public ringBuffer()
{
data = new vector3d[SIZE];
for (int i = 0; i < SIZE; i++)
{
data[i] = new vector3d();
}
}
public vector3d[] getCopy()
{
vector3d[] copy = new vector3d[SIZE];
int h = head;
for (int i = 0; i < SIZE; i++)
{
copy[i] = data[h++];
h %= SIZE;
}
return(copy);
}
static void dataRecived(object sender, SerialDataReceivedEventArgs e)
{
lock (srp)
{
if (IGNORE)
{
while (srp.BytesToRead > 0)
{
srp.ReadByte();
}
return;
}
while (srp.ReadByte() != 0xff)
{
;
}
while (srp.BytesToRead < 12)
{
;
}
// while (srp.BytesToRead > 11)
lock (stk)
{
vector3d V = new vector3d();
byte[] data = new byte[12];
srp.Read(data, 0, 12);
V.x = BitConverter.ToSingle(data, 0);
V.y = BitConverter.ToSingle(data, 4);
V.z = BitConverter.ToSingle(data, 8);
V.x /= 1600;
V.y /= 1600;
V.z /= 1600;
stk.add(V);
if (!SIGNAL && !READY_READ && (abs(V.x) > 2.3 || abs(V.y) > 2.3 || abs(V.z) > 2.3))
{
SO_POWERFUL = false;
SIGNAL = true;
Co = 0;
}
if (SIGNAL)
{
if (abs(V.x) > 9 || abs(V.y) > 9 || abs(V.z) > 9)
{
SO_POWERFUL = true;
}
Co += 1;
if (Co >= 71)
{
READY_READ = true && !SO_POWERFUL;
if (collecting.Checked)
{
IGNORE = READY_READ;
}
SIGNAL = false;
}
}
}
}
}
static double hypot(vector3d V)
{
return(Math.Sqrt(V.x * V.x + V.y * V.y + V.z * V.z));
}
public void add(vector3d vec)
{
data[head++] = vec;
head %= SIZE;
}