void MobileControl::DataArrival(int size, unsigned char *buffer)
{
unsigned char recv_tmp = buffer[0];
if (buffer[0] == 0x0D) //end of data
{
DataProcess();
}
else
{
encoder_recv.push_back(recv_tmp);
}
if (IsProcessOver)
{
double start;
start = clock();
if (cal > 5)
{
ComputeVelosity(start,EncoderData[RIGHT],EncoderData[LEFT]);
printf("V = %f W = %f \n",LinearVelocity,AngularVelocity);
cal = 0;
}
else
cal++;
int AccumulateDistance = m_pThis->Odometer();
printf("AccumulateDistance = %d \n",AccumulateDistance );
IsProcessOver = false;
encoder_recv.clear();
}
}
/*
*********************************************************
* GET ONE BEAM DATA.
*********************************************************
*/
void CDataProcess::GetOneBeamData(){
//WAIT FOR DATA COMMING
DWORD stat = WaitForMultipleObjects(2,h_eInterrupt,FALSE,INFINITE);
switch (stat){
case WAIT_OBJECT_0+SINGLESPECTRAFINISHED:
DataProcess();
SetEvent(h_eSpectraDataProcessed);
break;
case WAIT_OBJECT_0+TOTALSPECTRASFINISHED:
SetEvent(h_eBeamDataProcessed);
break;
case WAIT_TIMEOUT://NO USE NOW
AfxMessageBox("DATA TRANS TIME OUT");
break;
default:
break;
};
return ;
}
