public event writecsvdelegate writecsvEvent; //写入数据事件
public void DataAnalysis(byte[] data, int num) //从数据报中解析出有用信息
{
if (data[0] == 0xAA && data[1] == 0xAA) //帧头
{
if (data[2] == 0X01)
{
Rol = (short)(((0 ^ data[4]) << 8) ^ data[5]); //将b1赋给s的低8位
Pit = (short)(((0 ^ data[6]) << 8) ^ data[7]); //将b1赋给s的低8位
Yaw = (short)(((0 ^ data[8]) << 8) ^ data[9]); //将b1赋给s的低8位
//WaverolpityawEvent((int)(Rol / 100), (int)(Pit / 100), (int)(Yaw / 100));
}
if (data[2] == 0X02)
{
a_x = (short)(((0 ^ data[4]) << 8) ^ data[5]);
a_y = (short)(((0 ^ data[6]) << 8) ^ data[7]);
a_z = (short)(((0 ^ data[8]) << 8) ^ data[9]);
g_x = (short)(((0 ^ data[10]) << 8) ^ data[11]);
g_y = (short)(((0 ^ data[12]) << 8) ^ data[13]);
g_z = (short)(((0 ^ data[14]) << 8) ^ data[15]);
m_x = (short)(((0 ^ data[16]) << 8) ^ data[17]);
m_y = (short)(((0 ^ data[18]) << 8) ^ data[19]);
m_z = (short)(((0 ^ data[20]) << 8) ^ data[21]);
}
if (data[2] == 0X03)
{
THR = (short)(((0 ^ data[4]) << 8) ^ data[5]);
YAW = (short)(((0 ^ data[6]) << 8) ^ data[7]);
ROL = (short)(((0 ^ data[8]) << 8) ^ data[9]);
PIT = (short)(((0 ^ data[10]) << 8) ^ data[11]);
AUX1 = (short)(((0 ^ data[12]) << 8) ^ data[13]);
AUX2 = (short)(((0 ^ data[14]) << 8) ^ data[15]);
AUX3 = (short)(((0 ^ data[16]) << 8) ^ data[17]);
AUX4 = (short)(((0 ^ data[18]) << 8) ^ data[19]);
AUX5 = (short)(((0 ^ data[20]) << 8) ^ data[21]);
AUX6 = (short)(((0 ^ data[22]) << 8) ^ data[23]);
}
if (data[2] == 0X07)
{
Hei = (short)(((0 ^ data[8]) << 8) ^ data[9]);
//WaveheightEvent(Hei);
}
statusshowEvent(Rol, Pit, Yaw);
showsensorshowEvent((int)a_x, (int)a_y, (int)a_z, (int)g_x, (int)g_y, (int)g_z, (int)m_x, (int)m_y, (int)m_z);
heightshowEvent(Hei);
showrecvdataEvent(THR, YAW, ROL, PIT, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6);
//WaveAllEvent((int)(Rol / 100), (int)(Pit / 100), (int)(Yaw / 100), Hei, (ROL-1500)/3, (PIT - 1500) / 3, (YAW - 1500) / 3, (THR - 1500) / 3);
WaveAllEvent1((int)(Rol / 100), (int)(Pit / 100), (int)(Yaw / 100), Hei, (ROL - 1500) / 3, (PIT - 1500) / 3, (YAW - 1500) / 3, (THR - 1500) / 3);
if (writecsvflag == true)
{
i++;
// string fileName = "C:\\Users\\Administrator\\Desktop\\1.csv"; //指定文件保存在 当前项目文件夹中的bin/debug/文件夹中
//// if (!System.IO.File.Exists("C:\\Users\\Administrator\\Desktop\\1.csv"))
// StreamWriter sw = new StreamWriter(fileName, true, Encoding.Default);
if (i == 1)
{
////向文件中输出一行记录 csv文件为逗号分隔符格式文件 同一行中单元格之间用逗号分开
//sw.WriteLine("高度,姓名,年龄");
if (writecsvEvent != null)
{
writecsvEvent("Rol", "Pit", "Yaw", "Hei", "RCrol", "RCpit", "RCyaw", "RCthr", "TargetHeight");
}
}
//sw.WriteLine("{0},张三,20", Hei.ToString());
if (writecsvEvent != null)
{
writecsvEvent(Rol.ToString(), Pit.ToString(), Yaw.ToString(), Hei.ToString(), ROL.ToString(), PIT.ToString(), YAW.ToString(), THR.ToString(), (TargetHeight / 10).ToString());
}
}
}
}
