/// <summary>
/// 串口接收数据处理事件
/// </summary>
/// <param name="sender">事件发送者</param>
/// <param name="args">事件参数</param>
public void OnRecData(object sender, SerialDataReceivedEventArgs args)
{
serialPort.ReceivedBytesThreshold = 8092;
try
{
int recSize;
recSize = serialPort.BytesToRead;
SerialRecMsgEventArgs sme = new SerialRecMsgEventArgs();
sme.MessageBuf = new byte[recSize];
serialPort.Read(sme.MessageBuf, 0, recSize);
OnRecMsg((object)this, sme);
}
catch (Exception e)
{
ReportException(e, 0);
}
finally
{
IsBufferLocked = false;
serialPort.ReceivedBytesThreshold = 1;
}
}
void xbee_OnRecMsg(object sender, SerialRecMsgEventArgs args)
{
while (!mutex)
{
Thread.Sleep(1);
}
mutex = false;
try
{
byte[] pack = CombineBytes(lastPack, args.MessageBuf);
RecMsgArgs targs = new RecMsgArgs();
Debug.WriteLine("上次：" + BytesToHexString(lastPack));
Debug.WriteLine("新接收：" + BytesToHexString(args.MessageBuf));
Debug.WriteLine("组合包：" + BytesToHexString(pack));
lastPack = pack;
while (pack != null)
{
pack = GetPackage(lastPack, out lastPack);
try
{
if (lastPack != null)
{
Debug.WriteLine("剩余包：" + BytesToHexString(lastPack));
}
}
catch (Exception e)
{
Debug.WriteLine("空引用--" + e.Message);
}
Debug.WriteLine("完整包:" + BytesToHexString(pack));
if (pack == null)
{
return;
}
Debug.WriteLine("数据总长度：" + pack.Length.ToString());
byte p = (byte)pack[5];
UInt16 l = (UInt16)(((UInt16)pack[4]) * 256 + (UInt16)pack[3]);
Debug.WriteLine("数据有效字段长度：" + l.ToString());
byte[] data = GetBytes(pack, 6, l);
switch (p)
{
case (byte)PackDes.LL_Status:
targs.RawData = args.Message;
targs.DataType = typeof(LL_Status);
targs.Data = StructBytesConvertor.BytesToStruts(data, typeof(LL_Status));
SetRecEvent(targs);
break;
case (byte)PackDes.IMU_CalcData:
targs.RawData = args.Message;
targs.DataType = typeof(IMU_CalcData);
byte[] tmp = new byte[4];
for (int k = 0; k < 4; k++)
{
tmp[k] = data[k + 76];
}
/*
byte tmp = data[76];
data[76] = data[78];
data[78] = tmp;
tmp = data[77];
data[77] = data[79];
data[79] = tmp;*/
targs.Data = StructBytesConvertor.BytesToStruts(data, typeof(IMU_CalcData));
SetRecEvent(targs);
break;
}
}
}
catch (Exception e)
{
Debug.WriteLine("接收线程异常:" + e.Message);
}
finally
{
mutex = true;
}
}