private void OnDataReceived(object sender, SerialDataReceivedEventArgs e)
{
var sensorData = sp.ReadLine();
var eventArgs = new SensorUSBEventArgs();
eventArgs.sensorData = sensorData;
sensorDataReceived?.Invoke(this, eventArgs);
eventArgs = null;
}
private void frontSensorDataHandler(object sender, SensorUSBEventArgs USBeventArgs)
{
sensorDataProcessor(frontClassifier, frontSensorQty, ref frontReadings, "front");
}
private void leftHandSensorDataHandler(object sender, SensorUSBEventArgs USBeventArgs)
{
sensorDataProcessor(leftHandClassifier, leftHandSensorQty, ref leftHandReadings, "leftHand");
}
private void rightSideHeadSensorDataHandler(object sender, SensorUSBEventArgs USBeventArgs)
{
sensorDataProcessor(rightSideHeadClassifier, rightSideHeadSensorQty, ref rightSideHeadReadings, "rightSideHead");
}
private void topHeadSensorDataHandler(object sender, SensorUSBEventArgs USBeventArgs)
{
sensorDataProcessor(topHeadClassifier, topHeadSensorQty, ref topHeadReadings, "topHead");
}
public void sensorDataHandler(object sender, SensorUSBEventArgs USBeventArgs)
{
var data = USBeventArgs.sensorData.Split(' ').Select(d => Convert.ToInt16(d)).ToArray();
// return;
short[] topHeadData = { data[0], data[1], data[2], data[3] };
short[] leftSideHeadData = { data[6], data[7] };
short[] rightSideHeadData = { data[4], data[5] };
short[] rightHandData = { data[10], data[11] };
short[] leftHandData = { data[8], data[9] };
short[] frontData = { data[12], data[13] };
topHeadReadings = topHeadReadings.Append(topHeadData).Skip(1).ToArray();
leftSideHeadReadings = leftSideHeadReadings.Append(leftSideHeadData).Skip(1).ToArray();
rightSideHeadReadings = rightSideHeadReadings.Append(rightSideHeadData).Skip(1).ToArray();
rightHandReadings = rightHandReadings.Append(rightHandData).Skip(1).ToArray();
leftHandReadings = leftHandReadings.Append(leftHandData).Skip(1).ToArray();
frontReadings = frontReadings.Append(frontData).Skip(1).ToArray();
// Console.WriteLine(USBeventArgs.sensorData);
// return;
if (
topHeadReadings.ToArray()[0].All(d => d == 0) &&
topHeadReadings.ToArray()[1].Any(d => d != 0)
// readings.ToArray()[readings.ToArray().Length - 1].All(d => d == 0)
// && readings.ToArray()[readings.ToArray().Length - 2].Any(d => d != 0)
)
{
if (topHeadReadings.All(r => r.All(rr => rr < 40)))
{
Console.WriteLine("Drop");
}
else
{
// topHeadDataSetWriter.writeData(topHeadReadings);
topHeadSensorDataArrived.Invoke(this, USBeventArgs);
}
}
if (
leftSideHeadReadings.ToArray()[0].All(d => d == 0) &&
leftSideHeadReadings.ToArray()[1].Any(d => d != 0)
)
{
if (leftSideHeadReadings.All(r => r.All(rr => rr < 40)))
{
Console.WriteLine("Drop");
}
else
{
// leftSideHeadDataSetWriter.writeData(leftSideHeadReadings);
leftSideHeadSensorDataArrived.Invoke(this, USBeventArgs);
}
}
if (
rightSideHeadReadings.ToArray()[0].All(d => d == 0) &&
rightSideHeadReadings.ToArray()[1].Any(d => d != 0)
)
{
if (rightSideHeadReadings.All(r => r.All(rr => rr < 40)))
{
Console.WriteLine("Drop");
}
else
{
// rightSideHeadDataSetWriter.writeData(rightSideHeadReadings);
rightSideHeadSensorDataArrived.Invoke(this, USBeventArgs);
}
}
if (
rightHandReadings.ToArray()[0].All(d => d == 0) &&
rightHandReadings.ToArray()[1].Any(d => d != 0)
)
{
if (rightHandReadings.All(r => r.All(rr => rr < 100)))
{
Console.WriteLine("Drop");
}
else
{
// rightHandDataSetWriter.writeData(rightHandReadings);
rightHandSensorDataArrived.Invoke(this, USBeventArgs);
}
}
if (
leftHandReadings.ToArray()[0].All(d => d == 0) &&
leftHandReadings.ToArray()[1].Any(d => d != 0)
)
{
if (leftHandReadings.All(r => r.All(rr => rr < 100)))
{
Console.WriteLine("Drop");
}
else
{
// leftHandDataSetWriter.writeData(leftHandReadings);
leftHandSensorDataArrived.Invoke(this, USBeventArgs);
}
}
if (
frontReadings.ToArray()[0].All(d => d == 0) &&
frontReadings.ToArray()[1].Any(d => d != 0)
)
{
if (frontReadings.All(r => r.All(rr => rr < 100)))
{
Console.WriteLine("Drop");
}
else
{
// frontDataSetWriter.writeData(frontReadings);
frontSensorDataArrived.Invoke(this, USBeventArgs);
}
}
}
