public virtual void setParkingSensorData(SensorsState sensorsState)
{
parkingSensorMetersLF = sensorsState.parkingSensorMetersLF;
parkingSensorMetersRF = sensorsState.parkingSensorMetersRF;
parkingSensorMetersLB = sensorsState.parkingSensorMetersLB;
parkingSensorMetersRB = sensorsState.parkingSensorMetersRB;
}
public virtual void setParkingSensorData(SensorsState sensorsState)
{
parkingSensorMetersLF = sensorsState.parkingSensorMetersLF;
parkingSensorMetersRF = sensorsState.parkingSensorMetersRF;
parkingSensorMetersLB = sensorsState.parkingSensorMetersLB;
parkingSensorMetersRB = sensorsState.parkingSensorMetersRB;
}
public AsyncInputFrameArgs(int servo1target, int servo2target, int ping1value, int ping2value, bool fpss, SensorsState sensState)
{
timestamp = DateTime.Now.Ticks;
fromPingScanStop = fpss;
dPos1Mks = ProximityBoard.servoTargetToMks(servo1target);
dPos2Mks = ProximityBoard.servoTargetToMks(servo2target);
dPing1DistanceM = ProximityBoard.pingValueToDistanceM(ping1value);
dPing2DistanceM = ProximityBoard.pingValueToDistanceM(ping2value);
sensorsState = sensState;
}
public AsyncInputFrameArgs(int servo1target, int servo2target, int ping1value, int ping2value, bool fpss, SensorsState sensState)
{
timestamp = DateTime.Now.Ticks;
fromPingScanStop = fpss;
dPos1Mks = ProximityBoard.servoTargetToMks(servo1target);
dPos2Mks = ProximityBoard.servoTargetToMks(servo2target);
dPing1DistanceM = ProximityBoard.pingValueToDistanceM(ping1value);
dPing2DistanceM = ProximityBoard.pingValueToDistanceM(ping2value);
sensorsState = sensState;
}
// This will be called whenever the data is read from the board:
private void DataReadCompleteHandler(object sender, AsyncInputReportArgs aira)
{
// do some quick sanity checking here to avoid exceptions:
uint parkingSensorsCount = (uint)aira.InputBuffer[23];
switch (parkingSensorsCount)
{
case 0:
case 32:
case 64:
break;
default:
return;
}
switch (aira.InputBuffer[9])
{
case 0:
case 1:
break;
default:
return;
}
/*
* Tracer.Trace("PM Command: Async data arrived. " + DateTime.Now);
*
*
* StringBuilder byteValue = new StringBuilder();
* byteValue.Append("DataReadCompleteHandler(): Input Report Data: ");
*
* for (int count = 0; count <= aira.InputBuffer.Length - 1; count++)
* {
* // Display bytes as 2-character Hex strings.
* byteValue.AppendFormat("{0:X02} ", aira.InputBuffer[count]);
* }
* Tracer.Trace(byteValue.ToString());
*/
int servo1target = intFromBuffer(aira.InputBuffer, 1);
int servo2target = intFromBuffer(aira.InputBuffer, 3);
int ping1value = intFromBuffer(aira.InputBuffer, 5);
int ping2value = intFromBuffer(aira.InputBuffer, 7);
SensorsState sensState = new SensorsState();
bool fromPingScanStop = aira.InputBuffer[9] > 0;
// infrared distance sensors:
sensState.irbE1 = aira.InputBuffer[10];
sensState.irbE2 = aira.InputBuffer[11];
sensState.irbE3 = aira.InputBuffer[12];
sensState.irbE4 = aira.InputBuffer[13];
sensState.irbO1 = aira.InputBuffer[14];
sensState.irbO2 = aira.InputBuffer[15];
sensState.irbO3 = aira.InputBuffer[16];
sensState.irbO4 = aira.InputBuffer[17];
sensState.compassHeading = (((uint)aira.InputBuffer[18] << 8) + (uint)aira.InputBuffer[19]) / 10.0d;
sensState.accelX = ProximityBoard.toAccel(aira.InputBuffer[20]);
sensState.accelY = ProximityBoard.toAccel(aira.InputBuffer[21]);
sensState.accelZ = ProximityBoard.toAccel(aira.InputBuffer[22]);
// ultrasound car parking sensors - bytes 23 to 31 (only first 4 bytes used, next 4 are reserved for 8-sensor device):
