//update current distance data
void updateDistanceData()
{
for (int i = 0; i < sensorNum; i++)
{
try
{
int distance = sensorArray.SonarArrayDevice.getDistanceAt(i);
if (distance < 6)
{
distance = historicalDistances[i];
}
currentDistances[i] = distance;
//Console.WriteLine("----------------------------------------");
//Console.WriteLine("*** Output current distances ***");
//Console.WriteLine("Sonar sensor " + i.ToString() + ":");
//Console.WriteLine(distance.ToString());
//Console.WriteLine("----------------------------------------");
}
catch (Exception e)
{
}
}
//check if any sonar too closed to the door
for (int i = 0; i < sensorNum; i++)
{
Console.WriteLine("----------------------------------------");
Console.WriteLine("*** Output current distances ***");
Console.WriteLine("Sonar sensor " + i.ToString() + ":");
Console.WriteLine(currentDistances[i].ToString());
Console.WriteLine("----------------------------------------");
if ((currentDistances[i] <= MIN_DISTANCE) ||
(currentDistances[i] > MIN_DISTANCE && isSensorDetectedObstacle[i] == true))
{
if (currentDistances[i] <= MIN_DISTANCE)
{
isSensorDetectedObstacle[i] = true;
}
else
{
isSensorDetectedObstacle[i] = false;
}
List <SonarSensorInfo> sensors = new List <SonarSensorInfo>();
sensors.Add(new SonarSensorInfo(i, currentDistances[i], 0));
SonarDistanceChangedEventArgs args = new SonarDistanceChangedEventArgs(sensors);
if (OnObstacleTooClosed != null)
{
OnObstacleTooClosed(this, args);
}
}
}
}
//check if any sonar sensor sensed a big change of distance
void MonitorSonarSensor()
{
List <SonarSensorInfo> sensors = GetBigDistanceChangedSensor();
if (sensors.Count > 0)
{
SonarDistanceChangedEventArgs args = new SonarDistanceChangedEventArgs(sensors);
if (OnDistanceBigChangedDetected != null)
{
OnDistanceBigChangedDetected(this, args);
}
}
}
