public DebugData(PacketBuffer buffer) { Profiler = new DebugProfiler(buffer); PitchOutput = buffer.ReadFloat(); RollOutput = buffer.ReadFloat(); YawOutput = buffer.ReadFloat(); }
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; } } }
public GyroData(PacketBuffer buffer) { this.Roll = buffer.ReadFloat(); this.Pitch = buffer.ReadFloat(); this.Yaw = buffer.ReadFloat(); this.GyroX = buffer.ReadFloat(); this.GyroY = buffer.ReadFloat(); this.GyroZ = buffer.ReadFloat(); this.AccelerationX = buffer.ReadFloat(); this.AccelerationY = buffer.ReadFloat(); this.AccelerationZ = buffer.ReadFloat(); this.MagnetX = buffer.ReadFloat(); this.MagnetY = buffer.ReadFloat(); this.MagnetZ = buffer.ReadFloat(); this.Temperature = buffer.ReadFloat(); }
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); SensorData sensor = new SensorData(buffer); float batteryVoltage = buffer.ReadFloat(); int wifiRssi = buffer.ReadInt(); Data = new DroneData(state, motorValues, sensor, 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(); DroneLog.AddLine(msg); } lastDataLogRevision = revision; break; case DataPacketType.DebugOutput: if (!CheckRevision(lastDataOutputRevision, revision)) { return; } DebugOutputData = new OutputData(buffer); lastDataOutputRevision = revision; NotifyDebugDataChanged(); break; case DataPacketType.DebugProfiler: if (!CheckRevision(lastDataProfilerRevision, revision)) { return; } DebugProfilerData = new ProfilerData(buffer); lastDataProfilerRevision = revision; NotifyDebugDataChanged(); break; } } }