public static void InitMessageFieldSizeInitializer(out InitializtionMessage MessageFieldsSize)
{
MessageFieldsSize.OpCode = 1;
MessageFieldsSize.MessageCounter = 2;
MessageFieldsSize.IDPart1 = 4;
MessageFieldsSize.IDPart2 = 4;
MessageFieldsSize.IDPart3 = 4;
MessageFieldsSize.TimeSource = 1;
MessageFieldsSize.GPSYear = 2;
MessageFieldsSize.GPSMonth = 1;
MessageFieldsSize.GPSDay = 1;
MessageFieldsSize.GPSHour = 1;
MessageFieldsSize.GPSMinute = 1;
MessageFieldsSize.GPSSecond = 1;
MessageFieldsSize.GPSMiliSec = 2;
MessageFieldsSize.SWVersionID = 2;
MessageFieldsSize.HWVersionID = 2;
MessageFieldsSize.ArmHeight = 2;
MessageFieldsSize.DisarmHeight = 2;
MessageFieldsSize.VibrationsValue = 1;
MessageFieldsSize.NoVibrationTime = 2;
MessageFieldsSize.VibrationFrequency = 2;
MessageFieldsSize.RollCalibration = 1;
MessageFieldsSize.PitchCalibration = 1;
MessageFieldsSize.RollInitMargin = 1;
MessageFieldsSize.PitchInitMargin = 1;
MessageFieldsSize.IMUConfiguration = 1;
MessageFieldsSize.RCConfiguration = 1;
MessageFieldsSize.BatteryCells = 1;
MessageFieldsSize.MotorDelay = 2;
MessageFieldsSize.RollAttitudeLimit = 1;
MessageFieldsSize.PitchAttitudeLimit = 1;
MessageFieldsSize.FreefallDuration = 2;
MessageFieldsSize.FreefallLimit = 2;
MessageFieldsSize.AngularSpeedRateLimit = 2;
MessageFieldsSize.AngularSpeedLimit = 1;
MessageFieldsSize.YawRateLimit = 2;
MessageFieldsSize.ActiveHeightSource = 1;
MessageFieldsSize.MaximumHeight = 2;
MessageFieldsSize.LandingGear = 1;
MessageFieldsSize.ArmMode = 1;
MessageFieldsSize.PyroSensorCalib = 1;
MessageFieldsSize.PyroSensorMeasurement = 1;
MessageFieldsSize.PyroTestRate = 2;
MessageFieldsSize.EmergencyBattery = 1;
MessageFieldsSize.Destination = 2;
MessageFieldsSize.SDCard = 1;
MessageFieldsSize.TriggeringMode = 1;
MessageFieldsSize.FiveVoltIndication = 1;
MessageFieldsSize.EmergencyBatteryVoltageIndication = 1;
MessageFieldsSize.TwelveVoltageIndication = 1;
MessageFieldsSize.CapacitorVoltageIndication = 1;
//return MessageFieldsSize;
}
public static void InitMessageFieldIndexInitializer(out InitializtionMessage MessageFieldsIndex)
{
MessageFieldsIndex.OpCode = 0;
MessageFieldsIndex.MessageCounter = 1;
MessageFieldsIndex.IDPart1 = 3;
MessageFieldsIndex.IDPart2 = 7;
MessageFieldsIndex.IDPart3 = 11;
MessageFieldsIndex.TimeSource = 15;
MessageFieldsIndex.GPSYear = 16;
MessageFieldsIndex.GPSMonth = 18;
MessageFieldsIndex.GPSDay = 19;
MessageFieldsIndex.GPSHour = 20;
MessageFieldsIndex.GPSMinute = 21;
MessageFieldsIndex.GPSSecond = 22;
MessageFieldsIndex.GPSMiliSec = 23;
MessageFieldsIndex.SWVersionID = 25;
MessageFieldsIndex.HWVersionID = 27;
MessageFieldsIndex.ArmHeight = 29;
MessageFieldsIndex.DisarmHeight = 31;
MessageFieldsIndex.VibrationsValue = 32;
MessageFieldsIndex.NoVibrationTime = 34;
MessageFieldsIndex.VibrationFrequency = 36;
MessageFieldsIndex.RollCalibration = 37;
MessageFieldsIndex.PitchCalibration = 38;
MessageFieldsIndex.RollInitMargin = 39;
MessageFieldsIndex.PitchInitMargin = 40;
MessageFieldsIndex.IMUConfiguration = 41;
MessageFieldsIndex.RCConfiguration = 42;
MessageFieldsIndex.BatteryCells = 43;
MessageFieldsIndex.MotorDelay = 45;
MessageFieldsIndex.RollAttitudeLimit = 46;
MessageFieldsIndex.PitchAttitudeLimit = 47;
MessageFieldsIndex.FreefallDuration = 49;
MessageFieldsIndex.FreefallLimit = 51;
MessageFieldsIndex.AngularSpeedRateLimit = 53;
