/// <summary>
/// 受信時の処理
/// </summary>
/// <param name="receivedString"></param>
/// <exception cref="NotImplementedException"></exception>
private void OnReceivedFromPreMaidAi(string receivedString)
{
//4文字以下なら不正
if (receivedString.Length < 4)
{
return;
}
//3-4文字目が命令種類
string orderKind = receivedString.Substring(2, 2);
//Debug.Log("orderKind:"+ orderKind);
switch (orderKind)
{
//バッテリー残量
case "01":
if (receivedString.Length >= 10)
{
int rawValtageValue =
PreMaidUtility.HexStringToInt(PreMaidUtility.ConvertEndian(receivedString.Substring(6, 4)));
Debug.Log($"バッテリー残量{rawValtageValue} で電圧は{rawValtageValue / 216f} V");
if (rawValtageValue / 216.0f < 9f)
{
Debug.LogError("バッテリー残量が9V以下です！！！！");
}
}
break;
//モーション転送結果
case "18":
if (receivedString == "0418001C")
{
}
else
{
Debug.Log("PoseError:" + receivedString);
}
break;
default:
Debug.Log(receivedString);
break;
}
}
// Update is called once per frame
void Update()
{
if (errorQueue.IsEmpty == false)
{
var errorString = string.Empty;
if (errorQueue.TryDequeue(out errorString))
{
Debug.LogError(errorString);
}
}
if (SerialPortOpen == false)
{
return;
}
//受信バッファ、バイナリで届くので区切りをどうしようか悩み中
//一旦、素朴に先頭に命令長が来るでしょう、というつもりで書きます。
if (receivedQueue.IsEmpty == false)
{
var receivedString = string.Empty;
if (receivedQueue.TryDequeue(out receivedString))
{
bufferedString += receivedString;
if (bufferedString.Length < 2)
{
return;
}
//異様にバッファが溜まったら捨てる
if (bufferedString.Length > 100)
{
Debug.Log("破棄します:" + bufferedString);
bufferedString = string.Empty;
return;
}
int orderLength = PreMaidUtility.HexStringToInt(bufferedString.Substring(0, 2));
//先頭0だったら命令ではないと判断して2文字読み捨て
//なぜなら0004051Fみたいな文字列が入っているので
if (orderLength == 0)
{
bufferedString = bufferedString.Substring(2);
}
//命令長が足りないので待つ
else if (orderLength > bufferedString.Length * 2)
{
return;
}
else if (bufferedString.Length >= orderLength * 2)
{
var targetOrder = bufferedString.Substring(0, orderLength * 2);
if (OnReceivedFromPreMaidAI != null)
{
OnReceivedFromPreMaidAI.Invoke(targetOrder);
}
else
{
Debug.Log(targetOrder);
}
//まだ余りバッファが有るならツメます
if (orderLength * 2 < bufferedString.Length)
{
bufferedString = bufferedString.Substring(orderLength * 2 + 1);
}
else
{
bufferedString = string.Empty;
}
}
}
}
}