public override int GetHashCode()
{
int hash = 1;
if (header_ != null)
{
hash ^= Header.GetHashCode();
}
if (FusionStatus != 0)
{
hash ^= FusionStatus.GetHashCode();
}
if (GnssStatus != 0)
{
hash ^= GnssStatus.GetHashCode();
}
if (LidarStatus != 0)
{
hash ^= LidarStatus.GetHashCode();
}
if (MeasurementTime != 0D)
{
hash ^= MeasurementTime.GetHashCode();
}
if (StateMessage.Length != 0)
{
hash ^= StateMessage.GetHashCode();
}
return(hash);
}
public ErrorCode GetFusedHeading(out int bIsFusing, out int bIsValid, out float value, out ErrorCode lastError)
{
FusionStatus toFill = new FusionStatus();
ErrorCode errCode = GetFusedHeading(toFill, out value);
bIsFusing = toFill.bIsFusing ? 1 : 0;
bIsValid = toFill.bIsValid ? 1 : 0;
lastError = toFill.lastError;
return(errCode);
}
public ErrorCode GetFusedHeading(out float value)
{
FusionStatus temp = new FusionStatus();
return(GetFusedHeading(temp, out value));
}
/**
* @param status object reference to fill with fusion status flags.
* Caller may omit this parameter if flags are not needed.
* @return fused heading in degrees.
*/
public ErrorCode GetFusedHeading(FusionStatus status, out float value)
{
bool bIsFusing, bIsValid;
float[] temp = new float[3];
float fusedHeading;
ErrorCode errCode = GetThreeParam20(COND_STATUS_6, temp, 360f / 8192f);
fusedHeading = temp[0];
byte b2 = (byte)(_cache >> 16);
string description;
if (errCode != 0)
{
bIsFusing = false;
bIsValid = false;
description = "Could not receive status frame. Check wiring and web-config.";
}
else
{
int flags = (b2) & 7;
if (flags == 7)
{
bIsFusing = true;
}
else
{
bIsFusing = false;
}
if ((b2 & 0x8) == 0)
{
bIsValid = false;
}
else
{
bIsValid = true;
}
if (bIsValid == false)
{
description = "Fused Heading is not valid.";
}
else if (bIsFusing == false)
{
description = "Fused Heading is valid.";
}
else
{
description = "Fused Heading is valid and is fusing compass.";
}
}
/* fill caller's struct */
status.heading = fusedHeading;
status.bIsFusing = bIsFusing;
status.bIsValid = bIsValid;
status.description = description;
status.lastError = errCode;
value = fusedHeading;
return(SetLastError(errCode));
}
/**
* @param status object reference to fill with fusion status flags.
* Caller may pass null if flags are not needed.
* @return fused heading in degrees.
*/
public float GetFusedHeading(FusionStatus status)
{
bool bIsFusing, bIsValid;
float fusedHeading;
int errCode = GetThreeParam20(COND_STATUS_6, _cache_four_params, 360.0f / 8192.0f);
fusedHeading = _cache_four_params[0];
byte b2 = (byte)(_cache >> 16);
String description;
if (errCode != 0)
{
bIsFusing = false;
bIsValid = false;
description = "Could not receive status frame. Check wiring and web-config.";
}
else
{
int flags = (b2) & 7;
if (flags == 7)
{
bIsFusing = true;
}
else
{
bIsFusing = false;
}
if ((b2 & 0x8) == 0)
{
bIsValid = false;
}
else
{
bIsValid = true;
}
if (bIsValid == false)
{
description = "Fused Heading is not valid.";
}
else if (bIsFusing == false)
{
description = "Fused Heading is valid.";
}
else
{
description = "Fused Heading is valid and is fusing compass.";
}
}
if (status != null)
{
/* fill caller's struct */
status.heading = fusedHeading;
status.bIsFusing = bIsFusing;
status.bIsValid = bIsValid;
status.description = description;
status.lastError = errCode;
}
HandleError(errCode);
return(fusedHeading);
}
