void ReadTelemetry()
{
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Any, readPort));
Stopwatch sw = new Stopwatch();
sw.Start();
StartSending();
while (!IsStopped)
{
try
{
//wait for telemetry
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
Thread.Sleep(1000);
}
continue;
}
Byte[] received = socket.Receive(ref senderIP);
if (socket.Available != 0)
{
continue;
}
var alloc = GCHandle.Alloc(received, GCHandleType.Pinned);
telemetryData = (BNGAPI)Marshal.PtrToStructure(alloc.AddrOfPinnedObject(), typeof(BNGAPI));
alloc.Free();
if (telemetryData.magic[0] == 'B' &&
telemetryData.magic[1] == 'N' &&
telemetryData.magic[2] == 'G' &&
telemetryData.magic[3] == '2')
{
dt = (float)sw.Elapsed.TotalSeconds;
sw.Restart();
ProcessBNGAPI(dt);
}
}
catch (Exception e)
{
Thread.Sleep(1000);
}
}
StopSending();
socket.Close();
Thread.CurrentThread.Join();
}
public void CopyFields(BNGAPI other)
{
posX = other.posX;
posY = other.posY;
posZ = other.posZ;
velX = other.velX;
velY = other.velY;
velZ = other.velZ;
accX = other.accX;
accY = other.accY;
accZ = other.accZ;
upVecX = other.upVecX;
upVecY = other.upVecY;
upVecZ = other.upVecZ;
rollPos = other.rollPos;
pitchPos = other.pitchPos;
yawPos = other.yawPos;
rollRate = other.rollRate;
pitchRate = other.pitchRate;
yawRate = other.yawRate;
rollAcc = other.rollAcc;
pitchAcc = other.pitchAcc;
yawAcc = other.yawAcc;
engine_rate = other.engine_rate;
idle_rpm = other.idle_rpm;
max_rpm = other.max_rpm;
gear = other.gear;
max_gears = other.max_gears;
suspension_position_bl = other.suspension_position_bl;
suspension_position_br = other.suspension_position_br;
suspension_position_fl = other.suspension_position_fl;
suspension_position_fr = other.suspension_position_fr;
suspension_velocity_bl = other.suspension_velocity_bl;
suspension_velocity_br = other.suspension_velocity_br;
suspension_velocity_fl = other.suspension_velocity_fl;
suspension_velocity_fr = other.suspension_velocity_fr;
suspension_acceleration_bl = other.suspension_acceleration_bl;
suspension_acceleration_br = other.suspension_acceleration_br;
suspension_acceleration_fl = other.suspension_acceleration_fl;
suspension_acceleration_fr = other.suspension_acceleration_fr;
}
public byte[] ToByteArray()
{
BNGAPI packet = this;
int num = Marshal.SizeOf <BNGAPI>(packet);
byte[] array = new byte[num];
IntPtr intPtr = Marshal.AllocHGlobal(num);
Marshal.StructureToPtr <BNGAPI>(packet, intPtr, false);
Marshal.Copy(intPtr, array, 0, num);
Marshal.FreeHGlobal(intPtr);
return(array);
}
