private void SetDataRate(RadioDataRate dataRate)
{
try
{
Log.DebugFormat("Setting Crazyradio USB dongle DataRate to {0}.", dataRate);
ControlTransferOut(CrazyradioRequest.SetDataRate, (short)dataRate, 0, 0, new byte[0]);
Log.DebugFormat("Successfully set Crazyradio USB dongle DataRate to {0}.", dataRate);
}
catch (Exception ex)
{
var message = string.Format("Failed setting Crazyradio USB dongle data rate to {0}.", dataRate);
Log.Error(message);
throw new CrazyradioDriverException(message, ex);
}
}
private ScanChannelsResult ScanChannelsUsingDataRate(RadioDataRate dataRate, RadioChannel channelStart, RadioChannel channelStop)
{
var results = new List <RadioChannel>();
DataRate = dataRate;
if (FirmwareVersion.CompareTo(MinimumCrazyradioFastFirmwareChannelScanFirmware) >= 0)
{
StartRadioScanningChannels(channelStart, channelStop);
results.AddRange(GetRadioChannelScanningResults());
}
else // slow pc level channel scan
{
results.AddRange(ManuallyScanForChannels(channelStart, channelStop));
}
return(new ScanChannelsResult(dataRate, results));
}
public ScanChannelsResult ScanChannels(RadioDataRate dataRate, RadioChannel channelStart = RadioChannel.Channel0, RadioChannel channelStop = RadioChannel.Channel125)
{
if (channelStart > channelStop)
{
const string message = "Stop channel must be a higher channel number than start channel.";
Log.Error(message);
throw new ArgumentException(message);
}
var channelBackup = Channel;
var dataRateBackup = DataRate;
Log.DebugFormat("About to scan channels for data rate in channel range. StartChannel: {0}, StopChannel: {1}, DataRate: {2}.", channelStart, channelStop);
var result = ScanChannelsUsingDataRate(dataRate, channelStart, channelStop);
Log.DebugFormat("Results of scanning channels for data rate in range. Found: {0}. StartChannel: {1}, StopChannel: {2}, DataRate: {3}.", result.Channels.Count(), channelStart, channelStop, dataRate);
Log.Debug("Reverting data rate and channel to original values.");
Channel = channelBackup;
DataRate = dataRateBackup;
return(result);
}
/// <summary>
/// Initializes a scan channel result object containing the DataRate and RadioChannels available for communication with Crazyflie quadcopters.
/// </summary>
/// <param name="dataRate">The DataRate of which to use for transmission.</param>
/// <param name="channels">Collection of RadioChannels available to use for transmission with Crazyflie quadcopters..</param>
public ScanChannelsResult(RadioDataRate dataRate, IEnumerable<RadioChannel> channels)
{
DataRate = dataRate;
Channels = channels;
}
/// <summary>
/// Initializes a scan channel result object containing the DataRate and RadioChannels available for communication with Crazyflie quadcopters.
/// </summary>
/// <param name="dataRate">The DataRate of which to use for transmission.</param>
/// <param name="channels">Collection of RadioChannels available to use for transmission with Crazyflie quadcopters..</param>
public ScanChannelsResult(RadioDataRate dataRate, IEnumerable <RadioChannel> channels)
{
DataRate = dataRate;
Channels = channels;
}
private void SetDataRate(RadioDataRate dataRate)
{
try
{
Log.DebugFormat("Setting Crazyradio USB dongle DataRate to {0}.", dataRate);
ControlTransferOut(CrazyradioRequest.SetDataRate, (short) dataRate, 0, 0, new byte[0]);
Log.DebugFormat("Successfully set Crazyradio USB dongle DataRate to {0}.", dataRate);
}
catch (Exception ex)
{
var message = string.Format("Failed setting Crazyradio USB dongle data rate to {0}.", dataRate);
Log.Error(message);
throw new CrazyradioDriverException(message, ex);
}
}
private ScanChannelsResult ScanChannelsUsingDataRate(RadioDataRate dataRate, RadioChannel channelStart, RadioChannel channelStop)
{
var results = new List<RadioChannel>();
DataRate = dataRate;
if (FirmwareVersion.CompareTo(MinimumCrazyradioFastFirmwareChannelScanFirmware) >= 0)
{
StartRadioScanningChannels(channelStart, channelStop);
results.AddRange(GetRadioChannelScanningResults());
}
else // slow pc level channel scan
{
results.AddRange(ManuallyScanForChannels(channelStart, channelStop));
}
return new ScanChannelsResult(dataRate, results);
}
public ScanChannelsResult ScanChannels(RadioDataRate dataRate, RadioChannel channelStart = RadioChannel.Channel1, RadioChannel channelStop = RadioChannel.Channel125)
{
if (channelStart < channelStop)
{
const string message = "Stop channel must be a higher channel number than start channel.";
Log.Error(message);
throw new ArgumentException(message);
}
var channelBackup = Channel;
var dataRateBackup = DataRate;
Log.DebugFormat("About to scan channels for data rate in channel range. StartChannel: {0}, StopChannel: {1}, DataRate: {2}.", channelStart, channelStop);
var result = ScanChannelsUsingDataRate(dataRate, channelStart, channelStop);
Log.DebugFormat("Results of scanning channels for data rate in range. Found: {0}. StartChannel: {1}, StopChannel: {2}, DataRate: {3}.", result.Channels.Count(), channelStart, channelStop, dataRate);
Log.Debug("Reverting data rate and channel to original values.");
Channel = channelBackup;
DataRate = dataRateBackup;
return result;
}
