void ReadTelemetry()
{
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Any, readPort));
Stopwatch sw = new Stopwatch();
sw.Start();
StartSending();
while (!IsStopped)
{
try
{
//wait for telemetry
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
Thread.Sleep(1000);
}
continue;
}
Byte[] received = socket.Receive(ref senderIP);
var alloc = GCHandle.Alloc(received, GCHandleType.Pinned);
telemetryData = (IL2API)Marshal.PtrToStructure(alloc.AddrOfPinnedObject(), typeof(IL2API));
alloc.Free();
if (socket.Available != 0)
{
continue;
}
if (telemetryData.packetID == 0x494C0100)
{
dt = (float)sw.Elapsed.TotalSeconds;
sw.Restart();
ProcessIL2API(dt);
}
}
catch (Exception e)
{
Thread.Sleep(1000);
}
}
StopSending();
socket.Close();
Thread.CurrentThread.Join();
}
public byte[] ToByteArray()
{
IL2API packet = this;
int num = Marshal.SizeOf <IL2API>(packet);
byte[] array = new byte[num];
IntPtr intPtr = Marshal.AllocHGlobal(num);
Marshal.StructureToPtr <IL2API>(packet, intPtr, false);
Marshal.Copy(intPtr, array, 0, num);
Marshal.FreeHGlobal(intPtr);
return(array);
}
public void CopyFields(IL2API other)
{
packetID = other.packetID;
tick = other.tick;
yaw = other.yaw;
pitch = other.pitch;
roll = other.roll;
spinX = other.spinX;
spinY = other.spinY;
spinZ = other.spinZ;
accX = other.accX;
accY = other.accY;
accZ = other.accZ;
}
