public DroneData(DroneState state, QuadMotorValues motorValues, GyroData gyro, float batteryVoltage, int wifiRssi)
{
this.State = state;
this.MotorValues = motorValues;
this.Gyro = gyro;
this.BatteryVoltage = batteryVoltage;
this.WifiRssi = wifiRssi;
}
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 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;
}
}
}
