DroneControlCLI

Program.cs

using System;
using System.Collections;
using System.Collections.Generic;
using NetMQ;
using NetMQ.Sockets;

namespace DroneControlCLI
{
    struct Vector3
    {
        public float x, y, z;
    }

    struct Quaternion
    {
        public float w, x, y, z;
    }
    struct WayPoint
    {
        public bool Landing;
        public Vector3 Position;
        public Quaternion Rotation;
        public IEnumerator GetEnumerator()
        {
            throw new NotImplementedException();
        }
    }
    internal class Program
    {
        private static PublisherSocket _logPublisherSocket;
        public const string LogSocket = "tcp://*:35002";

        public static readonly List<WayPoint> WayPoints = new List<WayPoint>()
        {
            new WayPoint()
            {
                Landing = true,
                Position = new Vector3()
                {
                    x = 0, y = 0, z = 0
                },
                Rotation = new Quaternion()
                {
                    w = 1, x= 0, y = 0, z = 0
                }
            },
            new WayPoint()
            {
                Landing = false,
                Position = new Vector3()
                {
                    x = 0, y = 0, z = 1
                },
                Rotation = new Quaternion()
                {
                    w = 1, x= 0, y = 0, z = 0
                }
            },
            new WayPoint()
            {
                Landing = false,
                Position = new Vector3()
                {
                    x = 1, y = 0, z = 1
                },
                Rotation = new Quaternion()
                {
                    w = 1, x = 0, y = 0, z = 0
                }
            },
            new WayPoint()
            {
                Landing = false,
                Position = new Vector3()
                {
                    x = 1, y = 0, z = 1
                },
                Rotation = new Quaternion()
                {
                    w = 0, x= 0, y = 0, z = 1
                }
            },
            new WayPoint()
            {
                Landing = false,
                Position = new Vector3()
                {
                    x = 1, y = 0, z = 0
                },
                Rotation = new Quaternion()
                {
                    w = 1, x= 0, y = 0, z = 0
                }
            },
        };
        public static int WayPointIndex = 0;

        public static void Main(string[] args)
        {
            using (_logPublisherSocket)
            {
                _logPublisherSocket = new PublisherSocket();
                _logPublisherSocket.Bind(LogSocket);

                while (true)
                {
                    try
                    {
                        if (Console.KeyAvailable)
                        {
                            if (Console.ReadKey().Key == ConsoleKey.Enter)
                            {
                                WayPointIndex = (WayPointIndex + 1) % WayPoints.Count;
                            }
                            else
                            {
                                break;
                            }
                        }
                    }
                    catch (InvalidOperationException)
                    {
                    }

                    var currentWayPoint = WayPoints[WayPointIndex];

                    var response =

                        $"{(currentWayPoint.Landing? 0 : 1)} {currentWayPoint.Position.x} {currentWayPoint.Position.y} {currentWayPoint.Position.z} " +

                        $"{currentWayPoint.Rotation.x} {currentWayPoint.Rotation.y} {currentWayPoint.Rotation.z} {currentWayPoint.Rotation.w}";

                    Console.WriteLine(response);

                    _logPublisherSocket.SendFrame(response);
                }
            }
        }
    }
}