private void _receiveTimer_Elapsed(object sender, ElapsedEventArgs e)
{
try
{
string infoToAnalogDisplay = string.Empty;
_receiveTimer.Stop();
_socket.Receive(_receiveByteArray);
//Konwersja bajtów na floaty
for (int i = 0; i < _howManyAnalogs * sizeof(float); i += sizeof(float))
{
_receiveAnalogs[i / sizeof(float)] = BitConverter.ToSingle(_receiveByteArray, i);
}
infoToAnalogDisplay += "roll: " + _receiveAnalogs[0] + "\n";
infoToAnalogDisplay += "pitch: " + _receiveAnalogs[1] + "\n";
infoToAnalogDisplay += "gaz: " + _receiveAnalogs[2] + "\n";
infoToAnalogDisplay += "yaw: " + _receiveAnalogs[3] + "\n";
//Wyodrębnianie komend
for (int i = _howManyAnalogs * sizeof(float); i < _receiveByteArray.Length; ++i)
{
_commandsArrayAsBytes[i - _howManyAnalogs * sizeof(float)] = _receiveByteArray[i];
}
#region TEST
////-----W CELACH TESTOWYCH-----
//if (_commandsArrayAsBytes[0] != 0)
//{
// int i = 10;
//}
////----------------------------
#endregion
string intoToCommandDisplay = Drone.CommandsText(_commandsArrayAsBytes.BytesIntoBooleanArray());
//Ten dispaczer jest po to, aby ten wątek miał dostęp do GUI
this.Dispatcher.Invoke(() => { this.FromSimulatorTextBlock.Text = infoToAnalogDisplay; });
if (intoToCommandDisplay != string.Empty)
{
this.Dispatcher.Invoke(() => { this.FromSimulatorCommandsTextBlock.Text = intoToCommandDisplay; });
}
////-----W CELACH TESTOWYCH-----
//else
//{
// this.Dispatcher.Invoke(() => { this.FromSimulatorCommandsTextBlock.Text = "*" + this.FromSimulatorCommandsTextBlock.Text; });
//}
////----------------------------
_receiveTimer.Start();
}
catch (Exception exception)
{
//Gdyby się nie zastartował w traju
_receiveTimer.Start();
this.Dispatcher.Invoke(() => { this.FromSimulatorTextBlock.Text = exception.Message; });
//Narazie zlewam tę sytuację, albowiem synchronizacja wątków i wgl nie działa
//this.LogTextBlock.Text = exception.Message;
}
}
