//public static void Main()
public static void Main()
{
SerialPort port = new SerialPort("COM7", 115200, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
portInterface.Open();
port.DiscardInBuffer();
while (true)
{
while (portInterface.ReadByte() != 'S')
{
}
float sintime = portInterface.ReadShort();
float sinval = portInterface.ReadFloat();
float fsintime = portInterface.ReadShort();
float fsinval = portInterface.ReadFloat();
Console.WriteLine(String.Format("{0},{1},{2},{3}", sintime, sinval, fsintime, fsinval));
/*
float accx = portInterface.ReadFloat();
float accy = portInterface.ReadFloat() * (float)(180.0f / Math.PI);
float accz = portInterface.ReadFloat() * (float)(180.0f / Math.PI);
float magx = portInterface.ReadFloat();
float magy = portInterface.ReadFloat();
float magz = portInterface.ReadFloat();
Console.WriteLine(String.Format("{0},{1},{2},{3},{4},{5}", accx, accy, accz, magx, magy, magz));
*/
}
}
//Test reading GPS.
public static void Main6()
{
//SerialPort port = new SerialPort("COM7", 9600, Parity.None, 8, StopBits.One);
//SerialPort port = new SerialPort("COM7", 250000, Parity.None, 8, StopBits.One);
SerialPort port = new SerialPort("COM12", 57600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
portInterface.Open();
GraphForm lat = new GraphForm("Latitude");
GraphForm lon = new GraphForm("Longitude");
lat.Visible = true;
lon.Visible = true;
byte var = 0;
int counter = 0;
byte[] bytes = new byte[80];
port.DiscardInBuffer();
while (true)
{
List<byte> bts = new List<byte>();
while (true)
{
// bts.Add(portInterface.ReadByte());
/*
byte[] buff = new byte[34];
for (int i = 0; i < 34; i++)
{
buff[i] = portInterface.ReadByte();
}
int a = 0;
a++;
*/
/**
* This is needed to prevent getting out of synch. After a restart
* the system could have already transmitted half of the data, so the first message
* after a restart will be junk. Then this will snychronize the messages after the first
* transmit.
*/
while (portInterface.ReadByte() != 'T')
{
}
//byte bb = 0;
//bb = portInterface.ReadByte();
//bb = portInterface.ReadByte();
//bb = portInterface.ReadByte();
int latitude = portInterface.ReadInt();
int longitude = portInterface.ReadInt();
int positionAcc = portInterface.ReadInt();
short fixStatus = portInterface.ReadShort();
int x = portInterface.ReadInt();
int y = portInterface.ReadInt();
int z = portInterface.ReadInt();
int b = 0;
Console.WriteLine("lat: " + latitude.ToString() + " long: " + longitude.ToString() + " pos acc " + positionAcc.ToString() + " fixStatus " + fixStatus.ToString() + " x: " + x.ToString() + " y: " + y.ToString() + " z " + z.ToString());
}
}
// /*
// bytes = new byte[80];
// for (int i = 0; i < 80; i++)
// {
// var = portInterface.ReadByte();
// bytes[i] = var;
// }
// byte b = 2;
// */
// /*
// var = portInterface.ReadByte();
// if (var == 'S')
// {
// counter = 0;
// System.Diagnostics.Debug.WriteLine("Counter " + (bytes[0] << 24 | bytes[1] << 16 | bytes[2] << 8 | bytes[3]));
// }
// else if (var == 'B')
// {
// System.Diagnostics.Debug.WriteLine("Timeout " + ((int)portInterface.ReadByte()).ToString());
// }
// else
// {
// bytes[counter++] = var;
// }
// * */
// counter++;
// /*byte[] bytes2 = new byte[28];
// for (int i = 0; i < 28; i++)
// {
// var = portInterface.ReadByte();
// bytes2[i] = var;
// }
// int b = 3;
// System.Diagnostics.Debug.WriteLine("Counter " + (bytes2[13] << 24 | bytes2[12] << 16 | bytes2[11] << 8 | bytes2[10]));
// */
// /*
// bytes [counter++] = var;
// if (counter == 3)
// {
// counter = 0;
// System.Diagnostics.Debug.WriteLine("Counter " + (bytes[0] <<24 | bytes[1] <<16 | bytes[2] << 8 | bytes[3]));
// }
// */
// /*
// if (var == 0xB5)
// {
// System.Diagnostics.Debug.WriteLine("Counter" + counter);
// counter = 1;
// }
// if (counter == 11 | counter == 12 | counter == 13 | counter == 14)
// {
// bytes[14 - counter] = var;
// bytes[counter - 11] = var;
// }
// if (counter == 15)
// {
// System.Diagnostics.Debug.WriteLine("Number" + BitConverter.ToInt32(bytes,0));
// }
// System.Diagnostics.Debug.Write((char)var);
// */
// /*
// if (var == 'S')
// {
// int bb = portInterface.ReadInt();
// System.Diagnostics.Debug.WriteLine(" Int: " + bb.ToString());
// }*/
// }
// while (var != 'S')
// {
// var = portInterface.ReadByte();
// }
// Note:The status value might come back as a large value because after restart, the value S gets sent as one of the bytes ruining the synchronization
// /*
// Read raw lat/long
// System.Diagnostics.Debug.WriteLine(portInterface.ReadInt(portInterface));
// int rwLat = portInterface.ReadInt(portInterface);
// lat.AddValueToGraph(rwLat);
// int rwLon = portInterface.ReadInt(portInterface);
// lon.AddValueToGraph(rwLon);*/
// Read raw messages
// var = 0;
// short status = portInterface.ReadShort();
// System.Diagnostics.Debug.WriteLine("status: " + status); // status
// while (var != 'S')
// {
// var = portInterface.ReadByte();
// System.Diagnostics.Debug.Write((char)var);
// }
// Read xned
// System.Diagnostics.Debug.WriteLine(portInterface.ReadFloat().ToString());
// Application.DoEvents();
//}
}
