SendCommand() public method

public SendCommand ( byte command, bool ack ) : void
command byte
ack bool
return void
Beispiel #1
0
        private void doCommand(bool capture)
        {
            statusLabel.Text  = "Starting";
            progressBar.Value = 1;
            string fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);

            string filePath = filePathTextBox.Text + "\\" + fileName;



            stopCommand = false;
            if (capture)
            {
                byte[] zeroToken = { 0 }; // send 0 to take picture
                uavConn.SendCommand(zeroToken, false);
            }
            uint imageID = 0;

            while (stopCommand == false)
            {
                Application.DoEvents();
                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;
                if (packetSize > 0)
                {
                    if (packet[0] == 1 && packetSize == 3)
                    {
                        // got PICTURE_TAKEN
                        //byte[] picture_taken_ack = { 8, 1 }; // ack the picture_taken command
                        //uavConn.SendCommand(picture_taken_ack, true);

                        statusLabel.Text = "Found PICTURE_TAKEN";
                        Console.WriteLine("Found PICTURE_TAKEN");
                        imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                        break;
                    }
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest, false);


            imageListen(fileName, filePath);
        }
Beispiel #2
0
        private void doCommand()
        {
            statusLabel.Text  = "Starting";
            progressBar.Value = 1;
            string     fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
            FileStream fileStream;

            fileStream = new FileStream(filePathTextBox.Text + "\\" + fileName, FileMode.Create);
            BinaryWriter opFile = new BinaryWriter(fileStream);


            uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");

            stopCommand = false;
            byte[] zeroToken = { 0 }; // send 0 to receive data
            uavConn.SendCommand(zeroToken, false);

            uint imageID = 0;

            while (stopCommand == false)
            {
                Application.DoEvents();
                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;
                if (packetSize > 0)
                {
                    if (packet[0] == 1 && packetSize == 3)
                    {
                        // got PICTURE_TAKEN
                        byte[] picture_taken_ack = { 8, 1 }; // ack the picture_taken command
                        uavConn.SendCommand(picture_taken_ack, true);

                        statusLabel.Text = "Found PICTURE_TAKEN";
                        Console.WriteLine("Found PICTURE_TAKEN");
                        imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                        break;
                    }
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest, false);


            imageListen(fileName, fileStream, opFile);
        }
Beispiel #3
0
        static void Main(string[] args)
        {
            mainForm.Show();

            while (true)
            {
                Application.DoEvents();
            }

            #if false

            UAVConnector uavConn = new UAVConnector();
            uavConn.Connect(0);

            FileStream fileStream = new FileStream("output.jpg", FileMode.Create);
            BinaryWriter opFile = new BinaryWriter(fileStream);

            uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");

            byte[] zeroToken = { 0 }; // send 0 to receive data
            uavConn.SendCommand(zeroToken);

            uint imageID = 0;

            while (true)
            {
                Console.Write(".");
                byte[] packet = uavConn.GetDataBytes();
                int packetSize = packet.Length;

                if (packet[0] == 1)
                {
                    // got PICTURE_TAKEN
                    Console.WriteLine("Found PICTURE_TAKEN");
                    imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                    break;
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest);

            uint lastPacketNum = 500;

            uint totalPackets = 500;

            bool startImage = false;
            long numBytes = 0;
            while (true)
            {
                Console.Write(".");
                byte[] packet = uavConn.GetDataBytes();
                int packetSize = packet.Length;

                if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
                {
                    Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
                    totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
                }
                else if(packet[0] == 4) // is a IMAGE_DATA packet
                {
                    Console.WriteLine("Found IMAGE_DATA");
                    uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);

                    Console.Write("#" + packetNum + " ");

                    for (int i = 3; i < packetSize; i++)
                    {
                        Console.Write(packet[i] + " ");
                    }
                    Console.WriteLine();

                    if (packetNum == 0)
                        startImage = true;

                    if (startImage == false)
                        continue;

                    if (packetNum == lastPacketNum)
                    {
                        //Console.WriteLine("End of image.");
                        continue;
                    }

                    Console.WriteLine("Writing.");
                    for (int i = 3; i < packetSize; i++)
                    {
                        opFile.Write(packet[i]);
                        numBytes++;
                    }

                    if (packetNum == totalPackets - 1)
                        break;
                    lastPacketNum = packetNum;
                }
            }

            Console.WriteLine("Done!");
            opFile.Close();

            uavConn.Close();

            Console.ReadLine();

