/// <summary>
/// Send a state
/// </summary>
/// <param name="state"></param>
public void SendState(UGVState state, byte id = 1)
{
double timestamp = (DateTime.Now - UnixTime).TotalMilliseconds;
//id, longitude, latitude, altitude, x_speed, y_speed, z_speed
NGCP.VehicleGlobalPosition vgp = new NGCP.VehicleGlobalPosition((byte)NodeID, (float)state.Longitude, (float)state.Latitude, 0);
Node.Send(vgp, id);
}
public int VehicleGlobalPositionCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
//validate who the packet is from 1 is gcs
if (header.GetSourceID() == 7)
{
NGCP.VehicleGlobalPosition vgp = Comnet.ABSPacket.GetValue <NGCP.VehicleGlobalPosition>(packet);
GPS_X_Box.Text = vgp.latitude.ToString();
GPS_Y_Box.Text = vgp.longitude.ToString();
}
//make sure you return this way to declare succes and destory the pointer(c++)
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
