/// <summary>
/// Receives data from the TRobot's Hokuyo sensor. Range for Hokuyo sensor is around (20 - 4000 mm).
/// Scan area is 240 degrees semicircle. Sensor outputs the distace measured at 682 points.
/// </summary>
/// <returns>Distance in 682 points in mm from the TRobot's Hokuyo sensor. The key for measured distance is "distance0", "distance1", ..., "distance681".</returns>
public Data ReceiveData()
{
Data data = new Data();
data.SelectedDeviceType = SelectedDevice.Hokuyo;
try
{
int[] distanceValuesFromHokuyo = hokuyo.GetData();
int numberOfDistanceValues = distanceValuesFromHokuyo.Count();
String currentKey;
for (int i = 0; i < numberOfDistanceValues; i++)
{
currentKey = key + i;
data.Dictionary.Add(currentKey, distanceValuesFromHokuyo[i]);
}
}
catch (Exception e)
{
Logger.Log(e);
}
return(data);
}
public void runnerContext()
{
var connectionInfo = GetDeviceConnectionInfo();
if (connectionInfo.comPort == 0)
{
WriteLog("E,Device Not Found");
return;
}
else
{
WriteLog($"I,COM Port={connectionInfo.comPort}");
WriteLog($"I,Baud Rate={connectionInfo.baudRate}");
}
screenWidth = Screen.PrimaryScreen.Bounds.Width;
screenHeight = Screen.PrimaryScreen.Bounds.Height;
WriteLog($"I,Screen Size={screenWidth}*{screenHeight}");
hokuyo = new Hokuyo(connectionInfo.comPort, connectionInfo.baudRate);
hokuyo.Connect();
int buffer = 0;
List <(double x, double y)> bufferPosition = new List <(double x, double y)>();
while (true)
{
if (runner == null)
{
break;
}
buffer++;
try {
var rawDistanceValues = hokuyo.GetData();
IEnumerable <(double x, double y)> rawPoints = null;
LocationEnum locationType = LocationEnum.LeftBottom;
this.Invoke((MethodInvoker) delegate() {
locationType = (LocationEnum)location.SelectedIndex;
});
if (locationType == (int)LocationEnum.LeftBottom)
{
rawPoints = rawDistanceValues
.Skip(128 - 44).Take(384 - 128)
.Select((x, i) => new {
degree = i * ((Math.PI / 2) / (384 - 128)),
distance = x
})
.Select(x => GetPoint(x.degree, x.distance))
.Where(x =>
x.x >= decimal.ToInt32(MinX.Value) && x.x <= decimal.ToInt32(MaxX.Value) &&
x.y >= decimal.ToInt32(MinY.Value) && x.y <= decimal.ToInt32(MaxY.Value));
}
else if (locationType == LocationEnum.RightBottom)
{
rawPoints = rawDistanceValues
.Skip(128 - 44 + 384 - 128).Take(384 - 128)
.Select((x, i) => new {
degree = i * ((Math.PI / 2) / (384 - 128)) + (Math.PI / 2),
distance = x
})
.Select(x => GetPoint(x.degree, x.distance))
.Where(x =>
x.x <= -decimal.ToInt32(MinX.Value) && x.x >= -decimal.ToInt32(MaxX.Value) &&
x.y >= decimal.ToInt32(MinY.Value) && x.y <= decimal.ToInt32(MaxY.Value));
}
var currentPoint = (
x : rawPoints.Sum(x => x.x) / rawPoints.Count(),
y : rawPoints.Sum(x => x.y) / rawPoints.Count()
);
if (double.IsNaN(currentPoint.x) ||
double.IsNaN(currentPoint.y))
{
continue;
}
currentPoint = ConvertPosition(currentPoint, locationType);
bufferPosition.Add(currentPoint); // 加入緩衝
if (buffer % Convert.ToInt32(BufferCount.Value) == 0)
{
// 達到緩衝次數
buffer = 0;
// 計算平均值
currentPoint = (x : bufferPosition.Average(x => x.x), y : bufferPosition.Average(x => x.y));
bufferPosition.Clear();
}
else
{
// 緩衝中跳過
continue;
}
if (bindMouse)
{
WinAPI.SetCursorPos((int)currentPoint.x, (int)currentPoint.y);
bool autoClick = false;
this.Invoke((MethodInvoker) delegate() {
autoClick = AutoClickCheckBox.Checked;
});
if (autoClick)
{
WinAPI.mouse_event(WinAPI.MOUSEEVENTF_LEFTDOWN, (int)currentPoint.x, (int)currentPoint.y, 0, 0);
WinAPI.mouse_event(WinAPI.MOUSEEVENTF_LEFTUP, (int)currentPoint.x, (int)currentPoint.y, 0, 0);
}
}
WriteLog($"I,x: {currentPoint.x}, y: {currentPoint.y}");
} catch (Exception e) {
WriteLog("E," + e.ToString());
}
}
hokuyo.Disconnect();
hokuyo = null;
}