internal TocFetcher(ICrtpCommunicator communicator, TocCache <T> cache, byte port, bool useV2protocol)
{
_communicator = communicator;
_port = port;
_tocCache = cache;
_useV2 = useV2protocol;
}
internal Logger(ICrtpCommunicator communicator, bool useV2Protocol, DirectoryInfo cacheDirectory) : base(communicator, useV2Protocol,
(byte)CrtpPort.LOGGING,
new DirectoryInfo(Path.Combine(cacheDirectory.FullName, "LOG")))
{
_useV2Protocol = useV2Protocol;
_communicator = communicator;
_communicator.RegisterEventHandler((byte)CrtpPort.LOGGING, LogPacketReceived);
}
public PlatformService(ICrtpCommunicator communicator)
{
_communicator = communicator;
_communicator.RegisterEventHandler((byte)CrtpPort.PLATFORM,
PlatformMessageReceived);
_communicator.RegisterEventHandler((byte)CrtpPort.LINKCTRL,
CrtServiceMessageReceived);
}
internal ParamConfigurator(ICrtpCommunicator communicator, bool useV2Protocol, DirectoryInfo cacheDirectory) :
base(communicator, useV2Protocol, (byte)CrtpPort.PARAM,
new DirectoryInfo(Path.Combine(cacheDirectory.FullName, "PARAM")))
{
_useV2Protocol = useV2Protocol;
_communicator = communicator;
_paramSynchronizer = new ParameterSynchronizer(communicator, useV2Protocol);
_paramSynchronizer.StartProcessing();
_paramSynchronizer.ParameterReceived += ParameterReceived;
_paramSynchronizer.ParameterStored += ParameterStored;
}
protected TocContainerBase(ICrtpCommunicator communicator, bool useV2Protocol, byte port,
DirectoryInfo cacheDirectory)
{
_useV2Protocol = useV2Protocol;
_communicator = communicator;
_cacheDirectory = cacheDirectory;
_tocCache = new TocCache <T>(_cacheDirectory);
_tocFetcher = new TocFetcher <T>(_communicator, _tocCache,
port, _useV2Protocol);
_tocFetcher.TocReceived += TocFetcher_TocReceived;
}
internal LogConfig(ICrtpCommunicator communicator, ITocContainer <LogTocElement> tocContainer, string name, ushort periodInMs)
{
_communicator = communicator;
_tocContainer = tocContainer;
var periodToSend = periodInMs / 10;
if (!(periodToSend > 0 && periodToSend < 0xFF))
{
throw new ArgumentException("periodInMs must be < 2550 ms.");
}
PeriodInMs = periodInMs;
Name = name;
}
internal ParameterSynchronizer(ICrtpCommunicator communicator, bool useV2)
{
_communicator = communicator;
_useV2 = useV2;
_communicator.RegisterEventHandler((byte)CrtpPort.PARAM, ParamMessageReceived);
}
internal AtLeastOnceCommunicatorStrategy(ICrtpCommunicator communicator)
{
_communicator = communicator;
_communicator.RegisterAllEventHandler(CheckExceptedAnswer);
}
internal Parameter(ICrtpCommunicator communicator, string name)
{
_communicator = communicator;
}
internal HighlevelCommander(ICrtpCommunicator communicator, ICrazyflieParamConfigurator paramConfigurator)
{
_communicator = communicator;
_paramConfigurator = paramConfigurator;
}
/// <summary>
/// Initialize the commander object. By default the commander is in
/// +-mode(not x-mode).
/// </summary>
public Commander(ICrtpCommunicator communicator, bool clientXMode = false)
{
_communicator = communicator;
ClientXMode = clientXMode;
}