public virtual void ReceiveData(Data data)
{
allData.AddLast(data);
data.AddWayPoint(this.Output.Center);
data.Cruise();
SetHasData();
}
private void SyncData(double threshold = 2)
{
if (allData.Count < 2)
{
return;
}
int lastIndex = allData.Count - 1;
int dataSynched = 0;
for (int i = 0; i < lastIndex; i++)
{
int dataIndex = lastIndex - i;
Data data = allData.ElementAt(dataIndex);
int previousIndex = dataIndex - 1;
Data previousData = allData.ElementAt(previousIndex);
float clockwiseArcAngle = (float)Program.GetClockwiseArcAngle(data.CenterF, previousData.CenterF, this.Center);
//float lastDataAngle = (float)Program.GetAbsAngle(this.Center, bufferData.CenterF);
//float secondLastDataAngle = (float)Program.GetAbsAngle(this.Center, previousData.CenterF);
//float clockwiseArcAngle = (secondLastDataAngle - lastDataAngle) % 360;
//if (clockwiseArcAngle < 0)
//{
// clockwiseArcAngle += 360;
//}
float desiredArcAngle = 360 / DataSlots;
float angleDif = Math.Abs(clockwiseArcAngle - desiredArcAngle);
if (angleDif < threshold)
{
data.Cruise();
dataSynched++;
continue;
}
float currentVelocity = data.Velocity;
float cruiseVelocity = data.CruiseVelocity;
float halfCruise = cruiseVelocity / 2;
if (clockwiseArcAngle > desiredArcAngle)
{
if (currentVelocity > cruiseVelocity)
{
continue;
}
data.ChangeVelocity(halfCruise);
}
else
{
if (currentVelocity < cruiseVelocity)
{
continue;
}
data.ChangeVelocity(-halfCruise);
}
}
}
