static void StartListener()
{
var port = ConfigurationManager.AppSettings["XBeePort"];
//LinuxSerialPort
xBee = new LinuxSerialPort(port, 9600, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
try
{
if (xBee.IsOpen)
{
xBee.Close();
}
xBee.Open();
Console.WriteLine("XBEE is ready...");
xBee.DataReceived += (object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
=>
{
try
{
var jsonStr = xBee.ReadLine();//TempData;
Console.WriteLine(jsonStr);
var node = JsonConvert.DeserializeObject <SensorData>(jsonStr);
if (node != null)
{
//SendDeviceToCloudMessagesAsync(node);
PublishMessage(jsonStr);
SendToPowerBI(node);
}
else
{
Console.WriteLine("serialize to json failed");
}
}catch (Exception ex)
{
Console.WriteLine(ex);
}
};
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
}
public void LoopReadPosition(Action <PositionRecord> onPosition)
{
// float latAvg = 0f;
// float lngAvg = 0f;
// float weight = 0f;
using (var Serial_tty = new LinuxSerialPort(portName)
{
BaudRate = 9600
})
{
Serial_tty.Open();
var stream = new StreamReader(Serial_tty.BaseStream);
for (int i = 0; i < 1000; i++)
{
var lin = stream.ReadLine();
var parts = lin.Split(',');
if (!lin.StartsWith("$GPRMC") ||
parts[2] != "A")
{
continue;
}
onPosition(new PositionRecord()
{
position = new Vector(ParseCoordinate(parts[5], parts[6][0]), ParseCoordinate(parts[3], parts[4][0])),
speed = float.Parse(parts[7]),
course = float.Parse(parts[8]),
mode = (GPSStatus)Enum.Parse(typeof(GPSStatus), parts[10])
});
}
}
}
public void LoopReadPosition(Action <AttitudeInfo> onAttitude)
{
const string portName = "/dev/ttyUSB0";
using (var Serial_tty = new LinuxSerialPort(portName)
{
BaudRate = 57600
})
{
Serial_tty.Open();
Stream stream = Serial_tty.BaseStream;
var start = DateTime.Now;
int count = 0;
var attitude = new AttitudeInfo();
for (int i = 0; i < 100000; i++)
{
if (0x55 != stream.ReadByte())
{
continue;
}
var cmd = stream.ReadByte();
int checksum = 0x55 + cmd;
ibuff = 0; // reset
for (int j = 0; j < 8; j++)
{
checksum += (int)(buffer[j] = (byte)stream.ReadByte());
}
var recvCS = stream.ReadByte();
if ((byte)(checksum & 0xFF) != recvCS)
{
continue;
}
switch (cmd)
{
case 0x51:
var x = GetAcc(stream);
var y = GetAcc(stream);
var z = GetAcc(stream);
attitude.AccX = x;
attitude.AccY = y;
attitude.AccZ = z;
// Console.WriteLine($"X:{x}\tY:{y}\tZ:{z}\tG:{Math.Sqrt(x*x+y*y+z*z)}");
count++;
break;
case 0x52:
GetAngle(stream);
GetAngle(stream);
var hdg = GetAngle(stream);
attitude.Heading = hdg;
// Console.WriteLine($"X:{x}\tY:{y}\tZ:{z}\tG:{Math.Sqrt(x*x+y*y+z*z)}");
count++;
break;
case 0x53:
var pitch = -1.0f * (GetAngle(stream) - 90f);
var roll = GetAngle(stream);
var yaw = (-1.0F * GetAngle(stream) + 360 + 140) % 360;
var temp = GetInt(stream) / 100.0;
attitude.Pitch = pitch;
attitude.Roll = roll;
attitude.Yaw = yaw;
attitude.Temp = (float)temp;
count++;
break;
}
if (count >= 3)
{
onAttitude(attitude);
count = 0;
}
}
}
}
