public static void printStationaryBeaconsPositionsFromMarvelmindHedge(MarvelmindHedge hedge, bool onlyNew)
{
StationaryBeaconsPositions positions = new StationaryBeaconsPositions();
double xm, ym, zm;
positions = getStationaryBeaconsPositionsFromMarvelmindHedge(hedge);
if (positions.updated || (!onlyNew))
{
byte i;
byte n = hedge.positionsBeacons.numBeacons;
StationaryBeaconPosition b;
for (i = 0; i < n; i++)
{
b = positions.beacons[i];
xm = ((double)b.x) / 1000.0;
ym = ((double)b.y) / 1000.0;
zm = ((double)b.z) / 1000.0;
if (positions.beacons[i].highResolution)
{
Console.WriteLine("Stationary beacon: address: " + b.address + ", X: " + xm + ", Y: " + ym + ", Z: " + zm + " \n");
}
else
{
Console.WriteLine("Stationary beacon: address: " + b.address + ", X: " + xm + ", Y: " + ym + ", Z: " + zm + " \n");
}
}
hedge.positionsBeacons.updated = false;
}
}
public MarvelmindHedge()
{
positionBuffer = new PositionValue[(int)Command.MAX_BUFFERED_POSITIONS];
for (int i = 0; i < (byte)Command.MAX_BUFFERED_POSITIONS; i++)
{
positionBuffer[i] = new PositionValue();
}
positionsBeacons = new StationaryBeaconsPositions();
rawIMU = new RawIMUValue();
fusionIMU = new FusionIMUValue();
rawDistances = new RawDistances();
verbose = new bool();
pause = new bool();
terminationRequired = new bool();
lastValuesCount_ = new byte();
lastValues_next = new byte();
haveNewValues_ = new bool();
}
