private void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
anPacketDecoder.bufferLength += serialPort1.Read(anPacketDecoder.buffer, anPacketDecoder.bufferLength, anPacketDecoder.buffer.Length - anPacketDecoder.bufferLength);
ANPacket packet = null;
while ((packet = anPacketDecoder.packetDecode()) != null)
{
switch (packet.id)
{
case ANPacket.PACKET_ID_ODOMETER:
if (packet.length == 13)
{
ANPacket67 anPacket67 = new ANPacket67(packet);
this.Invoke((MethodInvoker) delegate
{
richTextBox1.AppendText("Received Odometer Packet\n");
textBoxDelay.Text = anPacket67.delay.ToString();
textBoxSpeed.Text = anPacket67.speed.ToString();
textBoxDistance.Text = anPacket67.distanceTravelled.ToString();
checkBoxReverseDetection.Checked = anPacket67.reverseDetectionSupported;
});
}
break;
}
}
}
catch { }
}
private void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
anPacketDecoder.bufferLength += serialPort1.Read(anPacketDecoder.buffer, anPacketDecoder.bufferLength, anPacketDecoder.buffer.Length - anPacketDecoder.bufferLength);
ANPacket packet = null;
while ((packet = anPacketDecoder.packetDecode()) != null)
{
switch (packet.id)
{
case ANPacket.PACKET_ID_SYSTEM_STATE:
if (packet.length == 100)
{
ANPacket20 anPacket20 = new ANPacket20(packet);
this.Invoke((MethodInvoker) delegate
{
richTextBox1.AppendText("Received System State Packet\n");
textBoxLatitude.Text = (anPacket20.position[0] * 180 / Math.PI).ToString();
textBoxLongitude.Text = (anPacket20.position[1] * 180 / Math.PI).ToString();
textBoxHeight.Text = anPacket20.position[2].ToString();
textBoxRoll.Text = (anPacket20.orientation[0] * 180 / Math.PI).ToString();
textBoxPitch.Text = (anPacket20.orientation[1] * 180 / Math.PI).ToString();
textBoxYaw.Text = (anPacket20.orientation[2] * 180 / Math.PI).ToString();
});
}
break;
case ANPacket.PACKET_ID_RAW_SENSORS:
if (packet.length == 48)
{
ANPacket28 anPacket28 = new ANPacket28(packet);
this.Invoke((MethodInvoker) delegate
{
richTextBox1.AppendText("Received Raw Sensors Packet\n");
});
}
break;
}
}
}
catch { }
}
private void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
anPacketDecoder.bufferLength += serialPort1.Read(anPacketDecoder.buffer, anPacketDecoder.bufferLength, anPacketDecoder.buffer.Length - anPacketDecoder.bufferLength);
ANPacket packet = null;
while ((packet = anPacketDecoder.packetDecode()) != null)
{
switch (packet.id)
{
/* case ANPacket.PACKET_ID_SYSTEM_STATE:
* if (packet.length == 100)
* {
* ANPacket20 anPacket20 = new ANPacket20(packet);
* this.Invoke((MethodInvoker)delegate
* {
* richTextBox1.AppendText("Received System State Packet\n");
* textBoxLatitude.Text = (anPacket20.position[0] * 180 / Math.PI).ToString();
* textBoxLongitude.Text = (anPacket20.position[1] * 180 / Math.PI).ToString();
* textBoxHeight.Text = anPacket20.position[2].ToString();
* textBoxRoll.Text = (anPacket20.orientation[0] * 180 / Math.PI).ToString();
* textBoxPitch.Text = (anPacket20.orientation[1] * 180 / Math.PI).ToString();
* textBoxYaw.Text = (anPacket20.orientation[2] * 180 / Math.PI).ToString();
* });
* }
* break;*/
case ANPacket.PACKET_ID_RAW_SENSORS:
if (packet.length == 48)
{
float sum = 0f;
