private void ComRec(byte[] data)
{
int length = this.recStringBuilder.Length;
int idx = 0;
if (data == null)
{
return;
}
var datas = SerialProtocolParseHelper.Parse(data);
Console.WriteLine(string.Join(",", datas) + "\r\n");
if (datas.Contains(calibrate))
{
return;
}
var ds = Constant.solver2D.Update(datas.Select <long, double>(x => x).ToList());
Console.WriteLine(string.Join(",", ds) + "\r\n");
bool flag = false;
if (Math.Abs(Global.Position[0] - ds[0] / 1000) > tolerance ||
double.IsNaN(Global.Position[0]) ||
XMovingAverage.Length < ringLength)
{
XMovingAverage.Push(ds[0]);
Global.Position[0] = XMovingAverage.Current / 1000;
flag = true;
}
if (Math.Abs(Global.Position[1] - ds[1] / 1000) > tolerance ||
double.IsNaN(Global.Position[1]) ||
YMovingAverage.Length < ringLength)
{
YMovingAverage.Push(ds[1]);
Global.Position[1] = YMovingAverage.Current / 1000;
flag = true;
}
if (flag)
{
Constant.DrawingHelper.Update(Global.Position[0] * 1000, Global.Position[1] * 1000);
}
Global.Position[2] = refHeight / 1000;
SerialDataReceived?.Invoke(this, string.Join(",", ds) + "\r\n");
}
void ReceivedData(object sender, SerialDataReceivedEventArgs e)
{
_dataReceived = _serialPort.ReadLine();
SerialDataReceived.Raise(this, new EventArgs());
}
