private void new_data2(MemoryElement mem, int addr, byte[] data)
{
if (mem.id == this.id)
{
if (addr == 0)
{
bool done = false;
if (BitConverter.ToInt32(data.Take(4).ToArray(), 0) == 0xBC)
{
elements.Add("version", data[5]);
elements.Add("radio_channel", data[6]);
elements.Add("radio_speed", data[7]);
elements.Add("pitch_trim", BitConverter.ToSingle(data.Skip(7).Take(4).ToArray(), 0));
elements.Add("roll_trim", BitConverter.ToSingle(data.Skip(11).Take(4).ToArray(), 0));
if ((byte)elements["version"] == 0)
{
done = true;
}
else if ((byte)elements["version"] == 1)
{
this.datav0 = data;
//this.mem_handler.
}
}
}
}
}
public void write_done(MemoryElement mem, int addr)
{
if (_write_finished_cb != null && mem.id == id)
{
_write_finished_cb(this, addr);
}
}
public _ReadRequest(MemoryElement mem, int addr, int length, Crazyflie cf)
{
this.mem = mem;
this.addr = addr;
this._bytes_left = length;
this.data = new byte[0];
this.cf = cf;
this._current_addr = addr;
}
public _WriteRequest(MemoryElement mem, int addr, byte[] data, Crazyflie cf)
{
this.mem = mem;
this.addr = addr;
this._bytes_left = data.Length;
this._data = data;
this.data = new byte[0];
this.cf = cf;
this._current_addr = addr;
this._addr_add = 0;
}
public bool read(MemoryElement memory, int addr, int length)
{
if (_read_requests.Keys.Contains(memory.id))
{
return(false);
}
var rreq = new _ReadRequest(memory, addr, length, cf);
_read_requests.Add(memory.id, rreq);
rreq.start();
return(true);
}
public void _mem_update_done(MemoryElement mem)
{
if (_ow_mems_left_to_update.Keys.Contains(mem.id))
{
_ow_mems_left_to_update.Remove(mem.id);
}
if (_ow_mems_left_to_update.Count == 0)
{
if (_refresh_callback != null)
{
_refresh_callback();
_refresh_callback = null;
}
}
}
// public OWElement ow_search(int pid, string name)
// {
// foreach (OWElement m in get_mems(MemoryElement.TYPE.TYPE_1W))
// {
// if (m.pid == pid || m.name == name)
// return m;
// }
// return null;
// }
public bool write(MemoryElement memory, int addr, byte[] data, bool flush_queue = false)
{
var wreq = new _WriteRequest(memory, addr, data, cf);
if (!_write_requests.Keys.Contains(memory.id))
{
_write_requests.Add(memory.id, new List <_WriteRequest>());
}
if (flush_queue)
{
_write_requests[memory.id] = _write_requests[memory.id].Take(1).ToList();
}
_write_requests[memory.id].Add(wreq);
if (_write_requests[memory.id].Count == 1)
{
wreq.start();
}
return(true);
}
private void new_data2(MemoryElement mem, int addr, byte[] data)
{
}