MessageFieldsIndex.AngularSpeedLimit = 54;
MessageFieldsIndex.YawRateLimit = 56;
MessageFieldsIndex.ActiveHeightSource = 57;
MessageFieldsIndex.MaximumHeight = 59;
MessageFieldsIndex.LandingGear = 60;
MessageFieldsIndex.ArmMode = 61;
MessageFieldsIndex.PyroSensorCalib = 62;
MessageFieldsIndex.PyroSensorMeasurement = 63;
MessageFieldsIndex.PyroTestRate = 65;
MessageFieldsIndex.EmergencyBattery = 66;
MessageFieldsIndex.Destination = 68;
MessageFieldsIndex.SDCard = 69;
MessageFieldsIndex.TriggeringMode = 70;
MessageFieldsIndex.FiveVoltIndication = 71;
MessageFieldsIndex.EmergencyBatteryVoltageIndication = 72;
MessageFieldsIndex.TwelveVoltageIndication = 73;
MessageFieldsIndex.CapacitorVoltageIndication = 74;
}
static void Main(string[] args)
{
/*Some Hack to Make MQTT messaging Work, Otherwise next messages are not sent*/
//Publ publisher = new Publ();
//publisher.Publish();
const string IotEndpoint = "a28g8imipibhcw.iot.us-east-1.amazonaws.com";
const int BrokerPort = 8883;
const string DeviceStatusTopic = "DeviceStatus";
const string PhysicalDataTopic = "PhysicalData";
const string KinematicDataTopic = "KinematicData";
const string InitializationDataTopic = "InitData";
X509Certificate2 clientCert = new X509Certificate2("YOURPFXFILE.pfx", "1");
X509Certificate caCert = X509Certificate.CreateFromSignedFile("rootCA.pem");
// create the client
MqttClient client = new MqttClient(IotEndpoint, BrokerPort, true, caCert, clientCert, MqttSslProtocols.TLSv1_2);
//message to publish - could be anything
//client naming has to be unique if there was more than one publisher
client.Connect("clientid1");
//publish to the topic
Byte[] A = { 2 };
client.Publish("hello", A, 0, false);
//string Message = "";
Console.WriteLine("Hello World!");
//For Future use when Export form DB will have millisecond
/* StreamReader reader = new StreamReader(@"/Users/nadavguy/Downloads/physical-data-messages-2018-04-08.csv");
* while (!reader.EndOfStream)
* {
* var line = reader.ReadLine();
* var values = line.Split(',');
* Convert.ToDateTime(values[6].Substring(0,19))
* }*/
//Play old data capured from IoT (not DB export)
//DataPlayer.playerFromIoTCapture(@"/Users/nadavguy/Downloads/subscription2.csv", client);
//Initialize messages
//Status message
StatusMessage StatusMessageFieldsSize = new StatusMessage();
MessageInitializers.StatusMessageFieldSizeInitializer(out StatusMessageFieldsSize);
StatusMessage StatusMessageFieldsIndex = new StatusMessage();
MessageInitializers.StatusMessageFieldIndexInitializer(out StatusMessageFieldsIndex);
//Physical message
PhysicalMessage PhysicalMessageFieldsSize = new PhysicalMessage();
MessageInitializers.PhysicalMessageFieldSizeInitializer(out PhysicalMessageFieldsSize);
PhysicalMessage PhysicalMessageFieldsIndex = new PhysicalMessage();
MessageInitializers.PhysicalMessageFieldIndexInitializer(out PhysicalMessageFieldsIndex);
//Kinematic message
KinematicMessage KinematicMessageFieldsSize = new KinematicMessage();
MessageInitializers.KinematicMessageFieldSizeInitializer(out KinematicMessageFieldsSize);
KinematicMessage KinematicMessageFieldsIndex = new KinematicMessage();
MessageInitializers.KinematicMessageFieldIndexInitializer(out KinematicMessageFieldsIndex);
//Initialization message
InitializtionMessage InitMessageFieldsSize = new InitializtionMessage();
