private void TcpDataProcess(Object sender, TcpTransmissionEventArgs e)
{
byte[] data = e.Data;
string resp = Encoding.Default.GetString(data);
if (resp.Contains("ACK"))
{
ackCount++;
SetLabelText(ackCountLabel, ackCount.ToString());
}
}
private void TcpReadBackDataProcess(Object sender, TcpTransmissionEventArgs e)
{
byte[] data = e.Data;
if (data.Length != 15)
{
return;
}
var roll_imu = BitConverter.ToInt16(data, 2);
var roll_abs = BitConverter.ToInt16(data, 4);
var pitch_imu = BitConverter.ToInt16(data, 6);
var pitch_abs = BitConverter.ToInt16(data, 8);
var yaw_imu = BitConverter.ToInt16(data, 10);
var yaw_abs = BitConverter.ToInt16(data, 12);
SetTextBox(currentRollTextBox, roll_abs.ToString());
SetTextBox(currentPitchTextBox, pitch_abs.ToString());
SetTextBox(currentYawTextBox, yaw_abs.ToString());
var msg = "Read IMU_angles: [" + roll_imu.ToString() + " " + pitch_imu.ToString() + " " + yaw_imu.ToString() + "]" + Environment.NewLine;
SetRichTextBox(richTextBox1, msg);
msg = "Read abs_angles_ref_home: [" + roll_abs.ToString() + " " + pitch_abs.ToString() + " " + yaw_abs.ToString() + "]" + Environment.NewLine;
SetRichTextBox(richTextBox1, msg);
}