sensState.parkingSensorsCount = parkingSensorsCount; // 32 or 0 for invalid
for (int i = 0; i < parkingSensorsCount / 8; i++)
{
sensState.parkingSensors[i] = aira.InputBuffer[24 + i];
}
sensState.mapParkingSensorsData();
sensState.mapAnalogData(0, aira.InputBuffer[28], aira.InputBuffer[29]); // LSB, MSB for AN0 (pin 2 on PIC 4550)
// calibration for POT data (pin 2 RA0/AN0 on PIC4550):
// 0v = 0
// 1v = 220
// 2v = 415
// 3v = 630
// 4v = 835
// 4.88v = 1023
AsyncInputFrameArgs args = new AsyncInputFrameArgs(servo1target, servo2target, ping1value, ping2value, fromPingScanStop, sensState);
OnDataFrameComplete(args);
if (inDataContinuousMode)
{
// initiate next read:
ReadFromDevice(new EventHandler <AsyncInputReportArgs>(DataReadCompleteHandler), INPUT_CONT_REPORT_ID);
}
}
// This will be called whenever the data is read from the board:
private void DataReadCompleteHandler(object sender, AsyncInputReportArgs aira)
{
// do some quick sanity checking here to avoid exceptions:
uint parkingSensorsCount = (uint)aira.InputBuffer[23];
switch (parkingSensorsCount)
{
case 0:
case 32:
case 64:
break;
default:
return;
}
switch (aira.InputBuffer[9])
{
case 0:
case 1:
break;
default:
return;
}
/*
Tracer.Trace("PM Command: Async data arrived. " + DateTime.Now);
StringBuilder byteValue = new StringBuilder();
byteValue.Append("DataReadCompleteHandler(): Input Report Data: ");
for (int count = 0; count <= aira.InputBuffer.Length - 1; count++)
{
// Display bytes as 2-character Hex strings.
byteValue.AppendFormat("{0:X02} ", aira.InputBuffer[count]);
}
Tracer.Trace(byteValue.ToString());
*/
int servo1target = intFromBuffer(aira.InputBuffer, 1);
int servo2target = intFromBuffer(aira.InputBuffer, 3);
int ping1value = intFromBuffer(aira.InputBuffer, 5);
int ping2value = intFromBuffer(aira.InputBuffer, 7);
SensorsState sensState = new SensorsState();
bool fromPingScanStop = aira.InputBuffer[9] > 0;
// infrared distance sensors:
sensState.irbE1 = aira.InputBuffer[10];
sensState.irbE2 = aira.InputBuffer[11];
sensState.irbE3 = aira.InputBuffer[12];
sensState.irbE4 = aira.InputBuffer[13];
sensState.irbO1 = aira.InputBuffer[14];
sensState.irbO2 = aira.InputBuffer[15];
sensState.irbO3 = aira.InputBuffer[16];
sensState.irbO4 = aira.InputBuffer[17];
sensState.compassHeading = (((uint)aira.InputBuffer[18] << 8) + (uint)aira.InputBuffer[19]) / 10.0d;
sensState.accelX = ProximityBoard.toAccel(aira.InputBuffer[20]);
sensState.accelY = ProximityBoard.toAccel(aira.InputBuffer[21]);
sensState.accelZ = ProximityBoard.toAccel(aira.InputBuffer[22]);
// ultrasound car parking sensors - bytes 23 to 31 (only first 4 bytes used, next 4 are reserved for 8-sensor device):
sensState.parkingSensorsCount = parkingSensorsCount; // 32 or 0 for invalid
for (int i = 0; i < parkingSensorsCount / 8; i++)
{
sensState.parkingSensors[i] = aira.InputBuffer[24 + i];
}
sensState.mapParkingSensorsData();
sensState.mapPotValueData(aira.InputBuffer[28], aira.InputBuffer[29]); // LSB, MSB
// calibration for POT data (pin 2 RA0/AN0 on PIC4550):
// 0v = 0
// 1v = 220
// 2v = 415
// 3v = 630
// 4v = 835
// 4.88v = 1023
AsyncInputFrameArgs args = new AsyncInputFrameArgs(servo1target, servo2target, ping1value, ping2value, fromPingScanStop, sensState);
OnDataFrameComplete(args);
if (inDataContinuousMode)
{
// initiate next read:
ReadFromDevice(new EventHandler<AsyncInputReportArgs>(DataReadCompleteHandler), INPUT_CONT_REPORT_ID);
}
}
public virtual void setAnalogData(SensorsState sensorsState)
{
analogValue1 = sensorsState.analogValue1;
}
