private void ParseIbeoPacket(BinaryReader br)
{
//bear in mind the first byte is picked off for us.
IbeoScan s = new IbeoScan();
s.packetNum = br.ReadUInt16();
uint secs = br.ReadUInt16();
uint ticks = br.ReadUInt32();
s.timestamp = (float)secs + ((float)ticks / 10000.0f);
s.scannerID = br.ReadInt32();
int numPoints = br.ReadUInt16();
s.points = new List <IbeoPoint> (numPoints);
for (int i = 0; i < numPoints; i++)
{
IbeoPoint p = new IbeoPoint();
p.location.x = br.ReadInt16() / 100.0f;
p.location.y = br.ReadInt16() / 100.0f;
p.location.z = br.ReadInt16() / 100.0f;
byte chan = br.ReadByte();
p.ray = (chan >> 4) & 0x3;
p.echo = chan & 0x3;
p.finalHit = (chan & 0x4) != 0;
p.type = (PointType)br.ReadByte();
s.points.Add(p);
}
if (ScanReceived != null)
{
ScanReceived(this, new IbeoRXEventArgs(s));
}
}
public IbeoRXEventArgs(IbeoScan s)
{
this.s = s;
}