//
public static float CalDistanceByLite(LiteRange range)
{
if (range == null)
{
return(float.Epsilon);
}
if (range.PeakPosition < 0)
{
range.PeakPosition += 160000;
}
var distance = (float)(range.PeakPosition * Velocity / 80000.0 + FixedOffset);
return(distance < 0?0: distance);
}
public static float CalDistanceByTele(LiteRange literange, TeleRange telerange)
{
if (telerange == null && literange == null)
{
return(float.Epsilon);
}
if (telerange.Crc == 0)
{
var distance = telerange.RecvDelay * Velocity + FixedOffset;
return(distance < 0 ? 0 : distance);
}
else
{
return(CalDistanceByLite(literange));
}
}
public static LiteRange ParsePulseRange(byte[] buffer, bool lite)
{
var range = new LiteRange()
{
RelativePara1 = BitConverter.ToSingle(buffer, 0),
RelativePara2 = BitConverter.ToSingle(buffer, 4),
RecvGain = BitConverter.ToUInt16(buffer, 8),
PeakPosition = BitConverter.ToInt32(buffer, 10),
};
if (!lite)
{
range.SampleStartTime = BitConverter.ToInt32(buffer, 198);
range.ID = (byte)BitConverter.ToChar(buffer, 202);
}
return(range);
}
