public Logger(string comPort, int baud, int maxBuffer = 512) {
_maxBufferSize = maxBuffer;
Debug.Print("Initializing serial port...");
_openLogger = new SerialPort(comPort, baud, Parity.None, 8, StopBits.One);
Debug.Print("Serial port initialized... opening serial port.");
_openLogger.Open();
Debug.Print("Serial port opened.");
Debug.Print("Creating logger thread and adding to pool...");
var unused = new byte[] {};
_workItem = new WorkItem(LogWorker, ref unused, persistent: true, pauseable: false);
}
public SerialBNOUpdater(int sigFigs = 4) {
_bnoSensor = new SerialBNO(SerialPorts.COM3,5000,5000,SerialBNO.Bno055OpMode.Operation_Mode_Ndof);
_bnoData = new BNOData();
_newData = new byte[_dataSize + _metaDataCount];
_newData[0] = (byte)PacketType.StartByte; // start bit = 0xff
_newData[1] = (byte)PacketType.BNODump;
_newData[2] = (byte)((_dataSize >> 8) & 0xFF);
_newData[3] = (byte)(_dataSize & 0xFF);
_precision = (int)Math.Pow(10, sigFigs - 1);
//_precision = 1;
//for (int i = 0; i < sigFigs-1; i++)
//{
// _precision *= 10;
//}
_workItem = new WorkItem(GyroUpdater, ref _newData, EventType.BNOUpdate, _bnoData, true, true);
_bnoSensor.begin();
}
public void Execute(WorkItem workItem) {
ThreadPool.QueueWorkItem(workItem);
}
