private void SendCommands()
{
messageReceived = null;
race.AddLap(lap);
position++;
lap = new Lap();
lap.AddInsructions(race.GetInstructions());
Write(lap.GetInstructions().ToArray());
Write(201);
var form = Form.ActiveForm as Form1;
form.Invoke(new MethodInvoker(delegate
{
form.Clear();
}));
Thread.CurrentThread.Abort();
}
private void Read()
{
byte[] receiveBuffer;
while (true)
{
try
{
// ACK received
if (waitACK)
{
receiveBuffer = new byte[1];
if (port.BytesToRead >= 1)
{
port.Read(receiveBuffer, 0, 1);
Check(receiveBuffer[0]);
}
}
// Message received
else
{
receiveBuffer = new byte[15];
if (port.BytesToRead >= 15)
{
port.Read(receiveBuffer, 0, 15);
try
{
// Check CRC (if incorrect, exception will be thrown)
InMessage inMessage = new InMessage(receiveBuffer);
// Return ACK
Write(receiveBuffer[0]);
// If record received
if (receiveBuffer[0] == 0 || receiveBuffer[0] == 1)
{
// If message not previously received
if (messageReceived == null ||
inMessage.GetMessage()[0] != messageReceived.GetMessage()[0])
{
byte[] msg = inMessage.GetMessage();
int tacho = messageReceived == null ? msg[1] :
msg[1] + lap.Records[lap.Records.Count - 1].tacho;
short XAcc = CRC8.ByteToShort(msg[3], msg[2]);
short YAcc = CRC8.ByteToShort(msg[5], msg[4]);
short ZAcc = CRC8.ByteToShort(msg[7], msg[6]);
short XRot = CRC8.ByteToShort(msg[9], msg[8]);
short YRot = CRC8.ByteToShort(msg[11], msg[10]);
short ZRot = CRC8.ByteToShort(msg[13], msg[12]);
Record record = new Record(tacho, XAcc, YAcc, ZAcc, XRot, YRot, ZRot);
messageReceived = inMessage;
lap.AddRecord(record);
var form = Form.ActiveForm as Form1;
form.Invoke(new MethodInvoker(delegate
{
form.AddPoint(record);
//form.Write(inMessage.ToString());
//form.Write(record.ToString());
}));
}
}
else
{
Console("All messages received");
new Thread(SendCommands).Start();
}
}
catch (Exception) { }
}
}
}
catch (Exception)
{
Environment.Exit(-1);
}
}
}