Unity之串口通信（基于三姿态传感器）

2022-11-14 23:00:29

原地址：http://www.cnblogs.com/alongu3d/archive/2013/05/02/3054962.html

/*******************************/
//串口接收，采用多线程+数据池设计模式，使用队列数据结构队列，避免线程阻塞//
/*******************************/
using UnityEngine;
using System.Collections;
//Other libraries
using System;
using System.Threading;
using System.Collections.Generic;
using System.ComponentModel;
//串口命名空间
using System.IO.Ports;
using System.Text.RegularExpressions;
using System.Text;

public class ComTest : MonoBehaviour {
/******定义一个串口字段*******/
private SerialPort sp;
/*******定义三个外部接口***************/
public static float FangXiangJiao;
public static float YangJiao;
public static float XuanZhuanJiao;
/*******定义三个角度存储的临时字段***********/
public static float _FangXiangJiao;
public static float _YangJiao;
public static float _XuanZhuanJiao;
/***********三种角度的循环队列****************/
private Queue<float> AVEFangXiangJiao = new Queue<float>();
private Queue<float> AVEYangJiao = new Queue<float>();
private Queue<float> AVEXuanZhuanJiao = new Queue<float>();
private byte[] DataBuf;

private bool flag = true;
private bool showMessage = false;//显示消息
private bool open = false;

private int NumberCount=0;
private Thread SerialPortThread;

private StringBuilder sbReadline;
private string strOutPool = string.Empty;
private Queue<string> queueDataPool;
private Thread tPort;
private Thread tPortDeal;
/***********Unity初始化方法*****************/
private void Start () {
sbReadline = new StringBuilder();
queueDataPool = new Queue<string>();
//DataBuf = new byte[10];

sp = new SerialPort("COM1", 9600, Parity.None, 8, StopBits.One);
if (!sp.IsOpen){
// 开启串口
sp.Open();
open = true;
}

//开启2个线程分别用于接收数据和处理数据
tPort = new Thread(DealData);
tPort.Start();
tPortDeal = new Thread(ReceiveData);
tPortDeal.Start();
//StartCoroutine(DealData());

}

/***************程序结束的时候，关闭串口**********************/
void OnApplicationQuit() {
sp.Close();
//SerialPortThread.Abort();//终止进程
}

/*************Update方法********************/
//一帧之调用多次
void FixedUpdate() {
//定期回收垃圾
if (Time.frameCount % 120 == 0) System.GC.Collect();

//处理数据的线程停止，那么重启该线程
if (!tPort.IsAlive) {
tPort = new Thread(DealData);
tPort.Start();

}
if (!tPortDeal.IsAlive) {
tPortDeal = new Thread(ReceiveData);
tPortDeal.Start();
}
// StartCoroutine(DealData());
//Debug.Log( SerialPortThread.ThreadState);
}

/// <summary>
/// 数据接收进程, 使用队列来存储数据,避免数组的上锁和解锁问题
/// 设计模式多线程+数据池
/// </summary>
/// <returns>
/// The data.
/// </returns>
/*****************数据接收*************************/
private void ReceiveData () {
//读取数据，同时存入数据池中
//newline结束标记,同时使用readIlne()方法
try {

//从输入缓存区中去读取第一次出现"AA"时的内容
Byte[] buf=new Byte[120];
if (open) sp.Read(buf,0,120);
//如果没有接到到数据,就返回
if (buf.Length ==0) {
return;
}
string sbReadline2str = string.Empty;
if (buf != null)
{
for (int i = 0; i < buf.Length; i++)
{
sbReadline2str += buf[i].ToString("X2");
}
}
//sbReadline2str = System.Text.Encoding.Default.GetString(buf, 0,buf.Length);
// Debug.LogError(sbReadline2str.ToString());
// sbReadline2str = buf.ToString();
// sbReadline2str = sbReadline.ToString();
//提取完整的一个数据包，压入数据池中(队列中)
if (sbReadline2str.StartsWith("DB90"))
{ //分组数据包
string[] _str = Regex.Split(sbReadline2str, "55AA", RegexOptions.IgnoreCase);
foreach (string s in _str)
{
if (s.Length == 16)
{
//数据进入队列
queueDataPool.Enqueue(s + "55AA");
//Debug.LogError(s+"55AA");
}

