private void SendSensorData(int imageWidth, int imageHeight)
{
imageWidth = Math.Min(imageWidth, maxImageSize);
imageHeight = Math.Min(imageHeight, maxImageSize);
cameraSensor.TakePicture(image => {
int responseSize = 6 + imageWidth * imageHeight;
BinaryWriter writer = new BinaryWriter(new MemoryStream(client.responseBuffer));
writer.Write(carState.Disqualified);
writer.Write(carState.Finished);
// We can't transfer floating point values, so let's transmit velocity * 2^16
int velocity = IPAddress.HostToNetworkOrder((int)(carController.GetVelocity() * 0xffff));
writer.Write(velocity);
carState.ResetState();
WriteCameraImage(writer, image);
client.socket.BeginSend(client.responseBuffer, 0, responseSize, 0, new AsyncCallback(SendCallback), client);
}, imageWidth, imageHeight);
}