// This will be called whenever the data is read from the board: private void DataReadCompleteHandler(object sender, AsyncInputReportArgs aira) { Tracer.Trace("Async data arrived. " + DateTime.Now); StringBuilder byteValue = new StringBuilder(); byteValue.Append("DataReadCompleteHandler(): Input Report Data: "); for (int count = 0; count <= aira.InputBuffer.Length - 1; count++) { // Display bytes as 2-character Hex strings. byteValue.AppendFormat("{0:X02} ", aira.InputBuffer[count]); } Tracer.Trace(byteValue.ToString()); int servo1target = intFromBuffer(aira.InputBuffer, 1); int servo2target = intFromBuffer(aira.InputBuffer, 3); int ping1value = intFromBuffer(aira.InputBuffer, 5); int ping2value = intFromBuffer(aira.InputBuffer, 7); AsyncInputFrameArgs args = new AsyncInputFrameArgs(servo1target, servo2target, ping1value, ping2value); OnDataFrameComplete(args); if (inDataContinuousMode) { // initiate next read: ReadFromDevice(new EventHandler <AsyncInputReportArgs>(DataReadCompleteHandler)); } }
// This will be called whenever the data is read from the board: private void DataReadCompleteHandler(object sender, AsyncInputReportArgs aira) { // do some quick sanity checking here to avoid exceptions: uint parkingSensorsCount = (uint)aira.InputBuffer[23]; switch (parkingSensorsCount) { case 0: case 32: case 64: break; default: return; } switch (aira.InputBuffer[9]) { case 0: case 1: break; default: return; } /* * Tracer.Trace("PM Command: Async data arrived. " + DateTime.Now); * * * StringBuilder byteValue = new StringBuilder(); * byteValue.Append("DataReadCompleteHandler(): Input Report Data: "); * * for (int count = 0; count <= aira.InputBuffer.Length - 1; count++) * { * // Display bytes as 2-character Hex strings. * byteValue.AppendFormat("{0:X02} ", aira.InputBuffer[count]); * } * Tracer.Trace(byteValue.ToString()); */ int servo1target = intFromBuffer(aira.InputBuffer, 1); int servo2target = intFromBuffer(aira.InputBuffer, 3); int ping1value = intFromBuffer(aira.InputBuffer, 5); int ping2value = intFromBuffer(aira.InputBuffer, 7); SensorsState sensState = new SensorsState(); bool fromPingScanStop = aira.InputBuffer[9] > 0; // infrared distance sensors: sensState.irbE1 = aira.InputBuffer[10]; sensState.irbE2 = aira.InputBuffer[11]; sensState.irbE3 = aira.InputBuffer[12]; sensState.irbE4 = aira.InputBuffer[13]; sensState.irbO1 = aira.InputBuffer[14]; sensState.irbO2 = aira.InputBuffer[15]; sensState.irbO3 = aira.InputBuffer[16]; sensState.irbO4 = aira.InputBuffer[17]; sensState.compassHeading = (((uint)aira.InputBuffer[18] << 8) + (uint)aira.InputBuffer[19]) / 10.0d; sensState.accelX = ProximityBoard.toAccel(aira.InputBuffer[20]); sensState.accelY = ProximityBoard.toAccel(aira.InputBuffer[21]); sensState.accelZ = ProximityBoard.toAccel(aira.InputBuffer[22]); // ultrasound car parking sensors - bytes 23 to 31 (only first 4 bytes used, next 4 are reserved for 8-sensor device): sensState.parkingSensorsCount = parkingSensorsCount; // 32 or 0 for invalid for (int i = 0; i < parkingSensorsCount / 8; i++) { sensState.parkingSensors[i] = aira.InputBuffer[24 + i]; } sensState.mapParkingSensorsData(); sensState.mapAnalogData(0, aira.InputBuffer[28], aira.InputBuffer[29]); // LSB, MSB for AN0 (pin 2 on PIC 4550) // calibration for POT data (pin 2 RA0/AN0 on PIC4550): // 0v = 0 // 1v = 220 // 2v = 415 // 3v = 630 // 4v = 835 // 4.88v = 1023 AsyncInputFrameArgs args = new AsyncInputFrameArgs(servo1target, servo2target, ping1value, ping2value, fromPingScanStop, sensState); OnDataFrameComplete(args); if (inDataContinuousMode) { // initiate next read: ReadFromDevice(new EventHandler <AsyncInputReportArgs>(DataReadCompleteHandler), INPUT_CONT_REPORT_ID); } }