Exemplo n.º 1
0
 public AsyncSensorData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length, UInt64 mask)
     : base(robot, code, seqNum, data, asyncCode, length)
 {
     if ((Int32)Data.Length == CountBits(mask) * 2)
     {
         Int32 num = 0;
         if (MaskHasFlag(mask, (DataStreaming)((Int64)458752)))
         {
             Attitude = new AttitudeReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num = num + 6;
         }
         if (MaskHasFlag(mask, (DataStreaming)((Int64)57344)))
         {
             Accelorometer = new AccelerometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num = num + 6;
         }
         if (MaskHasFlag(mask, (DataStreaming)((Int64)7168)))
         {
             Gyrometer = new GyrometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num = num + 6;
         }
         if (MaskHasFlag(mask, DataStreaming.Quaternion))
         {
             Quaternion = new QuaternionReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4), (Single)GetFloatFromBytes(num + 6));
             num = num + 8;
         }
         if (MaskHasFlag(mask, DataStreaming.Location))
         {
             Location = new LocationReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
             num = num + 4;
         }
         if (MaskHasFlag(mask, DataStreaming.Velocity))
         {
             Velocity = new VelocityReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
             num = num + 4;
         }
     }
 }
Exemplo n.º 2
0
 public AsyncSensorData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length, UInt64 mask)
     : base(robot, code, seqNum, data, asyncCode, length)
 {
     if ((Int32)Data.Length == CountBits(mask) * 2)
     {
         Int32 num = 0;
         if (MaskHasFlag(mask, (DataStreaming)((Int64)458752)))
         {
             Attitude = new AttitudeReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num      = num + 6;
         }
         if (MaskHasFlag(mask, (DataStreaming)((Int64)57344)))
         {
             Accelorometer = new AccelerometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num           = num + 6;
         }
         if (MaskHasFlag(mask, (DataStreaming)((Int64)7168)))
         {
             Gyrometer = new GyrometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
             num       = num + 6;
         }
         if (MaskHasFlag(mask, DataStreaming.Quaternion))
         {
             Quaternion = new QuaternionReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4), (Single)GetFloatFromBytes(num + 6));
             num        = num + 8;
         }
         if (MaskHasFlag(mask, DataStreaming.Location))
         {
             Location = new LocationReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
             num      = num + 4;
         }
         if (MaskHasFlag(mask, DataStreaming.Velocity))
         {
             Velocity = new VelocityReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
             num      = num + 4;
         }
     }
 }
Exemplo n.º 3
0
 private void SensorControl_AttitudeUpdatedEvent(object sender, AttitudeReading reading)
 {
     //AtittudeRoll.Text = "" + reading.Roll;
     //AtittudePitch.Text = "" + reading.Pitch;
     //AtittudeYaw.Text = "" + reading.Yaw;
 }