}
}
else {

sbReadline2str.Remove(0,sbReadline2str.IndexOf("DB90")+1);
string[] _str = Regex.Split(sbReadline2str, "55AA", RegexOptions.IgnoreCase);
foreach (string s in _str)
{
if (s.Length == 16)
{
//数据进入队列
queueDataPool.Enqueue(s + "55AA");
// Debug.LogError(s+"55AA");
}
// Convert.ToByte(s,16);

}
}

}catch (Exception ex) {
Debug.LogError(ex);
}
//yield return null;
}

/***************处理出队的数据***********************/
private void DealData()
{
while (queueDataPool.Count != 0)
{//循环检测队列
//队列中有数据

//处理出队的数据
//循环队列，首先加载第一包数据，只执行一次
if (flag)
{ //初始化第一组数据
for (int i = 0; i < 7; i++)
{ //出队列，同时移除这个数据
strOutPool = queueDataPool.Dequeue();
float[] jiaodu = DealReceivedDatanow(strOutPool);
AVEFangXiangJiao.Enqueue(jiaodu[0]);
AVEYangJiao.Enqueue(jiaodu[1]);
AVEXuanZhuanJiao.Enqueue(jiaodu[2]);

}
FangXiangJiao = Caulation(AVEFangXiangJiao);
YangJiao = Caulation(AVEYangJiao);
XuanZhuanJiao = Caulation(AVEXuanZhuanJiao);
flag = false;

}
else
{/*采用7点平滑滤波，消除抖动现象.注意特殊点的处理360到0之间的数据*/

//没有存在跳变的现象，那就直接存储数据
for (int i = 0; i < 7; i++)
{
//出队列，同时移除这个数据。
//加载7包数据，
strOutPool = queueDataPool.Dequeue();
//组合加载的数据，低字节在前，高字节在后，return 三个角度值
float[] jiaodu = DealReceivedDatanow(strOutPool);
//角度循环队列更新最新进入的数据
AVEFangXiangJiao.Dequeue();
//角度循环队列在队尾插入新的数据
AVEFangXiangJiao.Enqueue(jiaodu[0]);
//计算更新后的循环队列中的7个数据平均值
/*****************处理特殊数据************************/
int[] IntPanDuan = CheackDataTuBian(AVEFangXiangJiao);
//如果存在着跳变的现象
if (IntPanDuan[0] == 1)
{//保留队列前面的数据，移除后面的数据
float[] FXj = AVEFangXiangJiao.ToArray();
float sum = 0f;
//获取要移除数据的索引值
int indexOfRemovingData = IntPanDuan[2];
for (int j = 0; j < indexOfRemovingData; j++)
{
sum += FXj[j];
}
//计算平均值
FangXiangJiao = sum / indexOfRemovingData;
}
FangXiangJiao = Caulation(AVEFangXiangJiao);
/******************处理特殊数据结束*************************/

/*******************************************/
/*同上*/
AVEYangJiao.Dequeue();
AVEYangJiao.Enqueue(jiaodu[1]);
YangJiao = Caulation(AVEYangJiao);
/*同上*/
AVEXuanZhuanJiao.Dequeue();
AVEXuanZhuanJiao.Enqueue(jiaodu[2]);
XuanZhuanJiao = Caulation(AVEXuanZhuanJiao);
/******************************************/
}

}

}

/************************检验特殊值***************************/
private int[] CheackDataTuBian(Queue<float> cheackQueue)
{
float[] cheackDataArrary = cheackQueue.ToArray();

