protected override async Task roundtrip()
{
string cmd = "psonar";
string resp = await commTask.SendAndReceive(cmd);
if (!string.IsNullOrWhiteSpace(resp))
{
if (resp.Trim().IndexOf(" ") > 0)
{
string[] splitResp = resp.Trim().Split(new char[] { ' ' });
if (splitResp.Length == 4)
{
int rangeFRcm;
int rangeFLcm;
int rangeBRcm;
int rangeBLcm;
if (int.TryParse(splitResp[0].Trim(), out rangeFRcm) && int.TryParse(splitResp[1].Trim(), out rangeFLcm) &&
int.TryParse(splitResp[2].Trim(), out rangeBRcm) && int.TryParse(splitResp[3].Trim(), out rangeBLcm))
{
if (lastRangeFRcm != rangeFRcm || lastRangeFLcm != rangeFLcm || lastRangeBRcm != rangeBRcm || lastRangeBLcm != rangeBLcm)
{
this.RangeFRcm = rangeFRcm;
this.RangeFLcm = rangeFLcm;
this.RangeBRcm = rangeBRcm;
this.RangeBLcm = rangeBLcm;
lastRangeFRcm = rangeFRcm;
lastRangeFLcm = rangeFLcm;
lastRangeBRcm = rangeBRcm;
lastRangeBLcm = rangeBLcm;
DistanceChanged?.Invoke(this);
}
return;
}
}
}
}
Debug.WriteLineIf(!cancellationToken.IsCancellationRequested, "ParkingSonar: roundtrip() : could not parse response: '" + resp + "'");
}
private void OnDistanceChanged()
{
var e = new StepperDistanceChangedEventHandlerArgs();
DistanceChanged?.Invoke(this, e);
}
private void FixedUpdate()
{
_distance++;
DistanceChanged?.Invoke(_distance);
}