private void GetValue()
{
try
{
var arduinoBytes = new byte[10];
_device.Read(arduinoBytes);
var sonarWidth = (ushort)(arduinoBytes[0] << 8 | arduinoBytes[1]);
//var adcReading1 = (ushort)(arduinoBytes[2] << 8 | arduinoBytes[3]);
//var adcReading2 = (ushort)(arduinoBytes[4] << 8 | arduinoBytes[5]);
//var adcReading3 = (ushort)(arduinoBytes[6] << 8 | arduinoBytes[7]);
//var adcReading4 = (ushort)(arduinoBytes[8] << 8 | arduinoBytes[9]);
ProximityReceived?.Invoke(this, new ProximtyEventArgs
{
RawValue = sonarWidth,
Proximity = Math.Max(0, ((sonarWidth / 2d) / 2.91d) - 0.5d) //The sensors are about 5mm inside the casing of the device.
});
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An error occurred reading values from Arduino Sensor Device"
});
}
}
/// <summary>
/// Append one item of data
/// </summary>
/// <param name="sensor"></param>
/// <param name="data_to_save"></param>
public void AppendData(ISensor sensor, SensorException exception_to_save)
{
using (var conn = new SQLiteConnection(_connstring)) {
conn.Open();
// Insert using raw compiled code
using (var cmd = conn.CreateCommand()) {
cmd.CommandText = @"INSERT INTO exceptions (sensor_id, exception_time, exception_text, stacktrace, cleared) values (@sensor_id, @exception_time, @exception_text, @stacktrace, @cleared)";
// Set up parameters
string[] parameter_names = new[] { "@sensor_id", "@exception_time", "@exception_text", "@stacktrace", "@cleared" };
DbParameter[] parameters = parameter_names.Select(pn =>
{
DbParameter parameter = cmd.CreateParameter();
parameter.ParameterName = pn;
cmd.Parameters.Add(parameter);
return(parameter);
}).ToArray();
// Iterate through the objects in this list
parameters[0].Value = sensor.Identity;
parameters[1].Value = exception_to_save.ExceptionTime.Ticks;
parameters[2].Value = exception_to_save.Description;
parameters[3].Value = exception_to_save.StackTrace;
parameters[4].Value = exception_to_save.Cleared ? 1 : 0;
cmd.ExecuteNonQuery();
}
}
}
private void RequestSensorToStartCollectingData()
{
try
{
var command = (byte)(VCNL4000_Constants.VCNL4000_MEASUREPROXIMITY.GetHashCode() | VCNL4000_Constants.VCNL4000_MEASUREAMBIENT.GetHashCode());
WriteCommandToCommandRegister(command);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured writing the request to read the proximity."
});
}
}
private void SetPositionAndGetReading(int position)
{
try
{
_contoller.SetPwm(PwmChannel.C0, 0, position);
Task.Delay(50).Wait();
if (_haveReading())
{
PositionFound?.Invoke(this, new PositionalDistanceEventArgs {
Angle = Angle(position), Proximity = _lastReading.Proximity, RawValue = _lastReading.RawValue
});
}
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs {
Exception = ex, Message = "An error occured setting Angle and getting distance."
});
}
}
private int RawAmbientLightReading()
{
try
{
var readAmbientLightCommand = new[] { (byte)VCNL4000_Constants.VCNL4000_AMBIENTDATA.GetHashCode() };
var ambientBuffer = new byte[2]; //Read VCNL4000_AMBIENTDATA for two bytes long, its a 16 bit value.
_device.WriteRead(readAmbientLightCommand, ambientBuffer);
var rawPAmbientReading = ambientBuffer[0] << 8 | ambientBuffer[1];
return(rawPAmbientReading);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured reading the Ambient Light Results registers."
});
}
return(-1);
}
private int RawProximityReading()
{
try
{
var readProximityCommand = new[] { (byte)VCNL4000_Constants.VCNL4000_PROXIMITYDATA_1.GetHashCode() };
var proximityBuffer = new byte[2]; //Read VCNL4000_PROXIMITYDATA_1 and VCNL4000_PROXIMITYDATA_2 at the same time as they are adjacent register addresses
_device.WriteRead(readProximityCommand, proximityBuffer);
var rawProximityReading = proximityBuffer[0] << 8 | proximityBuffer[1];
return(rawProximityReading);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured reading the Proximity Results registers."
