public Scanner(int tag)
{
try
{
Name = "Scanner" + (tag + 1);
Tag = tag;
IsStopped = false;
InitValues();
XYCoordinate = new List <Tuple <int, int, int> >();
XYCollection = new List <Tuple <int, int, int> > [Mainframe.NormalizebyTimeCountStoredData[Tag]];
XYColl = new List <List <Tuple <int, int, int> > > [Mainframe.NormalizebyTimeCountStoredData[Tag]];
XYCoord = new List <List <Tuple <int, int, int> > >();
NormalizedData = new List <Tuple <int, int, int> >();
ToNormalizeData = new List <Tuple <int, int, int> >();
AnalyseData = new List <Tuple <int, int, int> >();
Id6Distance = new List <short>();
Distance = new List <List <short> >();
LogFiler = new Logger($"Scanner{Tag.ToString()}");
LogFiler.Log(Category.Info, MethodBase.GetCurrentMethod().DeclaringType.Name + ": initialized.");
ScannerFunc = new ScannerFunctionality(Tag, LogFiler);
try
{
UdpClient = new UdpClient(new IPEndPoint(IPAddress.Parse(Mainframe.ServerIp), Mainframe.Port[Tag]));
}
catch (ArgumentNullException aex)
{
LogFiler.Log(Category.Error, MethodBase.GetCurrentMethod().DeclaringType.Name + "_" + MethodBase.GetCurrentMethod().Name + ": " + aex.Message);
}
}
catch (Exception ex)
{
LogFiler.Log(Category.Error, MethodBase.GetCurrentMethod().DeclaringType.Name + "_" + MethodBase.GetCurrentMethod().Name + ": " + ex.Message);
return;
}
}
public ScannerDecode Decode(byte[] rawbyte)
{
ScannerDecode Dec_Data = new ScannerDecode()
{
ID = ScannerFunctionality.GetID(rawbyte),
Block = ScannerFunctionality.GetBlock(rawbyte),
ToatalLength = ScannerFunctionality.GetTotalLength(rawbyte)
};
if (Dec_Data.ID == 1)
{
Dec_Data.Start_Index = ScannerFunctionality.GetStartIndex(rawbyte);
Dec_Data.Stop_Index = ScannerFunctionality.GetStopIndex(rawbyte);
Dec_Data.Resolution = ScannerFunctionality.GetResolution(rawbyte);
Dec_Data.Block_From_Calc = ScannerFunctionality.GetBlockFromCalculation(rawbyte);
}
else
{
Dec_Data.Distance = ScannerFunctionality.GetDistanceList(rawbyte);
}
return(Dec_Data);
}
public void ProcessReceive()
{
LogFiler.Log(Category.Info, MethodBase.GetCurrentMethod().DeclaringType.Name + "_" + MethodBase.GetCurrentMethod().Name + ": started receiving data.");
try
{
while (!IsStopped)
{
var watch = new System.Diagnostics.Stopwatch();
watch.Start();
Task <byte[]> receive = TReceive();
ScannerDecode Info = new ScannerDecode().Decode(receive.Result);
if (Info.ID == 1)
{
RefreshScanner(Info);
Tuple <float, float> angleinfo = ScannerFunctionality.GetAngleId1(receive.Result);
Degree = angleinfo.Item1;
AngleDifference = angleinfo.Item2;
}
else if (Info.ID == 6)
{
if (BlockOrderCorrect(Info.Block))
{
ExpandScanner(Info, receive.Result);
// if the id6 telegramblocks are finished - split the distance based on the scannergap information (not visible area)
// if its not getting split, the averaging will create datapoints where the scanner couldnt be able to see at all - leads to consequential errors
if (Id6Complete())
{
Distance = ScannerFunc.GetProcessedDistance(Id6Distance.ToList());
if (Mainframe.IsNormalizedbyMedian[Tag])
{
Distance = ScannerFunc.GetMedianAverageArray(Distance.ToList());
}
XYCoord = ScannerFunc.GetXYCoordinate(Distance.ToList(), this);
XYCoordinate = ScannerFunctionality.MergeXYArray(XYCoord.ToList());
OnScannerRaw(this, XYCoordinate.ToList());
List <List <Tuple <int, int, int> > > Normalizer = new List <List <Tuple <int, int, int> > >();
List <Tuple <int, int, int> > Normalized = new List <Tuple <int, int, int> >();
// try to accomplish the necessary kinds of averaging the distance sent by the scanner
// data averaged by time
if (Mainframe.IsNormalizedbyTime[Tag])
{
List <Tuple <int, int, int> > xycollection = new List <Tuple <int, int, int> >(XYCoordinate);
XYCollection[RingBufferCount] = xycollection;
List <List <Tuple <int, int, int> > > xycolle = new List <List <Tuple <int, int, int> > >(XYCoord);
XYColl[RingBufferCount] = xycolle;
RingBufferCount++;
CountTimeAverage++;
if (RingBufferCount == Mainframe.NormalizebyTimeCountStoredData[Tag])
{
RingBufferCount = 0;
}
if (CountTimeAverage == Mainframe.NormalizebyTimeCountDataAverage[Tag])
{
Normalizer = ScannerFunc.NormalizationByTime(RingBufferCount, XYColl);
CountTimeAverage = 0;
}
}
else
{
Normalizer = XYCoord;
}
if (Normalizer.Count != 0)
{
if (Mainframe.IsNormalizedbyTriangle[Tag])
{
Normalizer = ScannerFunc.Normalization(Normalizer.ToList());
}
Normalized = ScannerFunctionality.MergeNormalizeArray(Normalizer.ToList());
Normalized = ScannerFunc.ChangePositionOfXY(Normalized.ToList());
NormalizedData = Normalized;
OnScannerNormalized(this, new List <Tuple <int, int, int> >(NormalizedData));
List <Tuple <int, int, int> > Analyser = new List <Tuple <int, int, int> >(Normalized);
AnalyseData = Analyser;
}
if (watch.IsRunning)
{
watch.Stop();
LogFiler.Log(Category.Info, "normalise" + watch.ElapsedMilliseconds.ToString());
}
}
}
}
}
}
catch (Exception ex)
{
LogFiler.Log(Category.Error, MethodBase.GetCurrentMethod().DeclaringType.Name + "_" + MethodBase.GetCurrentMethod().Name + ": " + ex.Message);
}
}
