void NewDataArrived(Object sender, NewDataEventArgs e)
{
switch (e.DataType)
{
case DataKey.FREQUENCY:
Globals.graphManager.timeStep = 1000 / e.IntData;
if (Globals.showDataInDebug)
Debug.Print("Freq={0}", 1000 / e.IntData);
break;
case DataKey.SENSOR:
for (int i = 0; i < 3; ++i)
data[i] = Math.Round(smooth[i].Process(e.ArrayData[i]));
if (MouseEnabled)
Win32.MouseMouse((int)(-HandHorizontalSensivity * (data[1] - preData[1])), (int)(HandVerticalSensivity * (data[0] - preData[0])));
if (preData == null)
preData = (double[])data.Clone();
else Array.Copy(data, preData, 3);
if (Globals.showGraph)
Globals.graphManager.Update(data);
if (Globals.showDataInDebug)
Debug.Print("{0:0.00} {1:0.00} {2:0.00} {3:0.00} {4:0.00} {5:0.00}"
, data[0], data[1], data[2], e.ArrayData[0], e.ArrayData[1], e.ArrayData[2]);
break;
case DataKey.COMMAND:
if (MouseEnabled)
Win32.PerformClick(e.IntData);
break;
}
}
void NewDataArrived(Object sender, NewDataEventArgs e)
{
switch (e.DataType)
{
case DataKey.FREQUENCY:
Globals.graphManager.timeStep = 1000 / e.IntData;
if (Globals.showDataInDebug)
Debug.Print("Freq={0}", 1000 / e.IntData);
break;
case DataKey.SENSOR:
for (int i = 0; i < 3; ++i)
data[i] = Math.Round(smooth[i].Process(e.ArrayData[i]));
if (isCalibrating)
Calibrate();
for (int i = 0; i < 3; ++i)
data[i] -= StillData[i];
if (startQuadcopter && !isCalibrating)
PerformFly();
if (Globals.showGraph)
Globals.graphManager.Update(data);
if (Globals.showDataInDebug)
Debug.Print("{0:0.00} {1:0.00} {2:0.00}", data[0], data[1], data[2]);
break;
case DataKey.COMMAND:
switch (e.IntData)
{
case ButtonCommand.UP_CLICK:
quadControlWindow.PerformButtonClick(quadControlWindow.btnStartQuadcopter);
break;
case ButtonCommand.DOWN_CLICK:
quadControlWindow.PerformButtonClick(quadControlWindow.btnStillCalibration);
break;
}
break;
}
}
public void OnNewFrequencyArrived(int frequency)
{
NewDataArrivedEventHandler handler = NewFrequencyArrived;
if (handler != null)
{
NewDataEventArgs e = new NewDataEventArgs();
e.IntData = frequency;
e.DataType = DataKey.FREQUENCY;
handler(this, e);
}
}
private void OnNewSensorDataArrived(int[] data)
{
NewDataArrivedEventHandler handler = NewSensorDataArrived;
if (handler != null)
{
NewDataEventArgs e = new NewDataEventArgs();
e.DataType = DataKey.SENSOR;
e.ArrayData = (int[])data.Clone();
handler(this, e);
}
}
public void OnNewCommandArrived(int command)
{
NewDataArrivedEventHandler handler = NewCommandArrived;
if (handler != null)
{
NewDataEventArgs e = new NewDataEventArgs();
e.IntData = command;
e.DataType = DataKey.COMMAND;
handler(this, e);
}
}
