/// <summary>
/// 将STP318传感器的数据映射进指定控件中
/// </summary>
/// <param name="dat">input the parameter</param>
/// <param name="tx"> ref textbox </param>
/// <param name="lb"> ref label</param>
///
public void DataMapping2Control_STP318(LIN_STP318_ReadData dat, ref TextBox tx, ref Label lb)
{
tx.Text = (dat.TOF / 58.0).ToString();
if (dat.status == 1)
{
lb.Text = SensingStatus[0];
}
else if (dat.status == 2)
{
lb.Text = SensingStatus[1];
}
else if (dat.status == 4)
{
lb.Text = SensingStatus[2];
}
else if (dat.status == 8)
{
lb.Text = SensingStatus[3];
}
else if (dat.status == 16)
{
lb.Text = SensingStatus[4];
}
else
{
lb.Text = "正常";
}
}
/// <summary>
/// 根据ID号读取相应传感器的数值
/// </summary>
/// <param name="id">输入所要读取的ID号</param>
/// <returns></returns>
public LIN_STP318_ReadData ReadData_STP318(int DevHandle, byte id)
{
int ret;
LIN_STP318_ReadData rd_msg = new LIN_STP318_ReadData();
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[1];
msg[0].Data = new Byte[9];
msg[0].DataLen = 3;
msg[0].ID = id;
IntPtr[] ptArray = new IntPtr[1];
ptArray[0] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * msg.Length);
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)));
Marshal.Copy(ptArray, 0, pt, 1);
//将数组中的数据拷贝到指针所指区域
for (int k = 0; k < msg.Length; k++)
{
Marshal.StructureToPtr(msg[k], (IntPtr)((UInt32)pt + k * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), true);
}
ret = USB2LIN.LIN_Read(DevHandle, LINIndex, pt, 1);
if (ret < USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN read data failed!\n");
return(rd_msg);
}
else
{
msg[0] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 0 * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
rd_msg.TOF = BitConverter.ToUInt16(msg[0].Data, 0);
rd_msg.status = msg[0].Data[2];
return(rd_msg);
}
}
private void STP318_Process(LIN_STP318_ReadData m_318Data, LocationPoint InstallationPosition, ref UltrasonicAxis ultrasonic_location)
{
if (m_318Data.status == 0)
{
if (m_318Data.TOF != 0)
{
double distance = m_318Data.TOF * TemperatureCompensation(25);//cm
ultrasonic_location.x = InstallationPosition.x + distance * Math.Cos(InstallationPosition.yaw);
ultrasonic_location.y = InstallationPosition.y + distance * Math.Sin(InstallationPosition.yaw);
ultrasonic_location.state = UltrasonicStatus.Normal;
}
else
{
ultrasonic_location.x = 0;
ultrasonic_location.y = 0;
ultrasonic_location.state = UltrasonicStatus.OverDetection;
}
}
else if (m_318Data.status == 16)
{
ultrasonic_location.x = 0;
ultrasonic_location.y = 0;
ultrasonic_location.state = UltrasonicStatus.BlindZone;
}
ultrasonic_location.x *= 0.01;
ultrasonic_location.y *= 0.01;
}
/// <summary>
/// 将STP318传感器的数据映射进指定控件中
/// </summary>
/// <param name="dat">input the parameter</param>
/// <param name="tx"> ref textbox </param>
/// <param name="lb"> ref label</param>
///
public void DataMapping2Control_STP318(LIN_STP318_ReadData dat, ref Label[] tx)
{
tx[0].Text = (dat.TOF / 58.0).ToString("F2");
if (dat.status == 1)
{
tx[1].Text = SensingStatus[0];
}
else if (dat.status == 2)
{
tx[1].Text = SensingStatus[1];
}
else if (dat.status == 4)
{
tx[1].Text = SensingStatus[2];
}
else if (dat.status == 8)
{
tx[1].Text = SensingStatus[3];
}
else if (dat.status == 16)
{
tx[1].Text = SensingStatus[4];
}
else if (dat.status == 0)
{
tx[1].Text = "正常";
}
else
{
tx[1].Text = "异常";
}
}
public void DataMapping2Control_STP318(LIN_STP318_ReadData dat, ref Label tx)
{
tx.Text = (dat.TOF / 58.0).ToString("F2");
}
