//处理线程函数
void DealData()
{
int num = dataQueue.Count;
byte[] results = new byte[num];
for (int i = 0; i < num; i++)
{
byte result = dataQueue.Dequeue();
results[i] = result;
}
//showInfo(results);
completed = true;//串口是一个消息收->发，所以发一个消息必须等到这个消息的反馈才能继续发下一个消息
switch (num)
{
case 6: //获取线圈寄存器的状态
byte runbyte = results[3];
byte[] addr = new byte[2];
addr[0] = results[0];
addr[1] = 0x00;
int address = System.BitConverter.ToInt16(addr, 0);
bool run = runbyte == 0x01 ? true : false;
Loom.QueueOnMainThread((param) =>
{
controller.updateCoilStatus(address, run);
}, null);
break;
case 15: //实时分析电机的状态
int currStatus = getFinalValue(results, new int[] { 4, 3 });
int currSpeed = getFinalValue(results, new int[] { 6, 5 });
int currLocation = getFinalValue(results, new int[] { 8, 7, 10, 9 });
int currMode = getFinalValue(results, new int[] { 12, 11 });
Loom.QueueOnMainThread((param) =>
{
controller.updateStatusValue(currStatus, currSpeed, currLocation, currMode);
}, null);
break;
case 35: //获取命令寄存器的状态
moveSphere sphere = new moveSphere();
sphere.mode = getFinalValue(results, new int[] { 4, 3 });
sphere.speed = getFinalValue(results, new int[] { 10, 9 });
sphere.location = getFinalValue(results, new int[] { 12, 11, 14, 13 });
sphere.speedPlusTime = getFinalValue(results, new int[] { 16, 15 });
sphere.speedMinusTime = getFinalValue(results, new int[] { 18, 17 });
sphere.cycleIndex = getFinalValue(results, new int[] { 20, 19 });
sphere.waitingTime = getFinalValue(results, new int[] { 22, 21 });
sphere.address = getFinalValue(results, new int[] { 24, 23 });
sphere.waitingTimeUnit = getFinalValue(results, new int[] { 28, 27 });
sphere.locationProperty = getFinalValue(results, new int[] { 30, 29 });
sphere.locationPeriod = getFinalValue(results, new int[] { 32, 31 });
Loom.QueueOnMainThread((param) =>
{
controller.updateCommandStatus(sphere);
}, null);
break;
}
}
// Use this for initialization
void Start()
{
spheres = new List <moveSphere>();
//Debug.Log(transform.name);
//Transform[] gather = GetComponentsInChildren<Transform>();
int i = 1;
foreach (Transform child in transform)
{
moveSphere ms = new moveSphere();
ms.sphere = child;
ms.name = child.name;
spheres.Add(ms);
i++;
//Debug.Log(child.name);
}
}
//得到电机的初始化状态
public void updateCommandStatus(moveSphere sphere)
{
//初始化页面参数
inputSpeedPlusTime.text = sphere.speedPlusTime.ToString();
inputSpeedMinusTime.text = sphere.speedMinusTime.ToString();
inputSpeed.text = sphere.speed.ToString();
inputLocationPeriod.text = sphere.locationPeriod.ToString();
inputLocation.text = sphere.location.ToString();
inputLocationProperty.text = sphere.locationProperty.ToString();
inputCycleIndex.text = sphere.cycleIndex.ToString();
inputWaitingTime.text = sphere.waitingTime.ToString();
inputWaitingTimeUnit.text = sphere.waitingTimeUnit.ToString();
showMode.text = modes[sphere.mode];
//更新动画小球参数
moveController.setSpeedPlusTime(sphere.address, sphere.speedPlusTime);
moveController.setSpeedMinusTime(sphere.address, sphere.speedMinusTime);
moveController.setSpeed(sphere.address, (int)sphere.speed);
moveController.setLocationPeriod(sphere.address, sphere.locationPeriod);
moveController.setLocationProperty(sphere.address, sphere.locationProperty);
moveController.setLocation(sphere.address, (int)sphere.location);
moveController.setCycleIndex(sphere.address, sphere.cycleIndex);
moveController.setWaitingTime(sphere.address, sphere.waitingTime);
moveController.setWaitingTimeUnit(sphere.address, sphere.waitingTimeUnit);
moveController.setMode(currentAddress, sphere.mode);
switch (sphere.mode)
{
case 1:
speedMode.isOn = true;
locationMode.isOn = false;
pointMode.isOn = false;
break;
case 2:
speedMode.isOn = false;
locationMode.isOn = true;
pointMode.isOn = false;
break;
case 3:
speedMode.isOn = false;
locationMode.isOn = false;
pointMode.isOn = true;
break;
}
}
