private void UpdateSensorDisplay(Sensors s)
{
SensorPacketGroup spg = (SensorPacketGroup)sensorGroupList.SelectedItem;
sensorTextBox.Clear();
for (int i = 0; i < spg.numItems; i++)
{
sensorTextBox.AppendText(Sensors.sd[spg.offsetInSensorDesc + i].name + ": " + s.GetValue((Sensors.SensorID)(spg.offsetInSensorDesc + i)) + Environment.NewLine);
}
// drawing update
canvas1.rotateRoomba(s.GetValue(Sensors.SensorID.Angle));
canvas1.moveRoomba(s.GetValue(Sensors.SensorID.Distance));
}
private void serialPort_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
//textExpected = true;
if (textExpected)
{
//read data waiting in the buffer
string msg = serialPort.ReadExisting();
Log(msg, Color.DarkBlue);
//textExpected = false;
}
else // read binary data
{
//Thread.Sleep(10); // wait for complete packet
WaitForCompletePacket((currentSpg == null) ? 0 : currentSpg.numBytes);
Log("Reading " + serialPort.BytesToRead + " bytes" + Environment.NewLine);
byte[] buf = new byte[serialPort.BytesToRead];
serialPort.Read(buf, 0, buf.Length);
//Log(buf, Color.Chocolate);
Sensors s = new Sensors(buf, roomba.lastPacketRequested());
if (s.IsValid())
{
Object[] args = new Object[] { s };
try
{
this.Invoke(UpdateSensorsDelegate, args);
}
catch (Exception)
{
//Log("\nException in delegete call\n", Color.Red);
}
//Log(".");
//Log(s.ToString(), Color.Chocolate);
}
}
}
