protected void setGuiCurrentLaserData(LaserDataSerializable laserData)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentLaserData = laserData; // update sonar sweep control
//_mainWindow.setMapper(_mapperVicinity); // this is pretty much only calling Redraw on the map
_mainWindow.RedrawMap();
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
private void SetCurrentLaserData(LaserDataSerializable data)
{
this.LidarViewControl.CurrentLaserData = data;
}
void lidarLiteProcessor_DataReceived(object sender, LaserDataSerializable data)
{
Debug.WriteLine("OK: lidarLiteProcessor_DataReceived");
Dispatcher.Invoke(new Action<LaserDataSerializable>(SetCurrentLaserData), data);
}
void serialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
//Debug.WriteLine("serialPort_DataReceived");
try
{
string resp = serialPort.ReadLine();
//Debug.WriteLine("OK: resp='" + resp + "'");
string[] parts = resp.Split(new char[] { '|' });
if (parts.Length == 4 && parts[0].StartsWith("*"))
{
int count;
if (int.TryParse(parts[1], out count) && count < 250 && count > 150)
{
string[] sVals = parts[3].Split(new char[] { ' ' });
if (sVals.Length > 150)
{
List<int> values = new List<int>();
foreach (string s in sVals)
{
if ("0123456789".IndexOf(s[0]) >= 0)
{
int val = int.Parse(s);
values.Add(val == 0 ? 4000 : val);
}
}
//Debug.WriteLine("OK: resp parsed to " + values.Count + " readings");
if (count == values.Count)
{
//Debug.WriteLine("OK: good readings");
if (DataReceivedEvent != null)
{
LaserDataSerializable data = new LaserDataSerializable() { TimeStamp = DateTime.Now.Ticks, DistanceMeasurements = values.ToArray() };
DataReceivedEvent(this, data);
}
}
}
}
}
}
catch (Exception exc)
{
Debug.WriteLine("Error: serialPort_DataReceived - exception " + exc);
}
}