            #endif
        }
Beispiel #4
0
        private void doCommand()
        {
            statusLabel.Text  = "Starting";
            progressBar.Value = 1;
            string     fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
            FileStream fileStream;

            fileStream = new FileStream(filePathTextBox.Text + "\\" + fileName, FileMode.Create);
            BinaryWriter opFile = new BinaryWriter(fileStream);


            uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");

            stopCommand = false;
            byte[] zeroToken = { 0 }; // send 0 to receive data
            uavConn.SendCommand(zeroToken);

            uint imageID = 0;

            while (stopCommand == false)
            {
                Application.DoEvents();
                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;
                if (packetSize > 0)
                {
                    if (packet[0] == 1 && packetSize == 3)
                    {
                        // got PICTURE_TAKEN
                        statusLabel.Text = "Found PICTURE_TAKEN";
                        Console.WriteLine("Found PICTURE_TAKEN");
                        imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                        break;
                    }
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest);

            uint lastPacketNum = 500;

            uint totalPackets = 500;

            bool startImage = false;
            long numBytes   = 0;

            while (stopCommand == false)
            {
                Application.DoEvents();
                // add cancel code check

                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;
                //progressbar maximum

                if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
                {
                    statusLabel.Text = "Found IMAGE_DOWNLOAD_INFO";
                    Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
                    totalPackets        = (uint)packet[1] + (uint)(packet[2] << 8);
                    progressBar.Maximum = (int)totalPackets;
                }
                else if (packet[0] == 4) // is a IMAGE_DATA packet
                {
                    statusLabel.Text = "Found IMAGE_DATA";
                    Console.WriteLine("Found IMAGE_DATA");
                    uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);

                    Console.Write("#" + packetNum + " ");

                    for (int i = 3; i < packetSize; i++)
                    {
                        Console.Write(packet[i] + " ");
                    }
                    Console.WriteLine();



                    if (packetNum == 0)
                    {
                        startImage = true;
                    }

                    if (startImage == false)
                    {
                        continue;
                    }

                    if (packetNum == lastPacketNum)
                    {
                        //Console.WriteLine("End of image.");
                        continue;
                    }
                    statusLabel.Text = "Writing";
                    Console.WriteLine("Writing.");
                    for (int i = 3; i < packetSize; i++)
                    {
                        opFile.Write(packet[i]);
                        numBytes++;
                    }
                    progressBar.PerformStep();
                    if (packetNum == totalPackets - 1)
                    {
                        break;
                    }
                    lastPacketNum = packetNum;
                }
            }
            if (stopCommand == false)
            {
                fileStream.Close();
                opFile.Close();
                progressBar.Value = 1;

                statusLabel.Text = "Done!";
                Console.WriteLine("Done!");



                updateDirectory(fileName);

                Array.Resize(ref jpegList, jpegList.Length + 1);
                jpegList[jpegList.Length - 1] = fileDirectory + "\\" + fileName;
                jpegList = Directory.GetFiles(fileDirectory, "*.jpg");


                Image img = Image.FromFile(fileDirectory + "\\" + fileName);
                pictureBox.Image = img;
                statusLabel.Text = null;
            }
            if (stopCommand == true)
            {
                fileStream.Close();
                opFile.Close();
                File.Delete(filePathTextBox.Text + "\\" + fileName);
                statusLabel.Text = "Stop";
            }
            // Console.ReadLine();

