// Overridden from ManifoldParser
//public override void DoWriteManifold(IION ion, Manifold manifold, BinaryWriter writer){
public override void DoWriteManifold(IION ion, Sensor sensor, BinaryWriter writer)
{
// Write primary sensor
//SensorParser.WriteSensor(ion, manifold.primarySensor, writer);
SensorParser.WriteSensor(ion, sensor, writer);
// Write secondary sensor
//SensorParser.WriteSensor(ion, manifold.secondarySensor, writer);
SensorParser.WriteSensor(ion, sensor.linkedSensor, writer);
// Write fluid name
//if (sensor.ptChart == null) {
// writer.Write(false); // Doens't have a pt chart.
//} else {
// writer.Write(true); // Does have a pt chart
// writer.Write(Enum.GetName(typeof(Fluid.EState), sensor.fluidState));
// if (ion.fluidManager.lastUsedFluid == null) {
// writer.Write("");
// } else {
// writer.Write(ion.fluidManager.lastUsedFluid.name);
// }
//}
// The number of sensor properties that the manifold ha
//writer.Write(manifold.sensorProperties.Count);
writer.Write(sensor.sensorProperties.Count);
// Write sensor properties
//foreach (var sp in manifold.sensorProperties) {
foreach (var sp in sensor.sensorProperties)
{
WriteSensorProperty(sp, writer);
}
}
public void StartCore()
{
try
{
while (true)
{
var rawItems = ReadCommands().ToArray();
if (rawItems.Length == 0)
{
continue;
}
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
}
OnCarSignalRecevied(carSignalInfo);
LogCommands(rawItems);
}
}
}
catch (Exception exp)
{
Logger.Error("BluetoothStartCore", exp.Message);
}
}
private void OnCarSensorBthMessageReceived(CarSensorBthMessage message)
{
var lineslst = new List <string>();
var line = message.Sensor;
if (!string.IsNullOrEmpty(line) && line.Length >= 10)
{
lineslst.Add(line);
}
var cmd = line.GetCommand();
if (cmd != null && cmd.Equals(SensorCommand, StringComparison.OrdinalIgnoreCase))
{
return;
}
var lines = lineslst.ToArray().SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
}
OnCarSignalRecevied(carSignalInfo);
}
}
public void StartCore(object a)
{
try
{
var rawItems = ReadCommands().ToArray();
if (rawItems.Count() == 0)
{
return;
}
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
//TOOD:由于模拟Gps数据没有数据,所以给一个默认20的速度！
carSignalInfo.Sensor.SpeedInKmh = 20;
carSignalInfo.SpeedInKmh = 20;
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
OnCarSignalRecevied(carSignalInfo);
}
if (lines.Length <= 2)
{
}
}
catch (Exception exp)
{
string ex = exp.Message;
}
}
public async Task <IHttpActionResult> PostSensorByteData(byte[] sensorData)
{
try
{
var parser = new SensorParser();
return(StatusCode(await parser.ParseInput(sensorData)));
}
catch (Exception)
{
return(StatusCode(HttpStatusCode.InternalServerError));
}
}
// Overridden from ManifoldParser
//public override Manifold DoReadManifold(IION ion, BinaryReader reader){
public override Sensor DoReadManifold(IION ion, BinaryReader reader)
{
// Read the primary sensor
Sensor primary = SensorParser.ReadSensor(ion, reader);
// Assert that the primary sensor is not null;
if (primary == null)
{
throw new IOException("Cannot load manifold: primary sensor not read");
}
// Read the secondary sensor
Sensor secondary = SensorParser.ReadSensor(ion, reader);
// Create the inflated manifold
//var ret = new Manifold(primary);
var ret = primary;
//ret.SetSecondarySensor(secondary);
ret.SetLinkedSensor(secondary);
if (reader.ReadBoolean())
{
var state = (Fluid.EState)Enum.Parse(typeof(Fluid.EState), reader.ReadString());
// Read the fluid name for the manifold
var fluidName = reader.ReadString();
Fluid fluid = null;
if (fluidName != null && !fluidName.Equals(""))
{
fluid = ion.fluidManager.LoadFluidAsync(fluidName).Result;
}
}
// Read sensor properties
var propCount = reader.ReadInt32();
for (int i = 0; i < propCount; i++)
{
//ReadSensorProperty(ion, ret, reader);
