/// <summary>
/// 取得したバイナリデータからSensor データクラスを作成し登録する。
/// </summary>
/// <param name="rcvbuffer"></param>
private void CreateSensorData()
{
SensorData sensorData = new SensorData();
// n Byte読み出し
sensorData.TaskProcessTime = taskTime;
sensorData.TouchSenser = 0;
sensorData.ReflectionSensor = 0;
sensorData.SonerSensor = 0;
double gyro = random.NextDouble() * 3;
sensorData.GyroSensor = (int)gyro;
sensorData.A_Power = 0;
double powerL = random.NextDouble() * 100;
double powerR = random.NextDouble() * 100;
currentOdoL += (powerL * 5 * 0.004);
currentOdoR += (powerR * 5 * 0.004);
sensorData.B_Power = (int)powerL;
sensorData.B_Odometer = (int)currentOdoL;
sensorData.C_Power = (int)powerR;
sensorData.C_Odometer = (int)currentOdoR;
sensorData.Battery = 7.5;
// beforeOdoL = currentOdoL;
// beforeOdoR = currentOdoR;
// センサデータ をコンテナに追加(排他処理付)
sensorDataContainer.Enqueue(sensorData);
taskTime += 0.004;
}
/// <summary>
/// 取得したバイナリデータからSensor データクラスを作成し登録する。
/// </summary>
/// <param name="rcvbuffer"></param>
private int ConvertSensorData(byte[] rcvbuffer)
{
if (null == rcvbuffer) { return 0; }
int maxSize = rcvbuffer.Length;
int seekPos = 0;
const int ReadByte = 4;
const int SensorDataSize = 4 * 11;
// データが
while (seekPos + SensorDataSize <= maxSize)
{
SensorData sensorData = new SensorData();
// n Byte読み出し
sensorData.A_Power = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.B_Power = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.B_Odometer = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.Battery = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.C_Power = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.C_Odometer = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.GyroSensor = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.ReflectionSensor = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.SonerSensor = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.TouchSenser = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
sensorData.TaskProcessTime = rcvbuffer[seekPos + ReadByte];
seekPos += ReadByte;
// センサデータ をコンテナに追加(排他処理付)
sensorDataContainer.Enqueue(sensorData);
}
return maxSize - seekPos;
}
public static SensorData GetRootAsSensorData(ByteBuffer _bb, SensorData obj) { return (obj.__init(_bb.GetInt(_bb.Position) + _bb.Position, _bb)); }
/// <summary>
/// Queue にデータを追加
/// </summary>
/// <param name="data"></param>
public void Enqueue(SensorData data)
{
try
{
lock (SyncObject)
{
senserQueueDataContainer.Enqueue(data);
}
}
catch (Exception e)
{
throw;
}
return ;
}