private static void CommandThreadMain(object state)
{
CommandThreadState cmdState = (CommandThreadState)state;
Action <byte[]> handler = delegate(byte[] data)
{
HandleCommandFrame(data, cmdState.Queue);
};
CommonThreadMain(state, handler);
}
public DroneIo(string hostName)
{
cmdClient = new UdpClient(hostName, CommandPort);
videoClient = new UdpClient(hostName, VideoPort);
CommandThreadState cmdState = new CommandThreadState()
{
Client = cmdClient, Queue = commandQueue
};
EventThreadState eventState = new EventThreadState()
{
Client = cmdClient, Queue = commandQueue, Handler = HandleCommandEvent
};
VideoThreadState videoState = new VideoThreadState()
{
Client = cmdClient
};
cmdThread.Start(cmdState);
videoThread.Start(videoState);
eventThread.Start(eventState);
RequestConnection();
}