public static unsafe bool TryParse(ref NavigationPacket packet, out NavdataBag navigationData)
{
byte[] data = packet.Data;
navigationData = new NavdataBag();
if (data.Length < sizeof (navdata_t))
return false;
fixed (byte* pData = &data[0])
{
navdata_t navdata = *(navdata_t*) pData;
if (navdata.header == NavdataHeader)
{
navigationData.ardrone_state = navdata.ardrone_state;
int offset = sizeof (navdata_t);
while (offset < data.Length)
{
var option = (navdata_option_t*) (pData + offset);
ProcessOption(option, ref navigationData);
offset += option->size;
}
uint dataCheckSum = CalculateChecksum(data);
if (navigationData.cks.cks == dataCheckSum)
{
return true;
}
}
}
return false;
}
public static unsafe bool TryParse(ref NavigationPacket packet, out NavdataBag navigationData)
{
byte[] data = packet.Data;
navigationData = new NavdataBag();
if (data.Length < sizeof(navdata_t))
return(false);
fixed(byte *pData = &data[0])
{
navdata_t navdata = *(navdata_t *)pData;
if (navdata.header == NavdataHeader)
{
navigationData.ardrone_state = navdata.ardrone_state;
int offset = sizeof(navdata_t);
while (offset < data.Length)
{
var option = (navdata_option_t *)(pData + offset);
ProcessOption(option, ref navigationData);
offset += option->size;
}
uint dataCheckSum = CalculateChecksum(data);
if (navigationData.cks.cks == dataCheckSum)
{
return(true);
}
}
}
return(false);
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t) navdataBag.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
var ctrlState = (CTRL_STATES) (navdataBag.demo.ctrl_state >> 0x10);
UpdateStateUsing(ctrlState, ref navigationData.State);
navigationData.Yaw = DegreeToRadian*(navdataBag.demo.psi/1000.0f);
navigationData.Pitch = DegreeToRadian*(navdataBag.demo.theta/1000.0f);
navigationData.Roll = DegreeToRadian*(navdataBag.demo.phi/1000.0f);
navigationData.Altitude = navdataBag.demo.altitude/1000.0f;
navigationData.Time = navdataBag.time.time;
navigationData.Velocity.X = navdataBag.demo.vx/1000.0f;
navigationData.Velocity.Y = navdataBag.demo.vy/1000.0f;
navigationData.Velocity.Z = navdataBag.demo.vz/1000.0f;
navigationData.Battery.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
navigationData.Battery.Percentage = navdataBag.demo.vbat_flying_percentage;
navigationData.Battery.Voltage = navdataBag.raw_measures.vbat_raw/1000.0f;
navigationData.Magneto.Rectified.X = navdataBag.magneto.magneto_rectified.x;
navigationData.Magneto.Rectified.Y = navdataBag.magneto.magneto_rectified.y;
navigationData.Magneto.Rectified.Z = navdataBag.magneto.magneto_rectified.z;
navigationData.Magneto.Offset.X = navdataBag.magneto.magneto_offset.x;
navigationData.Magneto.Offset.Y = navdataBag.magneto.magneto_offset.y;
navigationData.Magneto.Offset.Z = navdataBag.magneto.magneto_offset.z;
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
return navigationData;
}
private static unsafe void ProcessOption(navdata_option_t* option, ref NavdataBag navigationData)
{
var tag = (navdata_tag_t) option->tag;
switch (tag)
{
case navdata_tag_t.NAVDATA_DEMO_TAG:
navigationData.demo = *(navdata_demo_t*) option;
break;
case navdata_tag_t.NAVDATA_TIME_TAG:
navigationData.time = *(navdata_time_t*) option;
break;
case navdata_tag_t.NAVDATA_RAW_MEASURES_TAG:
