/// <summary>
/// 检查是否存在传感器
/// </summary>
/// <returns>返回结果</returns>
public bool CheckIfDevicesAllExist()
{
if (ifUseInfraredSensor && !ImportInfraredFunctions.AskDeviceExist())
{
return(false);
}
if (ifUseGyroSensor && !ImportGyroFunctions.AskDeviceExist())
{
return(false);
}
if (ifUsePressSensor && !ImportPressFunctions.AskDeviceExist())
{
return(false);
}
if (!ifUseInfraredSensor && !ifUseGyroSensor && !ifUsePressSensor)
{
return(false);
}
return(true);
}
/// <summary>
/// 断开设备
/// </summary>
/// <returns>返回断开结果</returns>
public bool DisconnectDevices()
{
if (!isDeviceConnected)
{
return(true);
}
int timeOutCount = 0;
dataTimer.Stop();
while (isInsideTimer && timeOutCount < 10)
{
timeOutCount++;
}
if (timeOutCount >= 10)
{
return(false);
}
timeOutCount = 0;
Thread.Sleep(100);
insideLoopCrash = true;
sendTimer.Stop();
while (isAlsoInsideTimer && timeOutCount < 10)
{
timeOutCount++;
}
if (timeOutCount >= 10)
{
return(false);
}
timeOutCount = 0;
Thread.Sleep(100);
bool[] killResult = { false, false, false };
if (ifUseInfraredSensor)
{
killResult[0] = ImportInfraredFunctions.DisconnectFromSensor();
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when disconnect from infrared sensor.");
}
if (ifUseGyroSensor)
{
killResult[1] = ImportGyroFunctions.DisconnectFromSensor();
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when disconnect from gyro sensor.");
}
if (ifUsePressSensor)
{
killResult[2] = ImportPressFunctions.DisconnectFromSensor();
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when disconnect from press sensor.");
}
if (ifUseInfraredSensor && !killResult[0])
{
return(false);
}
if (ifUseGyroSensor && !killResult[1])
{
return(false);
}
if (ifUsePressSensor && !killResult[2])
{
return(false);
}
isDeviceConnected = false;
return(true);
}
/// <summary>
/// 更新数据
/// </summary>
protected void RefreshInfoElapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (isInsideTimer)
{
return;
}
isInsideTimer = true;
double[] infoFromInfrared = ifUseInfraredSensor ? ImportInfraredFunctions.GetInfo() : null;
double[] infoFromGyro = ifUseGyroSensor ? ImportGyroFunctions.GetInfo() : null;
double[] infoFromPress = ifUsePressSensor ? ImportPressFunctions.GetInfo() : null;
if ((ifUseInfraredSensor && infoFromInfrared == null) ||
(ifUseGyroSensor && infoFromGyro == null) ||
(ifUsePressSensor && infoFromPress == null))
{
count++;
isInsideTimer = false;
return;
}
count = 0;
if (count > 10)
{
insideLoopCrash = true;
dataTimer.Stop();
sendTimer.Stop();
Task.Run(new Action(() =>
{
OnSendSenorDataWrong();
}));
isInsideTimer = false;
return;
}
lock (infoLocker)
{
if (ifUseInfraredSensor)
{
infos[0] = infoFromInfrared[0];
infos[1] = infoFromInfrared[1];
}
if (ifUseGyroSensor)
{
infos[2] = infoFromGyro[0];
infos[3] = infoFromGyro[1];
infos[4] = infoFromGyro[2];
infos[5] = infoFromGyro[3];
}
if (ifUsePressSensor)
{
infos[6] = infoFromPress[0];
infos[7] = infoFromPress[1];
infos[8] = infoFromPress[2];
infos[9] = infoFromPress[3];
}
}
isInsideTimer = false;
}
/// <summary>
/// 连接设备
/// </summary>
/// <returns>返回连接结果</returns>
public bool ConnectDevices()
{
// 设备已经连接，直接返回true
if (isDeviceConnected)
{
return(true);
}
// 设备不存在，直接返回false
bool existResult = CheckIfDevicesAllExist();
if (!existResult)
{
return(false);
}
// 连接Infrared
bool[] connectedResult = { false, false, false };
if (ifUseInfraredSensor)
{
connectedResult[0] = ImportInfraredFunctions.ConnectToSensor();
}
// 连接Gyro
if (ifUseGyroSensor)
{
connectedResult[1] = ImportGyroFunctions.ConnectToSensor();
}
// 连接Press
if (ifUsePressSensor)
{
connectedResult[2] = ImportPressFunctions.ConnectToSensor();
}
// 处理Press连接结果
bool connectReceipt = true;
if (ifUsePressSensor && !connectedResult[2])
{
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when connect to press sensor.");
connectReceipt = false;
}
// 处理Gyro连接结果
if (ifUseGyroSensor && !connectedResult[1])
{
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when connect to gyro sensor.");
connectReceipt = false;
}
// 处理Infrared连接结果
if (ifUseInfraredSensor && !connectedResult[0])
{
Logger.HistoryPrinting(Logger.Level.ERROR, MethodBase.GetCurrentMethod().DeclaringType.FullName, "Exception when connect to infrared sensor.");
connectReceipt = false;
}
if (!connectReceipt)
{
return(false);
}
dataTimer.Interval = getDataPeriod;
dataTimer.AutoReset = true;
dataTimer.Elapsed += new System.Timers.ElapsedEventHandler(RefreshInfoElapsed);
dataTimer.Start();
insideLoopCrash = false;
Task.Run(new Action(() =>
{
Thread.Sleep(200);
sendTimer.Interval = sendDataPeriod;
sendTimer.AutoReset = true;
sendTimer.Elapsed += new System.Timers.ElapsedEventHandler(SendInfoElapsed);
sendTimer.Start();
}));
isDeviceConnected = true;
return(true);
}
