void ProcessPackets()
{
//bool bRadioChanged = false;
//bool bSensorsChanged = false;
bool bQuatChanged = false;
//bool bComputedChanged = false;
Packet p;
do
{
p = comm.GetPacket();
if (p != null)
{
switch (p.mode)
{
case 1: // Radio data
radio.ReadFrom(p);
lblCycleCount.Text = string.Format("{0} cycles", radio.CycleCount);
//bRadioChanged = true;
//UpdateRadio();
break;
case 2: // Sensor values
sensors.ReadFrom(p);
//bSensorsChanged = true;
break;
case 3: // Quaternion
q.x = p.GetFloat();
q.y = p.GetFloat();
q.z = p.GetFloat();
q.w = p.GetFloat();
//if(radio.Gear > -300 && radio.Gear < 300)
{
ocCube.Quat = q;
}
bQuatChanged = true;
break;
case 4: // Compute values
computed.ReadFrom(p);
//bComputedChanged = true;
//SampleIndex = (SampleIndex + 1) % NumGraphDisplaySamples;
break;
}
}
} while(p != null);
if (bQuatChanged)
{
float vx = ocCube.Velocities.x;
float vy = ocCube.Velocities.y;
float vz = ocCube.Velocities.z;
lblAngles.Text = string.Format(
"rx: {0:0.000}, ry: {1:0.000}, rz: {2:0.000}", vx, vy, vz);
}
}
