public MavlinkClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity, MavlinkClientConfig config, IPacketSequenceCalculator sequence = null, bool disposeConnection = true)
{
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_seq = sequence ?? new PacketSequenceCalculator();
Identity = identity;
_mavlinkConnection = connection ?? throw new ArgumentNullException(nameof(connection));
_rtt = new MavlinkTelemetry(_mavlinkConnection, identity, _seq);
Disposable.Add(_rtt);
_params = new MavlinkParameterClient(_mavlinkConnection, identity, _seq, new VehicleParameterProtocolConfig {
ReadWriteTimeoutMs = config.ReadParamTimeoutMs, TimeoutToReadAllParamsMs = config.TimeoutToReadAllParamsMs
});
Disposable.Add(_params);
_mavlinkCommands = new MavlinkCommandClient(_mavlinkConnection, identity, _seq, new CommandProtocolConfig {
CommandTimeoutMs = config.CommandTimeoutMs
});
Disposable.Add(_mavlinkCommands);
_mission = new MissionClient(_mavlinkConnection, identity, _seq, new MissionClientConfig {
CommandTimeoutMs = config.CommandTimeoutMs
});
Disposable.Add(_mission);
_mavlinkOffboard = new MavlinkOffboardMode(_mavlinkConnection, identity, _seq);
Disposable.Add(_mavlinkOffboard);
_mode = new MavlinkCommon(_mavlinkConnection, identity, _seq);
Disposable.Add(_mode);
_debugs = new DebugClient(_mavlinkConnection, identity, _seq);
Disposable.Add(_debugs);
_heartbeat = new HeartbeatClient(_mavlinkConnection, identity, _seq);
Disposable.Add(_heartbeat);
_logging = new LoggingClient(_mavlinkConnection, identity, _seq);
Disposable.Add(_logging);
_v2Ext = new V2ExtensionClient(_mavlinkConnection, _seq, identity);
Disposable.Add(_v2Ext);
_rtk = new DgpsClient(_mavlinkConnection, identity, _seq);
Disposable.Add(_rtt);
if (disposeConnection)
{
Disposable.Add(_mavlinkConnection);
}
}
public MavlinkClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity, MavlinkClientConfig config, IPacketSequenceCalculator _sequence = null)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_seq = _sequence ?? new PacketSequenceCalculator();
Identity = identity;
_mavlinkConnection = connection;
_rtt = new MavlinkTelemetry(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _rtt.Dispose());
_params = new MavlinkParameterClient(_mavlinkConnection, identity, new VehicleParameterProtocolConfig {
ReadWriteTimeoutMs = config.ReadParamTimeoutMs, TimeoutToReadAllParamsMs = config.TimeoutToReadAllParamsMs
});
_disposeCancel.Token.Register(() => _params.Dispose());
_mavlinkCommands = new MavlinkCommandClient(_mavlinkConnection, identity, _seq, new CommandProtocolConfig {
CommandTimeoutMs = config.CommandTimeoutMs
});
_disposeCancel.Token.Register(() => _mavlinkCommands.Dispose());
_mission = new MissionClient(_mavlinkConnection, _seq, identity, new MissionClientConfig {
CommandTimeoutMs = config.CommandTimeoutMs
});
_disposeCancel.Token.Register(() => _mission.Dispose());
_mavlinkOffboard = new MavlinkOffboardMode(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _mavlinkOffboard.Dispose());
_mode = new MavlinkCommon(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _mode.Dispose());
_debugs = new DebugClient(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _debugs.Dispose());
_heartbeat = new HeartbeatClient(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _heartbeat.Dispose());
_logging = new LoggingClient(_mavlinkConnection, identity);
_disposeCancel.Token.Register(() => _logging.Dispose());
_v2Ext = new V2ExtensionClient(_mavlinkConnection, _seq, identity);
_disposeCancel.Token.Register(() => _v2Ext.Dispose());
_rtk = new DgpsClient(_mavlinkConnection, _seq, identity);
_disposeCancel.Token.Register(() => _rtt.Dispose());
}
