protected override void Loop(CancellationToken token)
{
using (var tcpClient = new TcpClient(_networkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
{
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (token.IsCancellationRequested == false && swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
int offset = 0;
if (tcpClient.Available > 0)
{
offset += stream.Read(buffer, offset, buffer.Length);
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
var data = new byte[offset];
Array.Copy(buffer, data, offset);
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = data
};
_configurationAcquired(packet);
return;
}
}
Thread.Sleep(10);
}
}
}
public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return(updated);
}
/// <summary>
/// Gets the configuration.
/// </summary>
/// <returns>The configuration.</returns>
public Configuration GetConfiguration()
{
Configuration configuration = null;
ConfigurationPacket configurationPacket = SendCommandAndWaitForAnswer <ConfigurationPacket>(new GetConfigurationPacket());
return(configuration);
}
private void OnConfigurationPacketAcquired(ConfigurationPacket packet)
{
if (UpdateConfiguration(packet))
{
if (_DroneClient.RequestedState == RequestedState.GetConfiguration)
{
_DroneClient.RequestedState = RequestedState.None;
}
}
}
private void OnConfigurationPacketAcquired(ConfigurationPacket packet)
{
if (UpdateConfiguration(packet))
{
if (_DroneClient.RequestedState == RequestedState.GetConfiguration)
{
_DroneClient.RequestedState = RequestedState.None;
}
ConfigurationViewModelHelper.UpdateConfigurationSections(_DroneClient.ConfigurationSectionsViewModel, _DroneClient.Configuration);
}
}
public DroneConfiguration GetConfiguration(CancellationToken token)
{
using (var tcpClient = new TcpClient(_client.NetworkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
try
{
_client.NavigationDataAcquired += OnNavigationData;
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
token.ThrowIfCancellationRequested();
int offset = 0;
if (tcpClient.Available == 0)
{
Thread.Sleep(10);
}
else
{
offset += stream.Read(buffer, offset, buffer.Length);
swConfigTimeout.Restart();
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
var data = new byte[offset];
Array.Copy(buffer, data, offset);
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = data
};
var configuration = new DroneConfiguration();
if (ConfigurationPacketParser.TryUpdate(configuration, packet))
{
return(configuration);
}
throw new InvalidDataException();
}
}
}
throw new TimeoutException();
}
finally
{
_client.NavigationDataAcquired -= OnNavigationData;
}
}
private void OnConfigurationPacketAcquired(ConfigurationPacket packet)
{
if (ConfigurationPacketAcquired != null)
{
ConfigurationPacketAcquired(packet);
}
if (ConfigurationPacketParser.TryUpdate(_droneConfiguration, packet))
{
if (ConfigurationUpdated != null)
{
ConfigurationUpdated(_droneConfiguration);
}
}
}
internal bool UpdateConfiguration(ConfigurationPacket packet)
{
using (var ms = new MemoryStream(packet.Data))
{
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
UpdateConfigurationLine(line);
}
}
}
return(true);
}
private void OnDataReadCompletion(uint bytesRead, Streams.DataReader reader)
{
if (reader == null)
{
return;
}
uint unreadLength = reader.UnconsumedBufferLength;
if (unreadLength == 0)
{
return;
}
byte[] buffer = new byte[unreadLength];
reader.ReadBytes(buffer);
StringBuilder stringBuffer = new StringBuilder();
stringBuffer.Append(Encoding.UTF8.GetString(buffer, 0, buffer.Length));
Debug.WriteLine("Configuration Brute: " + stringBuffer.ToString());
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = buffer
};
if (UpdateConfiguration(packet))
{
if (_DroneClient.RequestedState == RequestedState.GetConfiguration)
{
_DroneClient.RequestedState = RequestedState.None;
}
ConfigurationViewModelHelper.UpdateConfigurationSections(_DroneClient.ConfigurationSectionsViewModel, _DroneClient.Configuration);
}
}
private void OnConfigurationPacketAcquired(ConfigurationPacket packet)
{
if (ConfigurationPacketAcquired != null)
ConfigurationPacketAcquired(packet);
if (ConfigurationPacketParser.TryUpdate(_configuration, packet))
{
if (ConfigurationUpdated != null)
ConfigurationUpdated(_configuration);
}
}
