private void RecieveData()
{
while (true)
{
ip = new IPEndPoint(IPAddress.Any, 0);
var bytes = UdpPlatform.Instance.RecieveData(ref ip);
var length = bytes.Length;
if (length == StructHelper.GetStructSize <AngleWithLocation>())
{
var angleAndLocation = StructHelper.BytesToStruct <AngleWithLocation>(bytes);
var pitchRad = StructHelper.Deg2Rad((float)angleAndLocation.Pitch);
var rollRad = StructHelper.Deg2Rad((float)angleAndLocation.Roll);
var yawRad = StructHelper.Deg2Rad((float)angleAndLocation.Yaw);
var ipstr = ip.ToString();
if (ipstr.StartsWith("192.168.0.131") == false && ipstr.StartsWith("192.168.0.136") == false)
{
this.angleWithLocation = angleAndLocation;
this.angle.Pitch = -pitchRad;
this.angle.Roll = -rollRad;
this.angle.Yaw = yawRad;
if (this.IsSend == true)
{
UdpPlatform.Instance.SendData(this.angleWithLocation, TeachIp);
}
}
else
{
this.otherAngleWithLocation = angleAndLocation;
this.otherAngle.Pitch = pitchRad;
this.otherAngle.Roll = rollRad;
this.otherAngle.Yaw = yawRad;
}
}
if (length == StructHelper.GetStructSize <TeachingCommand>())
{
command = StructHelper.BytesToStruct <TeachingCommand>(bytes);
this.IsSendFromTeachingPlatform = command.IsStart == 1;
}
}
}
