private int Send(byte[] dat, int len, byte[] rev, int revlen)
{
HiPerfTimer ht = new HiPerfTimer();
double sdTime = 0.3125 * len - 0.255;
ht.Start();
SP.Write(wrBuf, 0, len);
while (ht.DurationInMs < sdTime) ;
RevStatus = true;
ht.Start();
if (revlen > 0)
{
Boolean flag = true;
while (SP.BytesToRead < revlen && flag)
{
if (ht.DurationInMs > SPData.timeOut) flag = false;
}
int num = SP.BytesToRead;
int m = SP.Read(rev, 0, num);
RevStatus = false;
return m;
}
else
{
RevStatus = false;
return 0;
}
}
//private
private void PowerOn()
{
HiPerfTimer ht = new HiPerfTimer();
double tt;
double xx;
InitPort();
if (SP.IsOpen) SP.Close();
SP.Open();
RevStatus = true;
int num = 5;
for (int i = 0; i < num; i++)
{
Boolean fb = false;
DataForceZero = fb;
RevStatus = !fb;
ht.Start();
tt = SPData.wave[i].time;
string ss = "Output ";
ss += (SPData.wave[i].VS == 0) ? "Low" : "High";
ss += " Time:" + SPData.wave[i].time.ToString() + "mS";
xx = ht.DurationInMs;
while (xx < tt) { xx = ht.DurationInMs; }
}
DataForceZero = false;
RevStatus = false;
wrBuf[0] = 0x53;
wrBuf[1] = 0xAC;
wrBuf[2] = 0x00;
ht.Start();
int dNum = Send(wrBuf, 2, rdBuf, 4);
while (ht.DurationInMs < SPData.poSegTime) ;
for (int i = 0; i < 5; i++)
{
wrBuf[0] = 0x4a;
wrBuf[1] = 0xC0;
wrBuf[2] = 0x00;
wrBuf[3] = 0x00;
wrBuf[4] = 0x00;
wrBuf[5] = GetJYZ(wrBuf, 5);
ht.Start();
dNum = Send(wrBuf, 6, rdBuf, 7);
while (ht.DurationInMs < SPData.segTime) ;
}
while (isRun)
{
wrBuf[0] = 0x4a;
byte kk = KeyStatus;
wrBuf[1] = kk;
wrBuf[2] = 0x00;
if (kk != 0x00)
{
wrBuf[3] = 0x00;
wrBuf[4] = 0x00;
}
else
{
wrBuf[3] = ForBackSpeed;
wrBuf[4] = LeftRightSpeed;
}
wrBuf[5] = GetJYZ(wrBuf, 5);
ht.Start();
dNum = Send(wrBuf, 6, rdBuf, 7);
GetStatus(rdBuf, 6, dNum);
while (ht.DurationInMs < SPData.segTime) ;
}
SP.Close();
}