//flag =0表示false; flag=1表示true
int flag = 0;
int[] BoolAndIndexOfNext=new int[2];
for (int count = 0; count < 6; count++ )
{float Previous =cheackDataArrary[count];
float Next = cheackDataArrary[count+1];
if (Mathf.Abs(Previous - Next)>350.0F && Mathf.Abs(Previous -Next)<360.0f) {
flag = 1;
BoolAndIndexOfNext[0] = flag;
BoolAndIndexOfNext[1] = count + 1; break;
}
}

return BoolAndIndexOfNext;
}

/*****************计算平均值****************************/
private float Caulation(Queue<float> AVEf) {

float _f=0.0f;
foreach (float f in AVEf) {
_f+=f;
}
return _f/7;
}

/*****************处理来自数据池的数据**************************/
private float[] DealReceivedDatanow (string DataBuf) {
//this is a whole frame data package,then convert the
//First convert the Byte type into Char type
// Debug.Log("--starting");
//Debug.Log("databuf----"+DataBuf);
/*把16进制字符串转换成字节数组*/
byte[] returnBytes = new byte[DataBuf.Length / 2];
for (int i = 0; i < returnBytes.Length; i++)
returnBytes[i] = Convert.ToByte(DataBuf.Substring(i * 2, 2), 16);
/*消除抖动，因为眼镜传感器会不断的发送数据，即使是不动的状态下，也会有这样的现象*/
float[] jiaoduCollection =new float[3];
_FangXiangJiao = (float)((byte)returnBytes[2] + ((sbyte)returnBytes[3] << 8)) / 10;
jiaoduCollection[0] =_FangXiangJiao;
// Debug.Log("fx-->"+FangXiangJiao);
_YangJiao = (float)((byte)returnBytes[4] + ((sbyte)returnBytes[5] << 8)) / 10;
jiaoduCollection[1] =_YangJiao;
// Debug.Log("yj-->"+YangJiao);
_XuanZhuanJiao = -(float)((byte)returnBytes[6] + ((sbyte)returnBytes[7] << 8)) / 10;
jiaoduCollection[2]=_XuanZhuanJiao;
//Debug.Log("xz-->"+XuanZhuanJiao);
//Debug.Log("--ending");

return jiaoduCollection;
}

/********************处理来自数据池的数据**************************/
private void DealReceivedData (string dataOutPool)
{

//读取串口的数据, 如果没有反应就会出现timeout 异常
// 数据格式：DB 90 AF 0C A2 FF 2C 00 55 AA
//包头是DB 90 包尾：55 AA
//一帧发送一个数据包总大小10个字节，
//int DataNumber;

try {
//读取数据

byte tempB;
tempB= (byte)sp.ReadByte();

//Time.time;
//Read the header first
if (tempB ==219)
{
//Debug.Log("i get the 0XDB"+(byte)0xDB);
DataBuf[0]=tempB;
tempB= (byte)sp.ReadByte();

if (tempB ==144)
DataBuf[1]=tempB;
int DataNumber=2;
while(DataNumber<10){
tempB= (byte) sp.ReadByte();

DataBuf[DataNumber]=tempB;

DataNumber++;
}

}

//read out the input data
//cheack the header and tail for a data package.

//this is a whole frame data package,then convert the
//First convert the Byte type into Char type
// Debug.Log("--starting");
FangXiangJiao=(float)(DataBuf[2]+((sbyte)DataBuf[3]<<8))/10;
/*while(NumberCount <7) {
//_FangXiangJiao =
}*/

// Debug.Log("fx-->"+FangXiangJiao);
YangJiao = (float)(DataBuf[4]+((sbyte)DataBuf[5]<<8))/10;
// Debug.Log("yj-->"+YangJiao);
XuanZhuanJiao = (float)(DataBuf[6]+((sbyte)DataBuf[7]<<8))/10;
// Debug.Log("xz-->"+XuanZhuanJiao);
//Debug.Log("--ending");

}
catch (Exception e) {
Debug.LogError(e);
}
//Debug.Log("starting");
foreach(byte b in DataBuf) {
//Debug.LogError(Convert.ToString(b,16));
}
//Debug.Log("ending");
//yield return null;

}

/*********************************************/
//在没有开启串口设备电源的时候，显示消息窗口，开启电源之后，点击确定按钮
private void OnGUI() {
if (showMessage)
{
GUI.BeginGroup(new Rect(Screen.width/2-100,Screen.height-60,400,400));
GUI.Label(new Rect(Screen.width / 2 - 80, Screen.height - 60,200,150), "请打开串口设备电源！然后点击确定");
if (GUI.Button(new Rect(Screen.width / 2 -80, Screen.height +95 , 100, 100), "确定"))
{
open = true;
}
GUI.EndGroup();
}

}

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