Communicator.OutputHandle Class Reference

Handle outbound request from the TCP socket More...

Inheritance diagram for Communicator.OutputHandle:

Collaboration diagram for Communicator.OutputHandle:

Public Member Functions
void	ParseOutput (ref string outputmsg)
	Prepare output object and return json string to be dispatched More...
string	LogOutput ()
	Just Log output if the entire output is not required More...

Detailed Description

Handle outbound request from the TCP socket

Definition at line 15 of file OutputHandle.cs.

Member Function Documentation

LogOutput()

string Communicator.OutputHandle.LogOutput ( )

inline

Just Log output if the entire output is not required

Returns

Prepare output object and return json string to be dispatched

Definition at line 94 of file OutputHandle.cs.

        {
            string LogOutput = JsonConvert.SerializeObject(new Logger{ 
                    Log =  StaticLogger.Log,
                }, new PrimitiveToStringConverter()
            );
            return LogOutput;
        }

ParseOutput()

void Communicator.OutputHandle.ParseOutput ( ref string  outputmsg )

inline

Prepare output object and return json string to be dispatched

Returns

Output json string

Definition at line 24 of file OutputHandle.cs.

        {
            // To avoid null retun from Screencapture
            // To not to send the screencapture if `IsCapture` is to `false`, to save bandwidth
            ref var screencapture = ref StaticOutputSchema.ScreenCapture;
            if (screencapture == null || StaticCameraSchema.IsCapture == false){
                screencapture =  new byte[0];
                
            }
 
            // to avoid null retun from Screencapture
            var lidarPointCloud = StaticOutputSchema.LidarPointCloud;
            if (lidarPointCloud == null){
                lidarPointCloud =  new float[0];
            }
            
            
            outputmsg = JsonConvert.SerializeObject(new OutputSchema{
                BankAngle = StaticOutputSchema.BankAngle,
                PitchAngle = StaticOutputSchema.PitchAngle,
                AGL = StaticOutputSchema.AGL,
                MSL = StaticOutputSchema.MSL,
                CurrentRPM = StaticOutputSchema.CurrentRPM,
                MaxRPM = StaticOutputSchema.MaxRPM,
                MaxPower = StaticOutputSchema.MaxPower,
                CurrentPower = StaticOutputSchema.CurrentPower,
                CurrentSpeed = StaticOutputSchema.CurrentSpeed,
                ScreenCapture = screencapture,
                LidarPointCloud = lidarPointCloud,
                Latitude = StaticOutputSchema.Latitude,
                Longitude = StaticOutputSchema.Longitude,
                IfCollision = StaticOutputSchema.IfCollision,
                Reward = StaticOutputSchema.Reward,
                Counter = StaticOutputSchema.Counter,
                CollisionObject = StaticOutputSchema.CollisionObject,
                IsFlying =  StaticOutputSchema.IsFlying,
                IsGrounded =  StaticOutputSchema.IsGrounded,
                IsTaxiing =  StaticOutputSchema.IsTaxiing,
                PosXAbs =  StaticOutputSchema.PosXAbs,
                PosYAbs =  StaticOutputSchema.PosYAbs,
                PosZAbs =  StaticOutputSchema.PosZAbs,
                PosXRel =  StaticOutputSchema.PosXRel,
                PosYRel =  StaticOutputSchema.PosYRel,
                PosZRel =  StaticOutputSchema.PosZRel,
                RotXAbs = StaticOutputSchema.RotXAbs,
                RotYAbs = StaticOutputSchema.RotYAbs,
                RotZAbs = StaticOutputSchema.RotZAbs,
                RotXRel = StaticOutputSchema.RotXRel,
                RotYRel = StaticOutputSchema.RotYRel,
                RotZRel = StaticOutputSchema.RotZRel,
                AngularXVelocity = StaticOutputSchema.AngularXVelocity,
                AngularYVelocity = StaticOutputSchema.AngularYVelocity,
                AngularZVelocity = StaticOutputSchema.AngularZVelocity,
                LinearXVelocity = StaticOutputSchema.LinearXVelocity,
                LinearYVelocity = StaticOutputSchema.LinearYVelocity,
                LinearZVelocity = StaticOutputSchema.LinearZVelocity,
                AngularXAcceleration = StaticOutputSchema.AngularXAcceleration,
                AngularYAcceleration = StaticOutputSchema.AngularYAcceleration,
                AngularZAcceleration = StaticOutputSchema.AngularZAcceleration,
                LinearXAcceleration = StaticOutputSchema.LinearXAcceleration,
                LinearYAcceleration = StaticOutputSchema.LinearYAcceleration,
                LinearZAcceleration = StaticOutputSchema.LinearZAcceleration,
                
            }, new PrimitiveToStringConverter());
            StaticOutputSchema.Counter ++; 
        }

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The documentation for this class was generated from the following file:

• OutputHandle.cs