MessageInitializers.InitMessageFieldSizeInitializer(out InitMessageFieldsSize);
InitializtionMessage InitMessageFieldsIndex = new InitializtionMessage();
MessageInitializers.InitMessageFieldIndexInitializer(out InitMessageFieldsIndex);
//Start Application part
WriteDefaultValues(fileName);
//Parse old string message form IoT Core export to actual vlaues
//will be used later for testing I guess
/*
* SByte OpCode = ManualSerializer.ReturnSByteValue(0, 1);
* Int16 MessageCounter = ManualSerializer.ReturnInt16Value(1, 2, false);
* UInt32 IDPart1 = ManualSerializer.ReturnUint32Value(3, 4, false);
* UInt32 IDPart2 = ManualSerializer.ReturnUint32Value(7, 4, false);
* UInt32 IDPart3 = ManualSerializer.ReturnUint32Value(11, 4, false);
* SByte TimeSource = ManualSerializer.ReturnSByteValue(15, 1);
* Int16 GPSYear = ManualSerializer.ReturnInt16Value(16, 2,false);
* SByte GPSMonth = ManualSerializer.ReturnSByteValue(18, 1);
* SByte GPSDay = ManualSerializer.ReturnSByteValue(19, 1);
* SByte GPSHour = ManualSerializer.ReturnSByteValue(20, 1);
* SByte GPSMinute = ManualSerializer.ReturnSByteValue(21, 1);
* SByte GPSSecond = ManualSerializer.ReturnSByteValue(22, 1);
* Int16 GPSMiliSecond = ManualSerializer.ReturnInt16Value(23, 2, false);
* SByte Mode = ManualSerializer.ReturnSByteValue(25, 1);
* SByte RTA = ManualSerializer.ReturnSByteValue(26, 1);
* Int16 BCS = ManualSerializer.ReturnInt16Value(27, 2, false);
* SByte IMUStatus = ManualSerializer.ReturnSByteValue(29, 1);
* SByte FDS = ManualSerializer.ReturnSByteValue(30, 1);
* SByte RCChannels = ManualSerializer.ReturnSByteValue(31, 1);
*/
/*
* StatusMessage ParsedStatusMessage = new StatusMessage();
* MessageParser.StatusMessageParser(out ParsedStatusMessage, StatusMessageFieldsIndex, StatusMessageFieldsSize);
*/
/* Part of the try to create a Byte array manuall and sending it using external MQTT applicaiton
* it did not work. apperantly MQTT does so weird stuff to the payload.
* added MQTT library.
* Code is obsolete
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)2) + ",";
* Message += ManualSerializer.EncodeValuesAsBytes(2, (uint)0) + ",";
* Message += ManualSerializer.EncodeValuesAsBytes(4, 300) + ",";
* Message += ManualSerializer.EncodeValuesAsBytes(4, 400) + ",";
* Message += ManualSerializer.EncodeValuesAsBytes(4, 500) + ",";
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)2) + ",";//Accurate
* Message += ManualSerializer.EncodeValuesAsBytes(2, (uint)0) + ",";//Year
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)0) + ",";//Month
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)0) + ",";//Day
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)0) + ",";//Hour
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)0) + ",";//Min
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)0) + ",";//Sec
* Message += ManualSerializer.EncodeValuesAsBytes(2, (uint)0) + ",";//Mili
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)6) + ",";//Mode
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)1) + ",";//Ready To Arm
* Message += ManualSerializer.EncodeValuesAsBytes(2, (uint)10) + ",";//Battery LSB=0.1
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)1) + ",";//IMU
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)3) + ",";//Flash
* Message += ManualSerializer.EncodeValuesAsBytes(1, (uint)1);//RC*/
//Encode Byte Array using list.
