void Processstuff(byte[] message)
{
BinaryReader br = new BinaryReader(new MemoryStream(message));
ClusteredSickMessageID msgID = (ClusteredSickMessageID)br.ReadInt32();
int seq = (br.ReadInt32());
double time = br.ReadDouble();
List <SickCluster> clusters = new List <SickCluster>();
int numclusters = br.ReadInt32();
for (int i = 0; i < numclusters; i++)
{
SickCluster cluster = new SickCluster();
cluster.stable = br.ReadBoolean();
cluster.leftOccluded = br.ReadBoolean();
cluster.rightOccluded = br.ReadBoolean();
int numpoints = br.ReadInt32();
if (numpoints != 0)
{
cluster.points = new List <SickXYPoint>(numpoints);
}
for (int j = 0; j < numpoints; j++)
{
double x = br.ReadDouble();
double y = br.ReadDouble();
SickXYPoint pt = new SickXYPoint(x, y);
cluster.points.Add(pt);
}
clusters.Add(cluster);
}
if (br.BaseStream.Position != br.BaseStream.Length)
{
Console.WriteLine("Incomplete read of rear sick clusters.");
}
if (GotPacket != null)
{
GotPacket(this, new ClusteredSickEventArgs(time, clusters));
}
}
void Processstuff(byte[] message)
{
BinaryReader br = new BinaryReader(new MemoryStream(message));
ClusteredSickMessageID msgID = (ClusteredSickMessageID)br.ReadInt32();
int seq = (br.ReadInt32());
double time = br.ReadDouble();
List<SickCluster> clusters = new List<SickCluster>();
int numclusters = br.ReadInt32();
for (int i = 0; i < numclusters; i++)
{
SickCluster cluster = new SickCluster();
cluster.stable = br.ReadBoolean();
cluster.leftOccluded = br.ReadBoolean();
cluster.rightOccluded = br.ReadBoolean();
int numpoints = br.ReadInt32();
if (numpoints !=0)
cluster.points = new List<SickXYPoint>(numpoints);
for (int j = 0; j < numpoints; j++)
{
double x = br.ReadDouble();
double y = br.ReadDouble();
SickXYPoint pt = new SickXYPoint(x,y);
cluster.points.Add(pt);
}
clusters.Add(cluster);
}
if (br.BaseStream.Position != br.BaseStream.Length)
Console.WriteLine("Incomplete read of rear sick clusters.");
if (GotPacket != null)
GotPacket(this, new ClusteredSickEventArgs(time,clusters));
}
