/// <summary>
/// 使用事件觸發方式來實現串口數據的讀取
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sp_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
byte[] Resoursedata = new byte[serialPort.BytesToRead];
int count = serialPort.Read(Resoursedata, 0, Resoursedata.Length);//在此就可以讀取到當前緩衝區內的數據
//執行數據操作
serialPort.DiscardInBuffer(); //丟棄傳輸緩衝區數據
serialPort.DiscardOutBuffer(); //每次丟棄接收緩衝區的數據
if (count > 0)
{
if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening
{
SerialPortMessageEvent.Invoke(Resoursedata); // Invoke方法防止主線程擁堵衝突
}
}
}
/// <summary>
/// A2雷达，监听串口,读取串口消息
/// </summary>
private void ListenSerialPort_RPLidarAX()
{
while (m_SerialPort != null && m_SerialPort.IsOpen)
{
try
{
int bufferSize = m_SerialPort.ReadBufferSize;
byte[] buf = new byte[bufferSize];
int count = m_SerialPort.Read(buf, 0, bufferSize);
if (count > 0)
{
//if (m_IsFristCommond)
//{
// m_IsFristCommond = false;
// byte[] splitArray = new byte[count - 1];
// Array.Copy(buf, 1, splitArray, 0, count - 1);
// if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening
// {
// SerialPortMessageEvent(splitArray);
// }
//}
//else
//{
byte[] splitArray = new byte[count];
Array.Copy(buf, 0, splitArray, 0, count);
if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening
{
SerialPortMessageEvent(splitArray);
}
//}
}
}
catch (System.Exception e)
{
Debug.LogWarning(e.Message);
}
}
}
private void ListenSerialPort()
{
while ((serialPort.IsOpen == true))
{
try
{
int bufferSize = serialPort.ReadBufferSize;
//
byte[] buf = new byte[bufferSize];
int count = serialPort.Read(buf, 0, bufferSize);
if (count > 0)
{
if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening
{
SerialPortMessageEvent.Invoke(buf);
}
}
}
catch (System.Exception)
{
}
}
}
/// <summary>
/// G4雷达，监听串口,读取串口消息
/// </summary>
private void ListenSerialPort_YDLidarG4()
{
while (m_SerialPort != null && m_SerialPort.IsOpen)
{
try
{
int bufferSize = m_SerialPort.ReadBufferSize;
byte[] buf = new byte[bufferSize];
int count = m_SerialPort.Read(buf, 0, bufferSize);
byte[] splitArray = new byte[count];
Array.Copy(buf, 0, splitArray, 0, count);
if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0)
{
SerialPortMessageEvent(splitArray);
}
//Debug.Log("Buffer.cout:" + count + " Data: " + SerialCommunicationUtility.ByteToHexString(splitArray));
}
catch (Exception e)
{
Debug.LogWarning(e.Message);
}
//try
//{
// byte buf = Convert.ToByte(m_SerialPort.ReadByte());
// m_Buffer.Add(buf);
// while (m_Buffer.Count >= 2)
// {
// if (m_Buffer[0] == 0xAA && m_Buffer[1] == 0x55)
// {
// //Debug.Log("内层收到未处理消息");
// if (m_Buffer.Count < 4)
// {
// break;
// }
// int numLen = m_Buffer[3];
// if (m_Buffer.Count < numLen * 2 + 10)
// {
// break;
// }
// //Debug.Log("numLen: " + numLen);
// Data_Process(numLen, m_Buffer);
// //一条完整数据存储进行处理移除前面一条完整数据
// m_Buffer.RemoveRange(0, numLen * 2 + 10);
// }
// else
// {
// m_Buffer.RemoveAt(0);
// }
// }
// //Debug.Log("buffer.Count: " + buffer.Count + " " + RunSerial.byteToHexStr(buffer.ToArray()));
//}
//catch (Exception e)
//{
// Debug.LogWarning(e.Message);
//}
}
}
