/// <summary>
/// Copy constructor. Initializes a new instance of the <see cref="NcomPacketA"/> class,
/// logically equivalent to to the specified <paramref name="source"/>.
/// </summary>
/// <param name="source">
/// The source <see cref="NcomPacketA"/> with which to initialise this instance.
/// </param>
public NcomPacketA(NcomPacketA source) : base(source)
{
if (source != null)
{
this.Time = source.Time;
this.AccelerationX = source.AccelerationX;
this.AccelerationY = source.AccelerationY;
this.AccelerationZ = source.AccelerationZ;
this.AngularRateX = source.AngularRateX;
this.AngularRateY = source.AngularRateY;
this.AngularRateZ = source.AngularRateZ;
this.Checksum1 = source.Checksum1;
this.Latitude = source.Latitude;
this.Longitude = source.Longitude;
this.Altitude = source.Altitude;
this.DownVelocity = source.DownVelocity;
this.EastVelocity = source.EastVelocity;
this.NorthVelocity = source.NorthVelocity;
this.Heading = source.Heading;
this.Pitch = source.Pitch;
this.Roll = source.Roll;
this.Checksum2 = source.Checksum2;
this.StatusChannel = source.StatusChannel?.Clone();
}
}
/* ---------- Public methods ----------------------------------------------------------/**/
public virtual List <NcomPacket> ProcessNcom(byte[] buffer)
{
if (buffer == null)
{
throw new ArgumentNullException(nameof(buffer));
}
// Create a list to store packets in
List <NcomPacket> pkts = new List <NcomPacket>();
NcomPacket pkt;
// Iterate over the buffer to find sync bytes
int p = 0;
while (p <= buffer.Length - NcomPacket.PacketLength)
{
// Have we found a sync byte?
if (buffer[p++] == NcomPacket.SyncByte)
{
// Test the navigation status byte (byte 21). If it is 11, parse as structure B, else
// structure A.
if (buffer[(p - 1) + 21] == (byte)NavigationStatus.InternalUse)
{
pkt = new NcomPacketB();
}
else
{
pkt = new NcomPacketA();
}
// Try to unmarshal the Ncom packet
if (pkt.Unmarshal(buffer, p - 1))
{
pkts.Add(pkt);
p += NcomPacket.PacketLength - 1;
}
}
}
// Return the list of processed Ncom packets
return(pkts);
}
protected override bool IsEqual(NcomPacket _pkt)
{
NcomPacketA pkt = _pkt as NcomPacketA;
return(base.IsEqual(pkt) &&
this.Time == pkt.Time &&
this.AccelerationX == pkt.AccelerationX &&
this.AccelerationY == pkt.AccelerationY &&
this.AccelerationZ == pkt.AccelerationZ &&
this.AngularRateX == pkt.AngularRateX &&
this.AngularRateY == pkt.AngularRateY &&
this.AngularRateZ == pkt.AngularRateZ &&
this.Latitude == pkt.Latitude &&
this.Longitude == pkt.Longitude &&
this.Altitude == pkt.Altitude &&
this.NorthVelocity == pkt.NorthVelocity &&
this.EastVelocity == pkt.EastVelocity &&
this.DownVelocity == pkt.DownVelocity &&
this.Heading == pkt.Heading &&
this.Pitch == pkt.Pitch &&
this.Roll == pkt.Roll &&
(this.StatusChannel == null ? pkt.StatusChannel == null : this.StatusChannel.Equals(pkt.StatusChannel)));
}