});
}
return(-1);
}
public SensorDataCollection RetrieveData(ISensor sensor, DateTime?start_date = null, DateTime?end_date = null, bool fetch_exceptions = false)
{
var data = new SensorDataCollection();
data.StartDate = start_date ?? DateTime.MinValue;
data.EndDate = end_date ?? DateTime.MaxValue;
data.Data = new List <SensorData>();
data.Exceptions = new List <SensorException>();
// Check to see if this sensor filename exists
string fn = GetFilename(sensor);
if (File.Exists(fn))
{
// Construct a new CSVReader and be careful about this
using (var csv = new CSVReader(fn, ',', '\"', false)) {
foreach (string[] line in csv)
{
if (line != null && line.Length >= 2)
{
DateTime t = DateTime.MinValue;
Decimal val;
// Load the measurement time if present
int ms = 0;
if (line.Length >= 3)
{
int.TryParse(line[2], out ms);
}
// Save values
if (DateTime.TryParse(line[0], out t) && Decimal.TryParse(line[1], out val))
{
// Only load the specific timeframe
if (t < data.StartDate || t > data.EndDate)
{
continue;
}
// Load the exception if asked
if (fetch_exceptions)
{
if (line.Length >= 3)
{
SensorException e = new SensorException()
{
Description = line[2],
ExceptionTime = t
};
data.Exceptions.Add(e);
}
}
// Load the sensor data
SensorData sd = new SensorData()
{
Time = t,
Value = val,
CollectionTimeMs = ms
};
data.Data.Add(sd);
}
}
}
}
}
// Mark for lazy loading
return(data);
}
/// <summary>
/// Append one item of data
/// </summary>
/// <param name="sensor"></param>
/// <param name="data_to_save"></param>
public void AppendData(ISensor sensor, SensorException exception_to_save)
{
}
/// <summary>
/// Fetch some data for this sensor
/// </summary>
/// <param name="sensor"></param>
/// <param name="start_date"></param>
/// <param name="end_date"></param>
/// <param name="fetch_exceptions"></param>
/// <returns></returns>
public SensorDataCollection RetrieveData(ISensor sensor, DateTime?start_date = null, DateTime?end_date = null, bool fetch_exceptions = false)
{
// Create a new sensor data collection object
SensorDataCollection result = new SensorDataCollection();
result.StartDate = DateTime.MinValue;
result.EndDate = DateTime.MaxValue;
// Start the query process
using (var conn = new SQLiteConnection(_connstring)) {
conn.Open();
// Insert using raw compiled code
using (var cmd = conn.CreateCommand()) {
// Set up parameters
string[] parameter_names = new[] { "@sensor_id", "@start_date", "@end_date" };
DbParameter[] parameters = parameter_names.Select(pn =>
{
DbParameter parameter = cmd.CreateParameter();
parameter.ParameterName = pn;
cmd.Parameters.Add(parameter);
return(parameter);
}).ToArray();
// Next set up the actual query text
string measurement_query = @"SELECT measurement_time, value, collection_time_ms FROM measurements WHERE sensor_id = @sensor_id";
string exception_query = @"SELECT exception_time, exception_text, stacktrace, cleared FROM exceptions WHERE sensor_id = @sensor_id";
parameters[0].Value = sensor.Identity;
if (start_date != null && start_date.HasValue)
{
measurement_query += " AND measurement_time >= @start_date";
exception_query += " AND exception_time >= @start_date";
parameters[1].Value = start_date.Value.Ticks;
result.StartDate = start_date.Value;
}
if (end_date != null && end_date.HasValue)
{
measurement_query += " AND measurement_time <= @end_date";
exception_query += " AND exception_time <= @end_date";
parameters[2].Value = end_date.Value.Ticks;
result.EndDate = end_date.Value;
}
// Now query for measurements
cmd.CommandText = measurement_query;
using (var dr = cmd.ExecuteReader()) {
while (dr.Read())
{
SensorData sd = new SensorData();
sd.Time = new DateTime(dr.GetInt64(0));
sd.Value = dr.GetDecimal(1);
sd.CollectionTimeMs = dr.GetInt32(2);
result.Data.Add(sd);
}
}
// Now reset the query for the exceptions table
cmd.CommandText = exception_query;
using (var dr = cmd.ExecuteReader()) {
while (dr.Read())
{
SensorException se = new SensorException();
se.ExceptionTime = new DateTime(dr.GetInt64(0));
se.Description = dr.GetString(1);
se.StackTrace = dr.GetString(2);
se.Cleared = (dr.GetInt32(3) == 1);
result.Exceptions.Add(se);
}
}
}
}
return(result);
}
