private static void OnRadioDataReceived(object sender, RadioDataReceivedEventArgs e)
{
#if DEBUG
var data = "RECEIVED: ";
foreach (var d in e.Data)
{
data += (data.Length > 11 ? "|" : "") + d;
}
Debug.Print(data);
#endif
}
//string[] data)
private void OnRadioDataReceived(object sender, RadioDataReceivedEventArgs e)
{
#if DEBUG1
var d1 = "RECEIVED: ";
foreach (var d in data)
{
d1 += (d.Length > 11 ? "|" : "") + d;
}
Debug.Print(d1);
Thread.Sleep(400);
#endif
var data = e.Data;
switch (data[0])
{
case "M":
var propId = byte.Parse(data[1]);
if (_propellors[propId] != null)
{
var powerLevel = int.Parse(data[2]);
_propellors[propId].SetPower(powerLevel);
Thread.Sleep(2000);
_propellors[propId].SetPower(0);
}
break;
case "D":
if (data.Length != 4) break;
var direction = (float)double.Parse(data[1]);
var magnitude = (float)double.Parse(data[2]);
if ( _flightVector == null || (MathEx.Abs((_flightVector.Direction.Radians - direction)) > 1E-10 && MathEx.Abs(_flightVector.Magnitude - magnitude) > 1E-10))
{
_flightVector = new EuclideanVector(new Angle(direction), magnitude);
}
break;
}
return;
}
