public void SendMessage(NAE.Data.Telemetry message)
{
string jsonString = JsonConvert.SerializeObject(message);
byte[] payload = Encoding.UTF8.GetBytes(jsonString);
if (messageId == ushort.MaxValue || messageId == 0)
{
messageId = 1;
}
string resource = "http://pegasusnae.org/telemetry";
Uri requestUri = new Uri(String.Format("coaps://{0}/publish?topic={1}", CoapAuthority, resource));
CoapRequest request = new CoapRequest(messageId++, RequestMessageType.NonConfirmable, MethodType.POST, requestUri, MediaType.Json, payload);
byte[] coap = request.Encode();
try
{
Task task = client.SendAsync(coap);
Task.WhenAll(task);
Trace.TraceInformation("Message sent to cloud.");
Trace.TraceInformation(jsonString);
}
catch (Exception ex)
{
Trace.TraceWarning("Web Socket expection.");
Trace.TraceError(ex.Message);
}
}
private void Udp_OnReceive(object sender, string message)
{
NAE.Data.Telemetry telemetry = null;
try
{
//read the UPD message as a CSV String
telemetry = NAE.Data.Telemetry.Load(message);
telemetry.RunId = this.runId;
if (startPoint)
{
this.GpsLatitudeStart = telemetry.GpsLatitude;
this.GpsLongitudeStart = telemetry.GpsLongitude;
startPoint = false;
}
telemetry.GpsLatitudeStart = this.GpsLatitudeStart;
telemetry.GpsLongitudeStart = this.GpsLongitudeStart;
TelemetryUpdate(telemetry);
}
catch (Exception ex)
{
Trace.TraceWarning("Fault in UPD Telemetry receive.");
Trace.TraceError(ex.Message);
}
if (telemetry != null)
{
try
{
//forward to Web socket
this.wsManager.SendMessage(telemetry);
}
catch (Exception ex)
{
}
}
}
public static Telemetry Load(string csvString)
{
int checkValue = 0;
byte checkSum = 0;
if (!csvString.Contains("*")) //not a valid message; no check value
{
return(null);
}
string messagePrefix = csvString.Substring(0, 2); //identifies message type
if (messagePrefix != prefix)
{
return(null);
}
string messageString = csvString.Substring(2, csvString.Length - 6); //the message without identifier and check value
string checkValueString = csvString.Substring(csvString.Length - 2, 2); //the check value
string[] parts = messageString.Split(new char[] { ',' }); //the message parts as string array
//get the check value as an int
if (!int.TryParse(csvString.Substring(csvString.Length - 2, 2), NumberStyles.AllowHexSpecifier, null, out checkValue))
{
return(null);
}
//compute the check sum
checkSum = (byte)Encoding.ASCII.GetBytes(csvString.Substring(0, csvString.Length - 4)).Sum(x => (int)x);
//check value should equal check value; otherwise invalid message
if (checkSum != (byte)checkValue)
{
return(null);
}
int index = 0;
Telemetry instance = new Telemetry();
instance.Timestamp = Convert.ToDateTime(parts[index++]);
instance.GpsLatitude = Convert.ToDouble(parts[index++]);
instance.GpsLongitude = Convert.ToDouble(parts[index++]);
instance.GpsAltitude = Convert.ToDouble(parts[index++]);
instance.GpsSpeedKph = Convert.ToDouble(parts[index++]);
instance.GpsSpeedMph = Convert.ToDouble(parts[index++]);
instance.GpsDirection = Convert.ToDouble(parts[index++]);
instance.SatelliteFix = Convert.ToBoolean(Convert.ToInt32((parts[index++])));
instance.Satellites = Convert.ToInt32(parts[index++]);
instance.Temperature = Convert.ToDouble(parts[index++]);
instance.Humidity = Convert.ToDouble(parts[index++]);
instance.Pressure = Convert.ToDouble(parts[index++]);
instance.Altitude = Convert.ToDouble(parts[index++]);
instance.LinearAccelX = Convert.ToDouble(parts[index++]);
instance.LinearAccelY = Convert.ToDouble(parts[index++]);
instance.LinearAccelZ = Convert.ToDouble(parts[index++]);
instance.Yaw = Convert.ToDouble(parts[index++]);
instance.Pitch = Convert.ToDouble(parts[index++]);
instance.Roll = Convert.ToDouble(parts[index++]);
instance.Sound = Convert.ToDouble(parts[index++]);
instance.Voltage = Convert.ToDouble(parts[index++]);
instance.Current = Convert.ToInt32(parts[index++]);
return(instance);
}
