protected override void ResetVariables()
{
base.ResetVariables();
currentNavigationDataStruct = new NavigationDataStruct();
currentNavigationDataHeaderStruct = new NavigationDataHeaderStruct();
currentNavigationData = new DroneData();
currentSequenceNumber = initialSequenceNumber;
}
private void updateInstruments()
{
DroneData droneData = null;
if (droneControl.IsConnected)
droneData = droneControl.NavigationData;
else
droneData = new DroneData();
foreach (InstrumentControl instrumentControl in instrumentList)
{
try
{
switch (instrumentControl.GetType().Name)
{
case "AttitudeIndicatorInstrumentControl":
updateInstrument((AttitudeIndicatorInstrumentControl)instrumentControl, droneData);
break;
case "AltimeterInstrumentControl":
updateInstrument((AltimeterInstrumentControl)instrumentControl, droneData);
break;
case "HeadingIndicatorInstrumentControl":
updateInstrument((HeadingIndicatorInstrumentControl)instrumentControl, droneData);
break;
case "VerticalSpeedIndicatorInstrumentControl":
updateInstrument((VerticalSpeedIndicatorInstrumentControl)instrumentControl, droneData);
break;
}
}
catch (InvalidOperationException)
{ }
catch (Exception)
{
this.stopManage();
}
}
}
private void updateInstrument(VerticalSpeedIndicatorInstrumentControl control, DroneData droneData)
{
control.BeginInvoke((MethodInvoker)delegate
{
control.SetVerticalSpeedIndicatorParameters(Convert.ToInt32(droneData.vZ));
});
}
private void updateInstrument(HeadingIndicatorInstrumentControl control, DroneData droneData)
{
control.BeginInvoke((MethodInvoker)delegate
{
// Psi range -180..0..180 but heading indicator require 0..360
if (droneData.Psi > 0)
{
control.SetHeadingIndicatorParameters(Convert.ToInt32(droneData.Psi));
}
else
{
control.SetHeadingIndicatorParameters(360 + Convert.ToInt32(droneData.Psi));
}
});
}
private void updateInstrument(AltimeterInstrumentControl control, DroneData droneData)
{
control.BeginInvoke((MethodInvoker)delegate
{
control.SetAlimeterParameters(droneData.Altitude);
});
}
private void updateInstrument(AttitudeIndicatorInstrumentControl control, DroneData droneData)
{
control.BeginInvoke((MethodInvoker)delegate
{
control.SetAttitudeIndicatorParameters((droneData.Theta), -(droneData.Phi));
});
}
private void DetermineNavigationData(byte[] buffer, int position)
{
unsafe
{
fixed (byte* entry = &buffer[position])
{
currentNavigationDataStruct = *(NavigationDataStruct*)entry;
}
}
currentNavigationData = new DroneData(currentNavigationDataStruct);
}
public DroneDataReadyEventArgs( DroneData data )
{
_data = data;
}