private void UpdateData()
{
try
{
if (DesignMode)
{
return;
}
if (!dirty)
{
return;
}
SuspendLayout();
QuadMotorValues motorValues = drone.Data.MotorValues;
SetServoValues(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateServoValue(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateEnabled(drone.Data.State);
ResumeLayout();
dirty = false;
}
catch (Exception e)
{
ErrorHandler.HandleException(drone, e);
}
}
public DroneData(DroneState state, QuadMotorValues motorValues, SensorData sensor, float batteryVoltage, int wifiRssi)
{
this.State = state;
this.MotorValues = motorValues;
this.Sensor = sensor;
this.BatteryVoltage = batteryVoltage;
this.WifiRssi = wifiRssi;
}
private void OnDroneDataChange(object sender, DataChangedEventArgs args)
{
if (InvokeRequired)
{
Invoke(new EventHandler <DataChangedEventArgs>(OnDroneDataChange), sender, args);
return;
}
QuadMotorValues motorValues = args.Data.MotorValues;
SetServoValues(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateServoValue(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateEnabled(args.Data.State);
}
public PacketSetRawValues(QuadMotorValues values)
{
this.Values = values;
}
public PacketSetRawValues(ushort fl, ushort fr, ushort bl, ushort br)
{
this.Values = new QuadMotorValues(fl, fr, bl, br);
}
private void HandleDataPacket(byte[] packet)
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (buffer.Size < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
return;
int revision = buffer.ReadInt();
DataPacketType type = (DataPacketType)buffer.ReadByte();
lastDataTime = Environment.TickCount;
switch (type)
{
case DataPacketType.Drone:
if (!CheckRevision(lastDataDroneRevision, revision))
return;
DroneState state = (DroneState)buffer.ReadByte();
QuadMotorValues motorValues = new QuadMotorValues(buffer);
GyroData gyro = new GyroData(buffer);
float batteryVoltage = buffer.ReadFloat();
int wifiRssi = buffer.ReadInt();
Data = new DroneData(state, motorValues, gyro, batteryVoltage, wifiRssi);
lastDataDroneRevision = revision;
break;
case DataPacketType.Log:
if (!CheckRevision(lastDataLogRevision, revision))
return;
int lines = buffer.ReadInt();
for (int i = 0; i < lines; i++)
{
string msg = buffer.ReadString();
if (OnLogMessage == null)
Log.Info("[Drone] " + msg);
else
OnLogMessage(msg + Environment.NewLine);
}
lastDataLogRevision = revision;
break;
case DataPacketType.Debug:
if (!CheckRevision(lastDataDebugRevision, revision))
return;
DebugData = new DebugData(buffer);
lastDataDebugRevision = revision;
break;
}
}
}
private void UpdateGraph(QuadGraphControl graph, QuadMotorValues values)
{
graph.UpdateValues(values.FrontLeft, values.FrontRight, values.BackLeft, values.BackRight);
}
public PacketSetRawValues(QuadMotorValues values)
{
this.Values = values;
}
public PacketSetRawValues(ushort fl, ushort fr, ushort bl, ushort br)
{
this.Values = new QuadMotorValues(fl, fr, bl, br);
}
private void UpdateGraph(QuadGraphControl graph, QuadMotorValues values)
{
graph.UpdateValues(values.FrontLeft, values.FrontRight, values.BackLeft, values.BackRight);
}
