Exemple #1
0
        private void ComRec(byte[] data)
        {
            int length = this.recStringBuilder.Length;
            int idx    = 0;

            if (data == null)
            {
                return;
            }
            var datas = SerialProtocolParseHelper.Parse(data);

            Console.WriteLine(string.Join(",", datas) + "\r\n");
            if (datas.Contains(calibrate))
            {
                return;
            }
            var ds = Constant.solver2D.Update(datas.Select <long, double>(x => x).ToList());

            Console.WriteLine(string.Join(",", ds) + "\r\n");
            bool flag = false;

            if (Math.Abs(Global.Position[0] - ds[0] / 1000) > tolerance ||
                double.IsNaN(Global.Position[0]) ||
                XMovingAverage.Length < ringLength)
            {
                XMovingAverage.Push(ds[0]);
                Global.Position[0] = XMovingAverage.Current / 1000;
                flag = true;
            }
            if (Math.Abs(Global.Position[1] - ds[1] / 1000) > tolerance ||
                double.IsNaN(Global.Position[1]) ||
                YMovingAverage.Length < ringLength)
            {
                YMovingAverage.Push(ds[1]);
                Global.Position[1] = YMovingAverage.Current / 1000;
                flag = true;
            }
            if (flag)
            {
                Constant.DrawingHelper.Update(Global.Position[0] * 1000, Global.Position[1] * 1000);
            }

            Global.Position[2] = refHeight / 1000;

            SerialDataReceived?.Invoke(this, string.Join(",", ds) + "\r\n");
        }
Exemple #2
0
        void ReceivedData(object sender, SerialDataReceivedEventArgs e)
        {
            _dataReceived = _serialPort.ReadLine();

            SerialDataReceived.Raise(this, new EventArgs());
        }