public PlatformService(Crazyflie crazyflie = null)
{
_cf = crazyflie;
_has_protocol_version = false;
_protocolVersion = -1;
_callback = null;
}
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 Param(Crazyflie crazyflie)
{
toc = new Toc();
cf = crazyflie;
_useV2 = false;
param_updater = new _ParamUpdater(cf, _useV2, null);
is_updated = false;
}
public _ParamUpdater(Crazyflie cf, bool useV2, Action <CRTPPacket> updated_callback)
{
this.cf = cf;
this._useV2 = useV2;
this.updated_callback = updated_callback;
this.request_queue = new Queue <CRTPPacket>();
this.cf.add_port_callback((byte)CRTPPort.PARAM, _new_packet_cb);
this._should_close = false;
this._req_param = -1;
}
public Memory(Crazyflie crazyflie = null)
{
mem_added_cb = new Caller();
mem_read_cb = new Caller();
mem_write_cb = new Caller();
cf = crazyflie;
cf.add_port_callback((byte)CRTPPort.MEM, _new_packet_cb);
cf.disconnected.add_callback(_disconnected);
_clear_state();
}
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 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 _IncomingPacketHandler(Crazyflie cf)
{
this.cf = cf;
this.cb = new List <_CallbackContainer>();
}