public TocFetcher(Crazyflie crazyflie, object element_class, byte port, Toc toc_holder, Action finished_callback, int toc_cache)
{
this.cf = crazyflie;
this.port = port;
this._crc = 0;
this.requested_index = null;
this.nbr_of_items = null;
this.state = TOC_STATE.IDLE;
this.toc = toc_holder;
this._toc_cache = toc_cache;
this.finished_callback = finished_callback;
this.element_class = element_class;
this._useV2 = false;
}
public void start()
{
this._useV2 = this.cf.platform.get_protocol_version() >= 4;
this.cf.add_port_callback(port, this._new_packet_cb);
this.state = TOC_STATE.GET_TOC_INFO;
CRTPPacket pk = new CRTPPacket();
pk.set_header(port, 0); //TOC_CHANNEL
if (this._useV2)
{
pk.data = new byte[] { (byte)CMD_TOC.CMD_TOC_INFO_V2 };
this.cf.send_packet(pk, new byte[] { (byte)CMD_TOC.CMD_TOC_INFO_V2 });
}
else
{
pk.data = new byte[] { (byte)CMD_TOC.CMD_TOC_INFO_V2 };
this.cf.send_packet(pk, new byte[] { (byte)CMD_TOC.CMD_TOC_INFO });
}
}