List <Byte> termsList = new List <Byte>();
//termsList = EncodeValuesAsBytesInList(4, 400, termsList);
//Generate Status message
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.OpCode, (uint)2,
termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.MessageCounter,
(uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart1,
600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart2,
700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart3,
800, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.TimeSource,
(uint)2, termsList); //Accurate
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSYear,
(uint)0, termsList); //Year
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMonth,
(uint)0, termsList); //Month
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSDay,
(uint)0, termsList); //Day
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSHour,
(uint)0, termsList); //Hour
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMinute,
(uint)0, termsList); //Min
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSSecond,
(uint)0, termsList); //Sec
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMiliSec,
(uint)0, termsList); //Mili
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.Mode,
(uint)2, termsList); //Mode
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.RTA,
(uint)2, termsList); //Ready To Arm
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.BCS,
(uint)160, termsList); //Battery LSB=0.1
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.IMUStatus,
(uint)2, termsList); //IMU
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.FDS,
(uint)3, termsList); //Flash
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.RCChannels,
(uint)0, termsList); //RC
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,255 ,0 ,1 ,1 ,3
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,Acc,YearL,YearH,Mnth,Day,Hour,Min,Sec,MiliL,MiliH,Mode,RTA,BCSL,BCSH,IMU,FSD,RC
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,1 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,6 ,1 ,10 ,0 ,1 ,3 ,1
//Convert list to Array
Byte[] terms = termsList.ToArray();
//client.Connect("clientid1");
//Publish message
client.Publish(DeviceStatusTopic, terms, 0, false);
termsList.Clear();
//Generate Physical data message
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.OpCode, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.MessageCounter, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart1, 600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart2, 700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart3, 800, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.TimeSource, 2, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSYear, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMonth, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSDay, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSHour, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMinute, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSSecond, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMiliSec, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.NumberOfSatellites, 17, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Latitude, 32100000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Longitude, 35200000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSAltitude, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSVelocity, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSAngle, 5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSGroundSpeed, 15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Temperature, 32, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Humidity, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.UVAUVB, 0, termsList);
Byte[] terms2 = termsList.ToArray();
//client.Connect("clientid1");
client.Publish(PhysicalDataTopic, terms2, 0, false);
//Generate Kinematic message
termsList.Clear();
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OpCode, 4, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MessageCounter, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart1, 600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart2, 700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart3, 800, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.TimeSource, 2, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSYear, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMonth, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSDay, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSHour, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMinute, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSSecond, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMiliSec, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.BaroHeight, 17, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Pressure, 3200, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccX, 3500, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccY, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccZ, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagX, 5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagY, 15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagZ, 32, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroX, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Heading, 10, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Roll, 20, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Pitch, 40, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationW, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravZ, 0, termsList);
Byte[] terms3 = termsList.ToArray();
//client.Connect("clientid1");
client.Publish(KinematicDataTopic, terms3, 0, false);
//Generate Initialization message
termsList.Clear();
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.OpCode, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.MessageCounter, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)InitMessageFieldsSize.IDPart1, (uint)600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)InitMessageFieldsSize.IDPart2, (uint)700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)InitMessageFieldsSize.IDPart3, (uint)800, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.TimeSource, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSYear, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSMonth, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSDay, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSHour, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSMinute, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSSecond, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.GPSMiliSec, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.SWVersionID, (uint)1000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.HWVersionID, (uint)1000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.ArmHeight, (uint)5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.DisarmHeight, (uint)3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.VibrationsValue, (uint)2, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.NoVibrationTime, (uint)250, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.VibrationFrequency, (uint)5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.RollCalibration, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PitchCalibration, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.RollInitMargin, (uint)5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PitchInitMargin, (uint)5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.IMUConfiguration, (uint)15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.RCConfiguration, (uint)3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.BatteryCells, (uint)4, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.MotorDelay, (uint)50, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.RollAttitudeLimit, (uint)65, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PitchAttitudeLimit, (uint)65, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.FreefallDuration, (uint)250, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.FreefallLimit, (uint)3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.AngularSpeedRateLimit, (uint)150, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.AngularSpeedLimit, (uint)65, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.YawRateLimit, (uint)150, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.ActiveHeightSource, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.MaximumHeight, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.LandingGear, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.ArmMode, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PyroSensorCalib, (uint)35, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PyroSensorMeasurement, (uint)19, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.PyroTestRate, (uint)15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.EmergencyBattery, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.Destination, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.SDCard, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.TriggeringMode, (uint)1, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.FiveVoltIndication, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.EmergencyBatteryVoltageIndication, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.TwelveVoltageIndication, (uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(InitMessageFieldsSize.CapacitorVoltageIndication, (uint)0, termsList);
