Beispiel #1
0
        /// <summary>
        /// This function is called by the RF controller when data has been received. Here we identify what type of packet
        /// it is and instantiate an appropriate packet class to hold the data. The packet instance is then forwarded to
        /// all listeners of the PacketReceived event
        /// </summary>
        /// <param name="args"></param>
        private static void ProcessNewPacket(PacketReceivedEventArgs args)
        {
            int now = (int)sw.ElapsedTicks;

            TJPacket packet = args.Packet;

            switch (packet.PID)
            {
                case 0x00:
                    packet = new TJStatePacket(packet.RawPacket);
                    if (DragonflyStateUpdate != null)
                        DragonflyStateUpdate(packet as TJStatePacket);
                    break;

                case 0x01:
                    packet = new TJState2Packet(packet.RawPacket);
                    if (DragonflyState2Update != null)
                        DragonflyState2Update(packet as TJState2Packet);
                    break;

                case 0x02:
                    // Scale factors packets
                    break;

                case 0x3A:
                    packet = new TJBootloaderResponsePacket(packet.RawPacket);
                    if (DragonflyBootloaderUpdate != null)
                        DragonflyBootloaderUpdate(packet as TJBootloaderResponsePacket);
                    break;

                case 0x90:
                    packet = new TJCameraPacket(packet.RawPacket);
                    if (DragonflyCameraUpdate != null)
                        DragonflyCameraUpdate(packet as TJCameraPacket);
                    break;

                case 0x91:
                    packet = new TJStartFramePacket(packet.RawPacket);
                    if (DragonflyStartFrame != null)
                        DragonflyStartFrame(packet as TJStartFramePacket);
                    break;

                case 0x92:
                    if (DragonflyEndFrame != null)
                        DragonflyEndFrame();
                    break;

                default: break;
            }

            if (PacketReceived != null)
                PacketReceived(packet);

            // The following code is just to keep track of how many packets have been lost.

            int dif = 2;

            if (packet.Seq < lastSeqNum)
            {
                int seqdif = packet.Seq + 256 - lastSeqNum;
                if (seqdif != dif)
                {
                    missed += seqdif / dif;
                }
            }
            else if (packet.Seq - lastSeqNum != dif)
            {
                missed += packet.Seq - lastSeqNum;
            }

            received++;

            if (received == 100)
            {
                Console.WriteLine("s/Packet: {0:0.00000}, missed: {1}", ((now - lastTime) / (double)received) / Stopwatch.Frequency, missed);
                lastTime = now;
                missed = 0;
                received = 0;
            }

            lastSeqNum = packet.Seq;
        }
 protected static void OnPacketReceived(PacketReceivedEventArgs args)
 {
     PacketReceivedHandler handlers = PacketReceived;
     if (handlers != null)
         handlers(args);
 }