/// <summary>
/// Sends z camera offset
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="camInfo"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, ServerMessages.DroneCamInfo camInfo)
{
byte[] data_bytes = new byte[31]; // { (byte)'A', module, action, data.id, data.order, data.position };
data_bytes[0] = (byte)'A';
data_bytes[1] = module;
data_bytes[2] = action;
byte[] converted = BitConverter.GetBytes(camInfo.camPos.x);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 4] = converted[i];
}
converted = BitConverter.GetBytes(camInfo.camPos.y);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 8] = converted[i];
}
converted = BitConverter.GetBytes(camInfo.camPos.z);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 12] = converted[i];
}
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(data_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
// Just after the request the atreyu server must respond with a notification
// (ACK, UNKNOWN_MODULE, or UNDEFINED_MODULE) through the same 'requests' socket.
if (StdMessage.isStdNotification(ref resp_msg) && StdMessage.getMessageAction(ref resp_msg) != (byte)NotificationType.ACK)
{
if (module == (byte)Modules.STD_COMMANDS_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: STD command was not accepted {0}", new StdMessage(module, action).to_string()));
}
else if (module == (byte)Modules.POSITIONING_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POSITIONING_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
else if (module == (byte)Modules.POINTCLOUD_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POINTCLOUD_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
return(false);
}
return(true);
}
// Confirm tag config button listener
void ConfirmTagConfiguration()
{
if ((clientUnity != null) && (clientUnity.client != null) && (clientUnity.client.isConnected))
{
if (swValue >= 0 && nwValue >= 0 && neValue >= 0 && seValue >= 0 && widthValue >= 0 && heightValue >= 0)
{
state = TagsConfigState.ConfigurationSent;
confirmButton.GetComponent <Button>().interactable = false;
ServerMessages.DroneCamInfo camInfo = new ServerMessages.DroneCamInfo(camDistValueX, camDistValueY, camDistValueZ);
ServerMessages.IPSDroneTag tagData = new ServerMessages.IPSDroneTag(swValue, nwValue, neValue, seValue, widthValue, heightValue, (int)camDistValueY);
clientUnity.client.sendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_DRONETAGS_MANUAL_CONFIG, tagData);
clientUnity.client.sendCommand((byte)Modules.DRONE_MODULE, (byte)DroneCommandType.DRONE_SET_ZCAMERA_OFFSET, camInfo);
clientUnity.client.sendSetDroneFilter((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_SET_DRONEFILTER, 0, PozyxModule.updatePeriod, PozyxModule.movementFreedom);
}
else
{
UnityEngine.Debug.Log("Some invalid values");
PozyxModule.errorMsg = "Some invald values";
state = TagsConfigState.ErrorReceived;
}
}
}