navigationData.raw_measures = *(navdata_raw_measures_t*) option;
break;
case navdata_tag_t.NAVDATA_PHYS_MEASURES_TAG:
navigationData.phys_measures = *(navdata_phys_measures_t*) option;
break;
case navdata_tag_t.NAVDATA_GYROS_OFFSETS_TAG:
navigationData.gyros_offsets = *(navdata_gyros_offsets_t*) option;
break;
case navdata_tag_t.NAVDATA_EULER_ANGLES_TAG:
navigationData.euler_angles = *(navdata_euler_angles_t*) option;
break;
case navdata_tag_t.NAVDATA_REFERENCES_TAG:
navigationData.references = *(navdata_references_t*) option;
break;
case navdata_tag_t.NAVDATA_TRIMS_TAG:
navigationData.trims = *(navdata_trims_t*) option;
break;
case navdata_tag_t.NAVDATA_RC_REFERENCES_TAG:
navigationData.rc_references = *(navdata_rc_references_t*) option;
break;
case navdata_tag_t.NAVDATA_PWM_TAG:
navigationData.pwm = *(navdata_pwm_t*) option;
break;
case navdata_tag_t.NAVDATA_ALTITUDE_TAG:
navigationData.altitude = *(navdata_altitude_t*) option;
break;
case navdata_tag_t.NAVDATA_VISION_RAW_TAG:
navigationData.vision_raw = *(navdata_vision_raw_t*) option;
break;
case navdata_tag_t.NAVDATA_VISION_OF_TAG:
navigationData.vision_of_tag = *(navdata_vision_of_t*) option;
break;
case navdata_tag_t.NAVDATA_VISION_TAG:
navigationData.vision = *(navdata_vision_t*) option;
break;
case navdata_tag_t.NAVDATA_VISION_PERF_TAG:
navigationData.vision_perf = *(navdata_vision_perf_t*) option;
break;
case navdata_tag_t.NAVDATA_TRACKERS_SEND_TAG:
navigationData.trackers_send = *(navdata_trackers_send_t*) option;
break;
case navdata_tag_t.NAVDATA_VISION_DETECT_TAG:
navigationData.vision_detect = *(navdata_vision_detect_t*) option;
break;
case navdata_tag_t.NAVDATA_WATCHDOG_TAG:
navigationData.watchdog = *(navdata_watchdog_t*) option;
break;
case navdata_tag_t.NAVDATA_ADC_DATA_FRAME_TAG:
navigationData.adc_data_frame = *(navdata_adc_data_frame_t*) option;
break;
case navdata_tag_t.NAVDATA_VIDEO_STREAM_TAG:
navigationData.video_stream = *(navdata_video_stream_t*) option;
break;
case navdata_tag_t.NAVDATA_GAMES_TAG:
navigationData.games = *(navdata_games_t*) option;
break;
case navdata_tag_t.NAVDATA_PRESSURE_RAW_TAG:
navigationData.pressure_raw = *(navdata_pressure_raw_t*) option;
break;
case navdata_tag_t.NAVDATA_MAGNETO_TAG:
navigationData.magneto = *(navdata_magneto_t*) option;
break;
case navdata_tag_t.NAVDATA_WIND_TAG:
navigationData.wind_speed = *(navdata_wind_speed_t*) option;
break;
case navdata_tag_t.NAVDATA_KALMAN_PRESSURE_TAG:
navigationData.kalman_pressure = *(navdata_kalman_pressure_t*) option;
break;
case navdata_tag_t.NAVDATA_HDVIDEO_STREAM_TAG:
navigationData.hdvideo_stream = *(navdata_hdvideo_stream_t*) option;
break;
case navdata_tag_t.NAVDATA_WIFI_TAG:
navigationData.wifi = *(navdata_wifi_t*) option;
break;
case navdata_tag_t.NAVDATA_ZIMMU_3000_TAG:
// do nothing
break;
case navdata_tag_t.NAVDATA_NUM_TAGS:
// do nothing
break;
case navdata_tag_t.NAVDATA_CKS_TAG:
navigationData.cks = *(navdata_cks_t*) option;
break;
default:
// skip uknown options
//throw new ArgumentOutOfRangeException();
break;
}
}
private static unsafe void ProcessOption(navdata_option_t *option, ref NavdataBag navigationData)
{
var tag = (navdata_tag_t)option->tag;
switch (tag)
{
case navdata_tag_t.NAVDATA_DEMO_TAG:
