private WimuData readWimuData()
{
WimuData wimudata = new WimuData();
string message = string.Empty;
do
{
try
{
message = wimuSerialPort.ReadLine();
}
catch
{
//cancelar al trabajador
//retornar nada
trabajador.CancelAsync();
wimudata.SetNullValue();
return(wimudata);
}
}while (!message.StartsWith("#YPR") || !message.EndsWith("\r"));
string[] words = message.Split('=', ',', '\r');
//#YPR=Yaw, Pitch, Roll, Yaw+Pitch+Roll, alfa, beta, gama, alfa+beta+gama, timeStamp
//ver si el último carácter es una "r" para saber si esta completo
/*
* [0]: "#YPR"
* [1]: "-18.16" yaw
* [2]: "-10.29" pitch
* [3]: "21.03" roll
* [4]: "-7.42"
* [5]: "-3.60"
* [6]: "-30.02"
* [7]: "-4.13"
* [8]: "-37.75"
* [9]: "285980" timestamp
* [10]: ""
*/
try
{
wimudata.yaw = Convert.ToDouble(words[1], CultureInfo.InvariantCulture); // X YAW
wimudata.pitch = Convert.ToDouble(words[2], CultureInfo.InvariantCulture); // PITCH
wimudata.roll = Convert.ToDouble(words[3], CultureInfo.InvariantCulture); // Y ROLL
wimudata.timeStampMiliSec = Convert.ToDouble(words[9], CultureInfo.InvariantCulture);
wimudata.validValue = true;
}
catch
{
wimudata.SetNullValue();
}
return(wimudata);
}
private WimuData readWimuData()
{
WimuData wimudata = new WimuData();
string message = string.Empty;
do
{
try
{
message = wimuSerialPort.ReadLine();
}
catch
{
//cancelar al trabajador
//retornar nada
trabajador.CancelAsync();
wimudata.SetNullValue();
return wimudata;
}
}
while (!message.StartsWith("#YPR") || !message.EndsWith("\r"));
string[] words = message.Split('=',',','\r');
//#YPR=Yaw, Pitch, Roll, Yaw+Pitch+Roll, alfa, beta, gama, alfa+beta+gama, timeStamp
//ver si el último carácter es una "r" para saber si esta completo
/*
[0]: "#YPR"
[1]: "-18.16" yaw
[2]: "-10.29" pitch
[3]: "21.03" roll
[4]: "-7.42"
[5]: "-3.60"
[6]: "-30.02"
[7]: "-4.13"
[8]: "-37.75"
[9]: "285980" timestamp
[10]: ""
*/
try
{
wimudata.yaw = Convert.ToDouble(words[1], CultureInfo.InvariantCulture); // X YAW
wimudata.pitch = Convert.ToDouble(words[2], CultureInfo.InvariantCulture); // PITCH
wimudata.roll = Convert.ToDouble(words[3], CultureInfo.InvariantCulture); // Y ROLL
wimudata.timeStampMiliSec = Convert.ToDouble(words[9], CultureInfo.InvariantCulture);
wimudata.validValue = true;
}
catch
{
wimudata.SetNullValue();
}
return wimudata;
}
