public void Write(PacketBuffer packet)
{
if (packet == null)
throw new ArgumentNullException(nameof(packet));
packet.Write(Pitch);
packet.Write(Roll);
packet.Write(RotationalSpeed);
packet.Write(Thrust);
}
public void Write(PacketBuffer packet)
{
if (packet == null)
throw new ArgumentNullException(nameof(packet));
packet.Write(Values.FrontLeft);
packet.Write(Values.FrontRight);
packet.Write(Values.BackLeft);
packet.Write(Values.BackRight);
}
public void Write(PacketBuffer packetBuffer)
{
int size = Marshal.SizeOf(typeof(DroneSettings));
byte[] buffer = new byte[size];
GCHandle handle = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Marshal.StructureToPtr(this, handle.AddrOfPinnedObject(), false);
handle.Free();
packetBuffer.Write(buffer, 0, buffer.Length);
}
public void Write(PacketBuffer packetBuffer)
{
int size = Marshal.SizeOf(typeof(DroneSettings));
byte[] buffer = new byte[size];
GCHandle handle = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Marshal.StructureToPtr(this, handle.AddrOfPinnedObject(), false);
handle.Free();
packetBuffer.Write(buffer, 0, buffer.Length);
}
private bool SendPacket(IPacket packet, bool guaranteed, int revision, EventHandler <IPacket> handler = null)
{
if (IsDisposed)
{
throw new ObjectDisposedException(GetType().Name);
}
if (packet == null)
{
throw new ArgumentNullException(nameof(packet));
}
// wenn die Drohne nicht erreichbar ist
if (!IsConnected)
{
if (Config.IgnoreGuaranteedWhenOffline)
{
guaranteed = false;
}
// alle Pakete (außer Ping) ignorieren wenn die Drohne offline ist
if (packet.Type != PacketType.Ping && Config.IgnorePacketsWhenOffline)
{
return(false);
}
}
lock (controlSocket)
{
bool alreadySent;
lock (packetsToAcknowledge)
{
alreadySent = packetsToAcknowledge.ContainsKey(revision);
if (guaranteed)
{
if (!stopwatch.IsRunning)
{
stopwatch.Start();
}
packetsToAcknowledge[revision] = packet;
packetSendTime[revision] = stopwatch.ElapsedMilliseconds;
if (handler != null)
{
packetAcknowlegdeEvents[revision] = handler;
}
}
}
packetBuffer.ResetPosition();
// Paket-Header schreiben
packetBuffer.Write((byte)'F');
packetBuffer.Write((byte)'L');
packetBuffer.Write((byte)'Y');
// Alle Daten werden nach dem Netzwerkstandard BIG-Endian übertragen
packetBuffer.Write(revision);
// wenn die Drohne eine Antwort schickt dann wird kein Ack-Paket angefordert, sonst kann es passieren, dass das Ack-Paket die eigentliche Antwort verdrängt
packetBuffer.Write(guaranteed && !packet.Type.DoesClusterAnswer());
packetBuffer.Write((byte)packet.Type);
// Paket Inhalt schreiben
packet.Write(packetBuffer);
controlSocket.BeginSend(packetStream.GetBuffer(), (int)packetBuffer.Position, SendPacket, null);
if (Config.VerbosePacketSending && (packet.Type != PacketType.Ping || Config.LogPingPacket))
{
Log.Verbose("[{0}] Packet: [{1}] {2}, size: {3} bytes {4} {5}", Address.ToString(), revision, packet.Type, packetBuffer.Position, guaranteed ? "(guaranteed)" : "", alreadySent ? "(resend)" : "");
}
}
return(true);
}
