public bool Parse(string data, bool updating)
{
string[] colors;
bool success = true;
data = data.Replace("\r", "");
if (data.Contains('\n'))
{
colors = data.Split('\n');
}
else
{
colors = new string[] { data }
};
for (int count = 0; count < colors.Length; count++)
{
if (colors[count].Contains("color ") && colors[count].Contains(","))
{
bool colorOK = false;
string[] line = colors[count].Split(' ');
int index, h, s, v;
if (line.Length == 3 && int.TryParse(line[1], out index))
{
string[] parms = line[2].Split(',');
if (parms.Length == 3)
{
if (int.TryParse(parms[0], out h) &&
int.TryParse(parms[1], out s) &&
int.TryParse(parms[2], out v))
{
if (h >= 0 && h < 360 && s >= 0 && s < 256 && v >= 0 && v < 256)
{
if (updating)
{
HsvColor hsv = new HsvColor(h, s, v);
if (!storedColors[index].compare(hsv))
{
storedColors[index].set(hsv);
storedColors[index].fetched = true;
storedColors[index].changed = true;
}
}
else
{
storedColors[index] = new ColorStore(h, s, v, true);
}
colorOK = true;
}
}
}
}
if (!colorOK)
{
success = false;
}
}
}
return(success);
}
public void MavlinkParameter(int index, float value)
{
index -= Form1.MAV_COLOR_START;
byte[] bytes = BitConverter.GetBytes(value);
storedColors[index] = new ColorStore(bytes[1] * 256 + bytes[0], bytes[2], bytes[3], true);
updateButtonState(colorButtons[index], solidColorStates[index], storedColors[index].get());
if (index == 15)
{
MavlinkCompleted();
}
}
private MAVLink.mavlink_param_set_t comms_WriteMavlink(object sender, CommandEventArgs e)
{
MAVLink.mavlink_param_set_t param = new MAVLink.mavlink_param_set_t();
if (!storedColors[e.Index].changed)
{
return(param);
}
param.target_system = comms.sysid;
param.target_component = comms.compid;
form1.SetIdString(ref param.param_id, "color_" + e.Index.ToString());
param.param_type = (byte)MAVLink.MAV_PARAM_TYPE.UINT32;
ColorStore color = storedColors[e.Index];
param.param_value = BitConverter.ToSingle(new byte[] {
(byte)(color.hsv.hue & 0xff),
(byte)((color.hsv.hue >> 8) & 0xff),
(byte)(color.hsv.sat),
(byte)(color.hsv.val)
}, 0);
return(param);
}