ReadSensorProperty(ion, ret, reader);
}
return(ret);
}
public void OnCarSensorMessageReceive(BinaryCarSensorMessage carSensorMessage)
{
try
{
var Buffer = carSensorMessage.Sensor;
var carSignalInfo = SensorParser.Parse(Buffer);
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
}
OnCarSignalRecevied(carSignalInfo);
}
catch (Exception exp)
{
Logger.Error("OnCarSensorMessageReceive:" + exp.Message);
}
}
protected virtual void StartCore()
{
try
{
//if (!IsInnerGyro.HasValue)
//{
// IsInnerGyro = DetectGyroSource();
// //Logger.InfoFormat("信号中是否包含陀螺仪信息：{0}", IsInnerGyro);
//}
var rawItems = ReadCommands().ToArray();
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
//方向角
if (Settings.AngleSource == AngleSource.Gyroscope || Settings.AngleSource == AngleSource.ExternalGyroscope)
{
if (IsInnerGyro.Value)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
}
else
{
ProcessCarDirection(carSignalInfo);
}
}
OnCarSignalRecevied(carSignalInfo);
}
//if (lines.Length <= 2 || lines.Any(x => x.StartsWith("$D")))
if (lines.Length <= 2)
{
//Logger.WarnFormat("信号异常：{0}", string.Join(Environment.NewLine, rawItems));
}
LogCommands(rawItems);
}
catch (Exception exp)
{
//Logger.ErrorFormat("读取数据发生异常，原因：{0}", exp, exp);
}
}
public void OnCarSensorMessageReceive(CarSensorMessage carSensorMessage)
{
try
{
var rawItems = carSensorMessage.Sensor;
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
}
OnCarSignalRecevied(carSignalInfo);
LogCommands(rawItems);
}
}
catch (Exception exp)
{
Logger.Error("OnCarSensorMessageReceive:" + exp.Message);
}
}
public void StartCore()
{
while (true)
{
try
{
rawItems = ReadToCommand();
if (rawItems.Length == 0)
{
continue;
}
if (rawItems.Where(s => s.Contains("?")).Count() >= 1)
{
Logger.Error("rawItems contains ?", string.Join("|", rawItems));
continue;
}
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
//直接对无效信号进行过滤处理！
if (!carSignalInfo.IsSensorValid)
{
Logger.Error("carSignalInfo.IsSensorValid", string.Join("|", rawItems));
continue;
}
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
if (carSignalInfo.BearingAngle != 180)
{
Angle = carSignalInfo.BearingAngle;
}
else
{
carSignalInfo.BearingAngle = Angle;
}
}
else
{
if (carSignalInfo.Gps != null)
{
carSignalInfo.BearingAngle = carSignalInfo.Gps.AngleDegrees;
//TODO:其实在这点处理不合适
if (carSignalInfo.BearingAngle != 0)
{
Angle = carSignalInfo.BearingAngle;
}
else
{
carSignalInfo.BearingAngle = Angle;
}
}
else
{
Logger.Info("carSignalInfo Gps is null");
}
}
//把原始信号记录器
carSignalInfo.commands = rawItems;
OnCarSignalRecevied(carSignalInfo);
LogCommands(rawItems);
}
}
catch (Exception exp)
{
Logger.ErrorFormat("SerialStartCorte发生异常,原因:{0} 原始信号{1}", exp.Message, string.Join(",", rawItems));
//Logger.Error("USBSerialStartCorte",exp.Message);
}
}
}
public void StartCore()
{
while (true)
{
try
{
var rawItems = ReadToCommand();
if (rawItems.Length == 0)
{
continue;
}
var lines = rawItems.SelectMany(SpiltCommand).ToArray();
if (lines.Length > 2)
{
var carSignalInfo = SensorParser.Parse(lines);
SignalHandler.Execute(carSignalInfo);
if (Settings.AngleSource == AngleSource.Gyroscope)
{
carSignalInfo.BearingAngle = carSignalInfo.AngleZ + 180;
if (carSignalInfo.BearingAngle != 180)
{
Angle = carSignalInfo.BearingAngle;
}
else
{
carSignalInfo.BearingAngle = Angle;
}
}
else
{
if (carSignalInfo.Gps != null)
{
carSignalInfo.BearingAngle = carSignalInfo.Gps.AngleDegrees;
//需要处理一下如果角度是0，则使用上一个值
//就是Gps的输出频率和主机信号输出的频率不一致
if (carSignalInfo.BearingAngle != 0)
{
Angle = carSignalInfo.BearingAngle;
}
else
{
carSignalInfo.BearingAngle = Angle;
}
// Logger.Info("Gps Angle:" + Angle.ToString());
}
else
{
Logger.Info("carSignalInfo Gps is null");
}
}
OnCarSignalRecevied(carSignalInfo);
LogCommands(rawItems);
}
}
catch (Exception exp)
{
Logger.Error("USBSerialStartCorte", exp.Message);
}
}
}
