
System.Threading.Thread.Sleep(1);
}
else
{
break;
}
}
}
