public SerialDataModel(SerialDataType serialDataType, byte comd, byte[] serialDatas)
{
this.serialDataType = serialDataType;
this.comd = comd;
if (serialDatas == null)
{
serialDatas = new byte[0];
}
this.serialDatas = serialDatas;
}
/// <summary>
/// Initializes the NavX singleton
/// </summary>
/// <param name="serialPortId">port that the NavX is plugged into</param>
/// <param name="dataType">sets the type of data, processed or raw</param>
/// <param name="updateRateHz">the update rate of the NavX - default 50Hz</param>
internal static NavX InitializeNavX(SerialPort.Port serialPortId,
SerialDataType dataType = SerialDataType.KProcessedData, byte updateRateHz = 50)
{
if (_lazy != null)
{
Report.Error(
@"A NavX instance already been created, someone other than Config is trying to create an instance.");
}
_lazy = new Lazy <NavX>(() => new NavX(serialPortId, dataType, updateRateHz));
return(Instance);
}
internal SerialDataReceivedEventArgs(SerialDataType dataType)
{
this.dataType = dataType;
}
private NavX(SerialPort.Port serialPortId, SerialDataType dataType = SerialDataType.KProcessedData,
byte updateRateHz = 50) : base(serialPortId, dataType, updateRateHz)
{
}
/// <summary>
/// Constructs the AHRS class using serial communication.
/// </summary>
/// <remarks>
/// This constructor should be used if communicating via either TTL UART
/// or USB Serial Interface.
/// <para></para>
/// Note that the serial interfaces can communicate either processed data, or raw data,
/// but not both simultaneously. If simultaneous processed and raw data are needed,
/// use one of the register-based interfaces (SPI or I2C). The default is processed data.
/// <para></para>
/// The update rate may be between 4 Hz and 60 Hz, representing the number
/// of updates per second sent by the sensor. Note that increasing the update
/// rate may increase the CPU utilization.
/// </remarks>
/// <param name="serialPortId">The <see cref="SerialPort.Port">Serial Port</see> to use.</param>
/// <param name="dataType">Either <see cref="SerialDataType.KProcessedData"/> (Default) or <see cref="SerialDataType.KRawData"/>.</param>
/// <param name="updateRateHz">The Update Rate (Hz) [4..60] (Default 50)</param>
public AHRS(SerialPort.Port serialPortId, SerialDataType dataType = SerialDataType.KProcessedData, byte updateRateHz = NavxDefaultUpdateRateHz)
{
CommonInit(updateRateHz);
if (RobotBase.IsSimulation)
{
m_io = new SimulatorIO(updateRateHz, m_ioCompleteSink, m_boardCapabilities);
}
else
{
bool processedData = (dataType == SerialDataType.KProcessedData);
m_io = new SerialIO(serialPortId, updateRateHz, processedData, m_ioCompleteSink, m_boardCapabilities);
}
m_ioThread.Start();
}
