public DroneList(Config config)
{
if (config == null)
throw new ArgumentNullException(nameof(config));
this.config = config;
client = new UdpClient(config.ProtocolHelloPort);
client.EnableBroadcast = true;
client.BeginReceive(ReceivePacket, null);
}
public Drone(IPAddress address, Config config)
{
if (address == null)
throw new ArgumentNullException(nameof(address));
this.Config = config;
this.Address = address;
controlSocket = new UdpClient();
controlSocket.Connect(address, Config.ProtocolControlPort);
dataSocket = new UdpClient(Config.ProtocolDataPort);
packetBuffer = new PacketBuffer(packetStream);
controlSocket.BeginReceive(ReceivePacket, null);
dataSocket.BeginReceive(ReceiveDataPacket, null);
// Ping senden und ein ResetRevision Paket senden damit die Revision wieder zurück gesetzt wird
SendPing();
OnConnected += (sender, args) =>
{
Log.Info("Connected to {0}", Address);
currentRevision = 1;
lastDataDroneRevision = 0;
lastDataLogRevision = 0;
lastDataDebugRevision = 0;
lastPing = Environment.TickCount;
lastDataTime = Environment.TickCount;
// alle Pending Packets leeren, damit die Drone nach Reconnect nicht überfordert wird
lock (packetsToAcknowledge)
{
packetsToAcknowledge.Clear();
packetSendTime.Clear();
packetAcknowlegdeEvents.Clear();
}
SendGetInfo();
SendPacket(new PacketResetRevision(), true);
SendPacket(new PacketCalibrateGyro(), true);
SendPacket(new PacketSubscribeDataFeed(), true);
};
}
/// <summary>
/// Lädt die Einstellungen aus einer Textdatei.
/// </summary>
/// <param name="file"></param>
/// <returns></returns>
public static Config LoadConfigFromFile(string file)
{
string[] fileLines = File.ReadAllLines(file);
Config config = new Config();
Type configType = config.GetType();
for (int i = 0; i < fileLines.Length; i++)
{
string line = fileLines[i].Trim();
if (line.Length == 0 || line.StartsWith("#")) // # wird für Kommentare benutzt
continue;
string[] keyValue = line.Split('=');
if (keyValue.Length == 0)
throw new InvalidDataException(string.Format("Unexpected line {0} in config file: '=' was not found.", i + 1));
// Feld in der Config-Klasse finden
PropertyInfo field = configType.GetProperty(keyValue[0].Trim(), BindingFlags.Public | BindingFlags.Instance | BindingFlags.IgnoreCase);
if (field == null) // wenn Feld nicht gefunden dann ignorieren
continue;
if (field.PropertyType == typeof(string))
field.SetValue(config, keyValue[1].Trim());
else if (field.PropertyType == typeof(int))
{
int value;
if (!TryParseInt(keyValue[1].Trim(), out value))
throw new InvalidDataException(string.Format("Unexpected line {0} in config file: can not parse number.", i + 1));
Range range = field.GetCustomAttribute<Range>();
if (range != null)
{
if (value < range.Min)
throw new InvalidDataException(string.Format("Unexpected line {0} in config file: value is smaller then {1}.", i + 1, range.Min));
else if (value > range.Max)
throw new InvalidDataException(string.Format("Unexpected line {0} in config file: value is bigger then {1}.", i + 1, range.Max));
}
field.SetValue(config, value);
}
else if (field.PropertyType == typeof(bool))
{
string value = keyValue[1].Trim().ToLower();
if (value == "true" || value == "yes")
field.SetValue(config, true);
else if (value == "false" || value == "no")
field.SetValue(config, false);
else
throw new InvalidDataException(string.Format("Unexpected line {0} in config file: can not parse boolean value.", i + 1));
}
else if (field.PropertyType.IsEnum)
{
string value = keyValue[1].Trim().ToLower();
field.SetValue(config, Enum.Parse(field.PropertyType, value, true));
}
else
throw new NotImplementedException();
}
return config;
}