ANPacket28 anPacket28 = new ANPacket28(packet);
float[] arr = new float[1000];
List <float> arr1 = new List <float>();
List <float> arr2 = new List <float>();
List <float> arr3 = new List <float>();
this.Invoke((MethodInvoker) delegate
{
richTextBox1.AppendText("Received Raw Sensors Packet\n");
String mystring1 = anPacket28.accelerometers[0].ToString();
String mystring2 = anPacket28.accelerometers[1].ToString();
String mystring3 = anPacket28.accelerometers[2].ToString();
textBox1.Text = (mystring1);
textBox3.Text = (mystring2);
textBox4.Text = (mystring3);
String mystring4 = anPacket28.gyroscopes[0].ToString();
String mystring5 = anPacket28.gyroscopes[1].ToString();
String mystring6 = anPacket28.gyroscopes[2].ToString();
textBox2.Text = (mystring4);
textBox5.Text = (mystring5);
textBox6.Text = (mystring6);
String mystring7 = anPacket28.magnetometers[0].ToString();
String mystring8 = anPacket28.magnetometers[1].ToString();
String mystring9 = anPacket28.magnetometers[2].ToString();
textBox9.Text = (mystring7);
textBox8.Text = (mystring8);
textBox7.Text = (mystring9);
String mystring10 = anPacket28.pressure.ToString();
textBox10.Text = (mystring10);
String mystring11 = anPacket28.pressureTemperature.ToString();
textBox11.Text = (mystring11);
//Thread.Sleep(90);
/* if (anPacket28.pressureTemperature == 0)
* Console.WriteLine("Come Out");
* else
* {
*
*
* Console.WriteLine("AVG =" + arr.Average());
*
*
* }*/
//arr.Add(anPacket28.magnetometers[0]);
/* for(int i=0;i<1000;i++)
* {
* arr[i] = anPacket28.magnetometers[0];
* sum =sum +arr[i];
* }
* float avg = sum / 1000;
* Console.WriteLine("Avg ="+(sum / 1000));
*
* Console.WriteLine("Count =" + arr[20]);*/
for (int i = 0; i < 1000; i++)
{
arr1.Add(anPacket28.magnetometers[0]);
sum = arr1.Sum();
}
float avg = (sum / arr1.Count);
Console.WriteLine(arr1.Count);
String mystr = avg.ToString();
textBox16.Text = mystr;
/* float avg = (sum / 500);
* Console.WriteLine(arr1.Count);
*
*
*
* String mystr = avg.ToString();
* textBox16.Text = mystr;*/
});
}
break;
case ANPacket.PACKET_ID_SYSTEM_STATE:
if (packet.length == 100)
{
ANPacket20 anPacket20 = new ANPacket20(packet);
this.Invoke((MethodInvoker) delegate
{
richTextBox1.AppendText("Received System State Packet\n");
textBoxLatitude.Text = (anPacket20.position[0] * 180 / Math.PI).ToString();
textBoxLongitude.Text = (anPacket20.position[1] * 180 / Math.PI).ToString();
textBoxHeight.Text = anPacket20.position[2].ToString();
textBoxRoll.Text = (anPacket20.orientation[0] * 180 / Math.PI).ToString();
textBoxPitch.Text = (anPacket20.orientation[1] * 180 / Math.PI).ToString();
textBoxYaw.Text = (anPacket20.orientation[2] * 180 / Math.PI).ToString();
String mystring1 = anPacket20.position[0].ToString();
textBox15.Text = mystring1;
String mystring2 = anPacket20.position[1].ToString();
textBox17.Text = mystring2;
String mystring3 = anPacket20.position[2].ToString();
textBox18.Text = mystring3;
String mystring4 = anPacket20.velocity[0].ToString();
String mystring5 = anPacket20.velocity[1].ToString();
String mystring6 = anPacket20.velocity[2].ToString();
textBox12.Text = mystring4;
textBox13.Text = mystring5;
textBox14.Text = mystring6;
});
}
break;
}
}
}
catch { }
}
