private void DaemonFunction()
{
byte[] buf = new byte[5];
// Stopwatch sw = Stopwatch.StartNew();
while (true)
{
dc.Receive(ref buf, 5);
byte idx = buf [0];
float val = BitConverter.ToSingle(buf, 1);
switch (idx)
{
case 26:
lock (this)
positionState.x = val;
break;
case 27:
lock (this)
positionState.y = val;
break;
case 28:
lock (this)
positionState.z = val;
break;
case 29:
lock (this)
positionState.wx = val;
break;
case 30:
lock (this)
positionState.wy = val;
break;
case 31:
lock (this)
positionState.wz = val;
break;
default:
string name = jointDict [idx];
lock (this)
jointState [name] = val;
break;
}
// Console.WriteLine(String.Format("Network read took {0}ms.", sw.ElapsedMilliseconds));
// sw.Restart();
}
}
public void Receive_Deserializes_Input_From_Buffer()
{
string expectedInput = "1234567";
var buffer = new ArrayBuffer(Encoding.UTF8.GetBytes(expectedInput), 0, expectedInput.Length);
var reader = A.Fake<IBufferedReader>();
A.CallTo(() => reader.Read()).Returns(buffer);
var channel = new InputChannel<string>(reader, new StringDeserializer());
string actualInput = channel.Receive();
Assert.That(actualInput, Is.EqualTo(expectedInput));
}
protected void camera()
{
bool active = true;
while (active)
{
videoChannel.Flash(42);
videoChannel.Receive(ref imageBuffer, imageBuffer.Length);
lock (imageBuffer)
{
imagePixBuf = new Gdk.Pixbuf(imageBuffer, Gdk.Colorspace.Rgb, false, 8, cam_width, cam_height, 3 * cam_width);
active = cameraActive;
}
Thread.Sleep((int)(1000.0 / fps));
}
videoChannel.Flash(0);
}