/// <summary>
/// 内部公开方法
/// </summary>
/// <param name="msgIn"></param>
protected virtual void OnMsgRecieved(CommunicationProtocol.DataPacket msgIn)
{
if (MsgRecieved != null)
{
MsgRecieved(this, new MsgEventArgs()
{
msg = msgIn
});
}
}
/// <summary>
/// 接收数据译码函数
/// </summary>
public void GetPortData()
{
//test function to display any log information from Serial Ports
List <byte> buffer = new List <byte>(); //this gives easy access to handy functions in order to process buffer
Queue <byte> FIFO_Buffer = new Queue <byte>(); //create FIFO type bufffer
CommunicationProtocol.DataPacket packet = new CommunicationProtocol.DataPacket();
packet.dataReady = false;
DecodeState currentDecodeState = DecodeState.SearchForHeader1;
bool ThreadRunning = true;
while (controlPort.IsOpen && ThreadRunning)
{
try
{
int data = controlPort.ReadByte();
if (data != -1)
{
FIFO_Buffer.Enqueue((byte)data);
}
ProcessData(ref FIFO_Buffer, ref currentDecodeState, ref packet);
if (packet.dataReady)
{
//raise event
if (MsgRecieved != null)
{
MsgRecieved(this, new MsgEventArgs()
{
msg = packet
}); //raise event
}
packet = new CommunicationProtocol.DataPacket();
packet.dataReady = false;
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
ThreadRunning = false;
}
}
}
/// <summary>
/// 接收数据包格式处理
/// </summary>
/// <param name="dataStream"></param>
/// <param name="state"></param>
/// <param name="packet"></param>
public void ProcessData(ref Queue <byte> dataStream, ref DecodeState state, ref CommunicationProtocol.DataPacket packet)
{
//Todo Process fifo data stream from headtracking port
bool stopSerching = false;
while (dataStream.Count > 0 && stopSerching == false)
{
switch (state)
{
case DecodeState.SearchForHeader1:
if (dataStream.Count > 0)
{
byte data = dataStream.Dequeue();
if (data == 0xeb)
{
state = DecodeState.SearchForHeader2;
}
}
break;
case DecodeState.SearchForHeader2:
if (dataStream.Count > 0)
{
byte data = dataStream.Dequeue();
if (data == 0x90)
{
state = DecodeState.SearchForCmdType;
}
}
break;
case DecodeState.SearchForCmdType:
if (dataStream.Count > 0)
{
byte data = dataStream.Dequeue();
packet.cmdType = (CommunicationProtocol.CMDTYPE)data;
state = DecodeState.SearchForLen;
}
break;
case DecodeState.SearchForLen:
if (dataStream.Count > 0)
{
byte data = dataStream.Dequeue();
packet.len = data;
state = DecodeState.GetContent;
}
break;
case DecodeState.GetContent:
if (dataStream.Count >= packet.len)
{
packet.payload = new byte[packet.len];
for (int i = 0; i < packet.len; i++)
{
packet.payload[i] = dataStream.Dequeue();
}
state = DecodeState.CheckEnder;
}
else
{
stopSerching = true;
}
break;
case DecodeState.CheckEnder:
if (dataStream.Count > 0)
{
byte data = dataStream.Dequeue();
if (data == 0xfe)
{
packet.dataReady = true;
state = DecodeState.SearchForHeader1;
stopSerching = true;
}
else
{
packet = new CommunicationProtocol.DataPacket();
state = DecodeState.SearchForHeader1;
stopSerching = true;
}
}
break;
}
}
}
