private void ParseTargetsPacket(BinaryReader br)
{
//bear in mind the first int32 is picked off for us.
LocalMapTargetsMsg targets = new LocalMapTargetsMsg();
int numTargets = br.ReadInt32();
//Console.WriteLine("GOT " + numTargets + " targets!");
targets.targets = new List <LocalMapTarget>(numTargets);
targets.timestamp = br.ReadDouble();
for (int i = 0; i < numTargets; i++)
{
//now get the targets
LocalMapTarget target = new LocalMapTarget();
int numPoints = br.ReadInt32();
target.type = br.ReadInt32();
target.x = br.ReadSingle();
target.y = br.ReadSingle();
target.speed = br.ReadSingle();
target.heading = br.ReadSingle();
target.width = br.ReadSingle();
target.orientation = br.ReadSingle();
for (int k = 0; k < 36; k++)
{
br.ReadSingle(); //mess the covariance matrix
}
target.points = new List <LocalMapPoint>(numPoints);
for (int j = 0; j < numPoints; j++)
{
short x = br.ReadInt16();
short y = br.ReadInt16();
target.points.Add(new LocalMapPoint(x / 100.0, y / 100.0));
//Console.WriteLine("got to " + i + " " + j);
}
targets.targets.Add(target);
}
if (TargetsReceived != null)
{
TargetsReceived(this, new LocalMapTargetsRXEventArgs(targets));
}
}
private void ParseTargetsPacket(BinaryReader br)
{
//bear in mind the first int32 is picked off for us.
LocalMapTargetsMsg targets = new LocalMapTargetsMsg();
int numTargets = br.ReadInt32();
//Console.WriteLine("GOT " + numTargets + " targets!");
targets.targets = new List<LocalMapTarget>(numTargets);
targets.timestamp = br.ReadDouble();
for (int i = 0; i < numTargets; i++)
{
//now get the targets
LocalMapTarget target = new LocalMapTarget();
int numPoints = br.ReadInt32();
target.type = br.ReadInt32();
target.x = br.ReadSingle();
target.y = br.ReadSingle();
target.speed = br.ReadSingle();
target.heading = br.ReadSingle();
target.width = br.ReadSingle();
target.orientation = br.ReadSingle();
for (int k = 0; k < 36; k++)
br.ReadSingle(); //mess the covariance matrix
target.points = new List<LocalMapPoint>(numPoints);
for (int j = 0; j < numPoints; j++)
{
short x = br.ReadInt16();
short y = br.ReadInt16();
target.points.Add (new LocalMapPoint (x / 100.0, y / 100.0));
//Console.WriteLine("got to " + i + " " + j);
}
targets.targets.Add(target);
}
if (TargetsReceived != null) TargetsReceived(this, new LocalMapTargetsRXEventArgs(targets));
}
