public static void PacketRecieved(VLP_16.Packet p, IPEndPoint ip)
{
var result = p.Pack();
foreach (var n in result["Blocks"] as Array)
{
//System.Diagnostics.Debug.WriteLine(n.ToString());
}
}
private void RecievePacket(VLP_16.Packet pack, IPEndPoint sender)
{
if (this._Sender == null)
{
this._Sender = sender;
}
else if (this._Sender.Equals(sender))
{
foreach (var blck in pack._Blocks)
{
this.RecieveBlocks(blck._ChannelData.SubArray(0, 16), blck._Azimuth);
this.RecieveBlocks(blck._ChannelData.SubArray(0, 16)); // interpolate azimuth
}
}
else
{
this._Sender = sender;
throw new Exception("Multiple sender IPEndPoint's");
}
}
private void RecievePacket(VLP_16.Packet pack, IPEndPoint velodyne_ip)
{
if (this._VelodynesIP == null)
{
this._VelodynesIP = velodyne_ip;
}
else if (this._VelodynesIP.Equals(velodyne_ip))
{
foreach (var blck in pack._Blocks)
{
this.RecieveBlocks(velodyne_ip, blck._ChannelData.SubArray(0, 16), blck._Azimuth);
this.RecieveBlocks(velodyne_ip, blck._ChannelData.SubArray(16, 16)); // interpolate azimuth
}
}
else
{
this._VelodynesIP = velodyne_ip;
throw new Exception("Multiple sender IPEndPoint's " + this._VelodynesIP.ToString() + " " + velodyne_ip.ToString());
}
}
private void PacketRecievedAsync(VLP_16.Packet p, IPEndPoint velodyne_ip)
{
}