private void sendDataToClient(int pwm_value, double encoder_value, long time_stamp, int signal_id)
{
// Create string with sensor content
string pwmValue = String.Format("x{0:F3}", pwm_value);
string encoderValue = String.Format("y{0:F3}", encoder_value);
string zText = String.Format("z{0:F3}", 1);
string signal_Id = signal_id.ToString();
string timeStamp = time_stamp.ToString();
string message = pwmValue + "::" + encoderValue + "::" + zText + "::" + timeStamp;
diagnose.sendToSocket(signal_Id, message);
}
private void executeAqcuisition()
{
if (getProgramDuration)
{
timerArray[0] = timer_programExecution.ElapsedMilliseconds;
}
string xText, yText, zText, sensorId, timeStamp;
byte rxStateIst = 0x00;
byte rxStateSoll = 0x03;
if (globalDataSet.DebugMode)
{
Debug.WriteLine("Wait until a message is received in buffer 0 or 1");
}
// Wait until a message is received in buffer 0 or 1
while ((globalDataSet.MCP2515_PIN_INTE_RECEIVER.Read() == GpioPinValue.High))
{
}
if (getProgramDuration)
{
timerArray[1] = timer_programExecution.ElapsedMilliseconds;
}
if (globalDataSet.DebugMode)
{
Debug.WriteLine("Finished waiting, check which rx buffer.");
}
// Check in which rx buffer the message is
rxStateIst = globalDataSet.LOGIC_MCP2515_RECEIVER.mcp2515_get_state_command();
if (globalDataSet.DebugMode)
{
Debug.WriteLine("Read sensor values from device ");
}
if (getProgramDuration)
{
timerArray[2] = timer_programExecution.ElapsedMilliseconds;
}
// Read the sensor data
McpExecutorDataFrame mcpExecutorDataFrame = ReadAccel(rxStateIst, rxStateSoll);
// Create string with sensor content
xText = String.Format("x{0:F3}", mcpExecutorDataFrame.X);
yText = String.Format("y{0:F3}", mcpExecutorDataFrame.Y);
zText = String.Format("z{0:F3}", mcpExecutorDataFrame.Z);
sensorId = mcpExecutorDataFrame.ident.ToString();
timeStamp = mcpExecutorDataFrame.timeStamp.ToString();
string message = xText + "::" + yText + "::" + zText + "::" + timeStamp;
diagnose.sendToSocket(sensorId, message);
if (globalDataSet.DebugMode)
{
Debug.WriteLine("sensorId: " + sensorId);
}
if (globalDataSet.DebugMode)
{
Debug.WriteLine("message: " + message);
}
if (getProgramDuration)
{
timerArray[5] = timer_programExecution.ElapsedMilliseconds;
}
// Reset interrupt for buffer 0 because message is read -> Reset all interrupts
//globalDataSet.mcp2515_execute_write_command(new byte[] { mcp2515.CONTROL_REGISTER_CANINTF, mcp2515.CONTROL_REGISTER_CANINTF_VALUE.RESET_ALL_IF }, globalDataSet.MCP2515_PIN_CS_RECEIVER);
if (getProgramDuration)
{
timerArray[6] = timer_programExecution.ElapsedMilliseconds;
}
if (getProgramDuration)
{
for (int i = 0; i < timerArray.Length; i++)
{
Debug.WriteLine(timerArray[i]);
}
}
}