void sp_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
UpdateFrameCountReceived ufcr = delegate(int count)
{
tbFrameCount.Text = count.ToString();
};
int n = sp.BytesToRead;
if (n > 0)
{
byte[] array = new byte[n];
sp.Read(array, 0, n);
sp3.Append(array);
while (sp3.isFrameExisted())
{
if (sp3.Length == 53) // modified
{
byte[] data = new byte[sp3.Length - 1];
data[0] = sp3.Command;
sp3.Content.CopyTo(data, 1);
UpdateRobotStatusDelegate ursd = new UpdateRobotStatusDelegate(UpdateRobotStatus);
Dispatcher.Invoke(ursd, data);
}
else if (sp3.Length == 6)
{
byte status = sp3.Command;
if (status == 1)
{
isTransferDone = true;
}
else
{
isTransferDone = false;
}
frameRcvCount = BitConverter.ToInt16(sp3.Content, 0);
frameMotionCount = BitConverter.ToInt16(sp3.Content, 2);
frameRcvCountList.Add(frameRcvCount);
frameMotionCountList.Add(frameMotionCount);
bufferSize = frameRcvCount - frameMotionCount;
Dispatcher.BeginInvoke(ufcr, bufferSize);
}
}
}
}
void sp_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
UpdateFrameCountReceived ufcr = delegate(int count)
{
tbFrameCount.Text = count.ToString();
};
int n = sp.BytesToRead;
if (n > 0)
{
byte[] array = new byte[n];
sp.Read(array, 0, n);
sp3.Append(array);
while (sp3.isFrameExisted())
{
if (sp3.Length == 53) // modified
{
byte[] data = new byte[sp3.Length - 1];
data[0] = sp3.Command;
sp3.Content.CopyTo(data, 1);
UpdateRobotStatusDelegate ursd = new UpdateRobotStatusDelegate(UpdateRobotStatus);
Dispatcher.Invoke(ursd, data);
}
else if(sp3.Length == 6)
{
byte status = sp3.Command;
if (status == 1)
{
isTransferDone = true;
}
else
{
isTransferDone = false;
}
frameRcvCount = BitConverter.ToInt16(sp3.Content, 0);
frameMotionCount = BitConverter.ToInt16(sp3.Content, 2);
frameRcvCountList.Add(frameRcvCount);
frameMotionCountList.Add(frameMotionCount);
bufferSize = frameRcvCount - frameMotionCount;
Dispatcher.BeginInvoke(ufcr, bufferSize);
}
}
}
}