//Convert list to Array
Byte[] terms7 = termsList.ToArray();
//client.Connect("clientid1");
//Publish message
client.Publish(InitializationDataTopic, terms7, 0, false);
termsList.Clear();
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.OpCode, (uint)2,
termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.MessageCounter,
(uint)0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart1,
600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart2,
700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)StatusMessageFieldsSize.IDPart3,
900, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.TimeSource,
(uint)2, termsList); //Accurate
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSYear,
(uint)0, termsList); //Year
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMonth,
(uint)0, termsList); //Month
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSDay,
(uint)0, termsList); //Day
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSHour,
(uint)0, termsList); //Hour
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMinute,
(uint)0, termsList); //Min
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSSecond,
(uint)0, termsList); //Sec
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.GPSMiliSec,
(uint)0, termsList); //Mili
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.Mode,
(uint)6, termsList); //Mode
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.RTA,
(uint)1, termsList); //Ready To Arm
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.BCS,
(uint)160, termsList); //Battery LSB=0.1
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.IMUStatus,
(uint)1, termsList); //IMU
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.FDS,
(uint)3, termsList); //Flash
termsList = ManualSerializer.EncodeValuesAsBytesInList(StatusMessageFieldsSize.RCChannels,
(uint)0, termsList); //RC
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,255 ,0 ,1 ,1 ,3
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,Acc,YearL,YearH,Mnth,Day,Hour,Min,Sec,MiliL,MiliH,Mode,RTA,BCSL,BCSH,IMU,FSD,RC
//2,0,0,3,0,0,0,4,0,0,0,5,0,0,0,1 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,6 ,1 ,10 ,0 ,1 ,3 ,1
//Convert list to Array
Byte[] terms6 = termsList.ToArray();
//client.Connect("clientid1");
//Publish message
client.Publish(DeviceStatusTopic, terms6, 0, false);
termsList.Clear();
//Generate Physical data message
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.OpCode, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.MessageCounter, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart1, 600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart2, 700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)PhysicalMessageFieldsSize.IDPart3, 900, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.TimeSource, 2, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSYear, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMonth, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSDay, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSHour, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMinute, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSSecond, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSMiliSec, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.NumberOfSatellites, 17, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Latitude, 32000000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Longitude, 35000000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSAltitude, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSVelocity, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSAngle, 5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.GPSGroundSpeed, 15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Temperature, 32, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.Humidity, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(PhysicalMessageFieldsSize.UVAUVB, 0, termsList);
Byte[] terms5 = termsList.ToArray();
//client.Connect("clientid1");
client.Publish(PhysicalDataTopic, terms5, 0, false);
//Generate Kinematic message
termsList.Clear();
//Generate Physical data message
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OpCode, 4, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MessageCounter, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart1, 600, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart2, 700, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList((int)KinematicMessageFieldsSize.IDPart3, 900, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.TimeSource, 2, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSYear, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMonth, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSDay, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSHour, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMinute, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSSecond, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GPSMiliSec, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.BaroHeight, 17, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Pressure, 3200, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccX, 3500, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccY, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.AccZ, 3, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagX, 5, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagY, 15, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.MagZ, 32, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroX, 3000, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GyroZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Heading, 10, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Roll, 20, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.Pitch, 40, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.OrientationW, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.LinearAccZ, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravX, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravY, 0, termsList);
termsList = ManualSerializer.EncodeValuesAsBytesInList(KinematicMessageFieldsSize.GravZ, 0, termsList);
Byte[] terms4 = termsList.ToArray();
//client.Connect("clientid1");
client.Publish(KinematicDataTopic, terms4, 0, false);
//client.Disconnect();
/*
* StatusMessage NewMessage = new StatusMessage();
* NewMessage.OpCode = OpCode;
* NewMessage.MessageCounter = MessageCounter;
* NewMessage.IDPart1 = IDPart1;
* NewMessage.IDPart2 = IDPart2;
* NewMessage.IDPart3 = IDPart3;
* NewMessage.TimeSource = TimeSource;
* NewMessage.GPSYear = 2018;
* NewMessage.GPSMonth = 4;
* NewMessage.GPSDay = 4;
* NewMessage.GPSHour = 14;
* NewMessage.GPSMinute = 5;
* NewMessage.GPSSecond = 0;
* NewMessage.GPSMiliSec = 0;
* NewMessage.Mode = Mode;
* NewMessage.RTA = RTA;
* NewMessage.BCS = BCS;
* NewMessage.IMUStatus = IMUStatus;
* NewMessage.FDS = FDS;
* NewMessage.RCChannels = RCChannels;
*
* string Message2 = Encoders.MessageEncoder.StatusMessageEncoder(NewMessage, StatusMessageFieldsSize);
*/
// client.Disconnect();
Console.WriteLine("Its the End of the world as we know it!");
}