navigationData.demo = *(navdata_demo_t *)option;
break;
case navdata_tag_t.NAVDATA_TIME_TAG:
navigationData.time = *(navdata_time_t *)option;
break;
case navdata_tag_t.NAVDATA_RAW_MEASURES_TAG:
navigationData.raw_measures = *(navdata_raw_measures_t *)option;
break;
case navdata_tag_t.NAVDATA_PHYS_MEASURES_TAG:
navigationData.phys_measures = *(navdata_phys_measures_t *)option;
break;
case navdata_tag_t.NAVDATA_GYROS_OFFSETS_TAG:
navigationData.gyros_offsets = *(navdata_gyros_offsets_t *)option;
break;
case navdata_tag_t.NAVDATA_EULER_ANGLES_TAG:
navigationData.euler_angles = *(navdata_euler_angles_t *)option;
break;
case navdata_tag_t.NAVDATA_REFERENCES_TAG:
navigationData.references = *(navdata_references_t *)option;
break;
case navdata_tag_t.NAVDATA_TRIMS_TAG:
navigationData.trims = *(navdata_trims_t *)option;
break;
case navdata_tag_t.NAVDATA_RC_REFERENCES_TAG:
navigationData.rc_references = *(navdata_rc_references_t *)option;
break;
case navdata_tag_t.NAVDATA_PWM_TAG:
navigationData.pwm = *(navdata_pwm_t *)option;
break;
case navdata_tag_t.NAVDATA_ALTITUDE_TAG:
navigationData.altitude = *(navdata_altitude_t *)option;
break;
case navdata_tag_t.NAVDATA_VISION_RAW_TAG:
navigationData.vision_raw = *(navdata_vision_raw_t *)option;
break;
case navdata_tag_t.NAVDATA_VISION_OF_TAG:
navigationData.vision_of_tag = *(navdata_vision_of_t *)option;
break;
case navdata_tag_t.NAVDATA_VISION_TAG:
navigationData.vision = *(navdata_vision_t *)option;
break;
case navdata_tag_t.NAVDATA_VISION_PERF_TAG:
navigationData.vision_perf = *(navdata_vision_perf_t *)option;
break;
case navdata_tag_t.NAVDATA_TRACKERS_SEND_TAG:
navigationData.trackers_send = *(navdata_trackers_send_t *)option;
break;
case navdata_tag_t.NAVDATA_VISION_DETECT_TAG:
navigationData.vision_detect = *(navdata_vision_detect_t *)option;
break;
case navdata_tag_t.NAVDATA_WATCHDOG_TAG:
navigationData.watchdog = *(navdata_watchdog_t *)option;
break;
case navdata_tag_t.NAVDATA_ADC_DATA_FRAME_TAG:
navigationData.adc_data_frame = *(navdata_adc_data_frame_t *)option;
break;
case navdata_tag_t.NAVDATA_VIDEO_STREAM_TAG:
navigationData.video_stream = *(navdata_video_stream_t *)option;
break;
case navdata_tag_t.NAVDATA_GAMES_TAG:
navigationData.games = *(navdata_games_t *)option;
break;
case navdata_tag_t.NAVDATA_PRESSURE_RAW_TAG:
navigationData.pressure_raw = *(navdata_pressure_raw_t *)option;
break;
case navdata_tag_t.NAVDATA_MAGNETO_TAG:
navigationData.magneto = *(navdata_magneto_t *)option;
break;
case navdata_tag_t.NAVDATA_WIND_TAG:
navigationData.wind_speed = *(navdata_wind_speed_t *)option;
break;
case navdata_tag_t.NAVDATA_KALMAN_PRESSURE_TAG:
navigationData.kalman_pressure = *(navdata_kalman_pressure_t *)option;
break;
case navdata_tag_t.NAVDATA_HDVIDEO_STREAM_TAG:
navigationData.hdvideo_stream = *(navdata_hdvideo_stream_t *)option;
break;
case navdata_tag_t.NAVDATA_WIFI_TAG:
navigationData.wifi = *(navdata_wifi_t *)option;
break;
case navdata_tag_t.NAVDATA_ZIMMU_3000_TAG:
// do nothing
break;
case navdata_tag_t.NAVDATA_NUM_TAGS:
// do nothing
break;
case navdata_tag_t.NAVDATA_CKS_TAG:
navigationData.cks = *(navdata_cks_t *)option;
break;
default:
// skip uknown options
//throw new ArgumentOutOfRangeException();
break;
}
}
