} //Receive data
private double AddAvgVal(string str, double ts, List <Eppy.Tuple <double, double> > list)
{
list.RemoveAt(0);
list.Add(Tuple.Create(ts, double.Parse(str, NumberStyles.Float, CultureInfo.InvariantCulture)));
// beregn average
double avg = 0;
for (int i = 0; i < list.Count - 1; i++)
{
avg += (list[i].Item2 - list[i + 1].Item2) / (list[i].Item1 - list[i + 1].Item1);
}
// overfør average
return(avg / list.Count);
}
public void ReceiveData()
{
byte[] data = new byte[0];
while (true)
{
data = client.Receive(ref ep);
string json = Encoding.ASCII.GetString(data);
if (json != "")
{
ts = double.Parse(json.Substring(6, 10));
if (json.Contains("gd"))
{
if (json.Contains("left"))
{
string gdl = json.Substring(json.IndexOf('[') + 1, 19);
string[] values = gdl.Split(',');
//gdlX = double.Parse(values[0], NumberStyles.Float, CultureInfo.InvariantCulture);
//gdlY = double.Parse(values[1], NumberStyles.Float, CultureInfo.InvariantCulture);
//gdlZ = double.Parse(values[2], NumberStyles.Float, CultureInfo.InvariantCulture);
//x
if (gdlXBuff.Count < 10)
{
gdlXBuff.Add(Tuple.Create(ts, double.Parse(values[0], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdlX = Math.Abs(AddAvgVal(values[0], ts, gdlXBuff));
}
//y
if (gdlYBuff.Count < 10)
{
gdlYBuff.Add(Tuple.Create(ts, double.Parse(values[1], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdlY = Math.Abs(AddAvgVal(values[1], ts, gdlYBuff));
}
//z
if (gdlZBuff.Count < 10)
{
gdlZBuff.Add(Tuple.Create(ts, double.Parse(values[2], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdlZ = Math.Abs(AddAvgVal(values[2], ts, gdlZBuff));
}
}
else
{
//right
string gdl = json.Substring(json.IndexOf('[') + 1, 19);
string[] values = gdl.Split(',');
// gdrX = double.Parse(values[0], NumberStyles.Float, CultureInfo.InvariantCulture);
// gdrY = double.Parse(values[1], NumberStyles.Float, CultureInfo.InvariantCulture);
// gdrZ = double.Parse(values[2], NumberStyles.Float, CultureInfo.InvariantCulture);
//x
if (gdrXBuff.Count < 10)
{
gdrXBuff.Add(Tuple.Create(ts, double.Parse(values[0], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdrX = Math.Abs(AddAvgVal(values[0], ts, gdrXBuff));
}
//y
if (gdrYBuff.Count < 10)
{
gdrYBuff.Add(Tuple.Create(ts, double.Parse(values[1], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdrY = Math.Abs(AddAvgVal(values[1], ts, gdrYBuff));
}
//z
if (gdrZBuff.Count < 10)
{
gdrZBuff.Add(Tuple.Create(ts, double.Parse(values[2], NumberStyles.Float, CultureInfo.InvariantCulture)));
}
else
{
gdrZ = Math.Abs(AddAvgVal(values[2], ts, gdrZBuff));
}
}
} //gd found
if (json.Contains("pd"))
{
string pdString = json.Substring(json.IndexOf('p') + 4, 4);
if (json.Contains("left"))
{
/*
* if (pdlBuff.Count < 10)
* {
* pdlBuff.Add(Tuple.Create(ts, double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture)));
* }
* else if (pdlBuff.Count == 10)
* {
* pdlBuff.RemoveAt(0);
* pdlBuff.Add(Tuple.Create(ts, double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture)));
*
* // beregn average
* double avg = 0;
* for (int i = 0; i < pdlBuff.Count - 1; i++)
* {
* avg += (pdlBuff[i].Item2 - pdlBuff[i + 1].Item2) / (pdlBuff[i].Item1 - pdlBuff[i + 1].Item1);
* }
* // overfør average
* pdl = avg / pdlBuff.Count;
* }
*/
pdl = double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture);
}
else
{
pdr = double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture);
//pdr
/*
* if(pdrBuff.Count < 10)
* {
* pdrBuff.Add(Tuple.Create(ts,double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture)));
*
* }else if(pdrBuff.Count == 10){
* pdrBuff.RemoveAt(0);
* pdrBuff.Add(Tuple.Create(ts,double.Parse(pdString, NumberStyles.Float, CultureInfo.InvariantCulture)));
* // beregn average
* double avg = 0;
* for (int i = 0; i < pdrBuff.Count-1; i++)
* {
* avg += (pdrBuff[i].Item2-pdrBuff[i+1].Item2)/(pdrBuff[i].Item1-pdrBuff[i+1].Item1);
* }
* // overfør average
* pdr = avg/pdlBuff.Count;
*
* }
*/
}
} //pd
if (json.Contains("gy"))
{
string gyString = json.Substring(json.IndexOf('[') + 1);
gyString = gyString.Substring(0, gyString.Length - 3);
string[] values = gyString.Split(',');
gyX = float.Parse(values[0], NumberStyles.Float, CultureInfo.InvariantCulture);
gyY = float.Parse(values[1], NumberStyles.Float, CultureInfo.InvariantCulture);
gyZ = float.Parse(values[2], NumberStyles.Float, CultureInfo.InvariantCulture);
}
} //end json
} //while true
} //Receive data