            /*
             * // CameraCommand newCommand = new CameraCommand();
             * byte[] command = new byte[3];
             * byte[] uavDataCurrent = new byte[uavDataLength];
             * byte[] imageData = new byte[250];
             * byte[] allImageData = new byte[30000];
             * byte[] zeroToken = { 0 }; // send 0 to receive data
             * string fileName=string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
             *
             *
             * // uavConnector.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
             *
             * uavConnector.StartStream(0);
             *
             * byte[] currentCommand = { 0 };
             *
             * uavConnector.SendCommand(zeroToken);
             *
             * //  uavConnector.SendTextToUAV("payload[0].mem_bytes[0] 0");
             *
             * //while (currentCommand.Length > 0 && currentCommand[0] != PICTURE_TAKEN)
             * while (true)
             * {
             * // currentCommand = uavConnector.ReceiveFromStream();
             *  currentCommand = uavConnector.ReceiveFromStream();
             * }
             *
             * //uavConnector.SendTextToUAV("payload[0].mem_byte[0] 0");
             *
             * uint imageID = (uint)currentCommand[1] + (uint)(currentCommand[2] << 8);
             *
             * command[0] = SEND_DOWNLOAD_REQUEST;
             * command[1] = currentCommand[1];
             * command[2] = currentCommand[2];
             *
             * uavConnector.SendCommand(command);
             *
             * while (currentCommand[0] != DOWNLOAD_INFO_COMMAND)
             * {
             *  currentCommand = uavConnector.ReceiveFromStream();
             * }
             *
             * uint numberOfPacket = (uint)command[1] + (uint)(command[2] << 8);
             * int allImageDataCount=0;
             *
             * while (currentCommand[0] != TAKEN_IMAGE_DATA)
             * {
             *  currentCommand = uavConnector.ReceiveFromStream();
             * }
             *
             * uint prevPacketNumber = 500;
             *
             * while(currentCommand[0] == TAKEN_IMAGE_DATA)
             * {
             *  uint currentPacketNum = (uint)command[1] + (uint)(command[2] << 8);
             *
             *  if (currentPacketNum == prevPacketNumber + 1)
             *  {
             *
             *      for (int countData = 3; countData < currentCommand.Length; countData++, allImageDataCount++)
             *      {
             *          allImageData[allImageDataCount] = imageData[countData];
             *      }
             *      if (currentPacketNum >= numberOfPacket - 1)
             *      {
             *          break;
             *      }
             *  }
             *  else if(currentPacketNum != prevPacketNumber)
             *  {
             *      throw new Exception("ERROR: Skipped a packet.");
             *  }
             *  prevPacketNumber = currentPacketNum;
             *  currentCommand = uavConnector.ReceiveFromStream();
             * }
             * Image imageFromUAV = uavConnector.GetImage(allImageData);
             * pictureBox.Image = imageFromUAV;
             *
             * uavConnector.SaveImage(allImageData, fileName, fileDirectory);
             * //uavDataPrevious = uavDataCurrent;
             *
             * */
            /*
             * while (!endOfCommand)
             * {
             *
             *  uavDataCurrent= streamPort.StartReceiving();
             *  switch (uavDataCurrent[COMMAND_BYTE_LOCATION])
             *  {
             *      case PICTURE_TAKEN:
             *          pictureTaken = true;
             *          numberOfPacket = (int)uavDataCurrent[1]*0xFF+(int)uavDataCurrent[2];
             *          imageID = (int)uavDataCurrent[3];
             *          break;
             *      case IMAGE_DATA:
             *          if (pictureTaken == true)
             *          {
             *
             *              if (uavDataCurrent != uavDataPrevious && pictureTaken == true)
             *              {
             *                  packetID = (int)uavDataCurrent[PACKET_ID_LOCATION];
             *                  dataLength = (int)uavDataCurrent[LENGTH_BYTE_LOCATION_1] * 0xFF + uavDataCurrent[LENGTH_BYTE_LOCATION_2];
             *                  // IMPORTANT: Make the second byte(first byte is command byte) of the data a data length byte in the PAYLOAD MODULE
             *                  //This for loop check whether the data is at the end of file or not //I set 0xD9 to be the end of file code
             *                  //also it will check for data length cycle.
             *                  //IMPORTANT: the eachByteCheck start at 1 so make sure that the data start at second byte !! (or modify the code)
             *                  for (int eachByteCheck = START_OF_IMAGE_DATA; eachByteCheck < dataLength&&!endOfCommand; eachByteCheck++, count++)
             *                  {
             *                      imageData[count] = uavDataCurrent[eachByteCheck];
             *
             *                      //Check for end of file
             *                      if (imageData[count] == COMMAND_HEADER || nextIsCommandByte)
             *                      {
             *                          if (((eachByteCheck != dataLength - 1) && imageData[count + 1] == END_OF_FILE) || nextIsCommandByte && imageData[count] == END_OF_FILE)
             *                          {
             *                              endOfCommand = true;
             *                          }
             *                          else if (eachByteCheck == dataLength - 1)
             *                          {
             *                              nextIsCommandByte = true;
             *                          }
             *                      }
             *                  }
             *              }
             *          }
             *          break;
             *      default:
             *          break;
             *  }
             * }
             * */
            //consolePort.SendCommand(stopSendingDataCommand, STOP_SENDING_COMMAND_LENGTH);
        }
Beispiel #5
0
        private void doCommand()
        {
            UAVConnector uavConn = new UAVConnector();
            uavConn.Connect(0);

            FileStream fileStream = new FileStream("output.jpg", FileMode.Create);
            BinaryWriter opFile = new BinaryWriter(fileStream);

            uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");

            byte[] zeroToken = { 0 }; // send 0 to receive data
            uavConn.SendCommand(zeroToken);

            uint imageID = 0;

            while (true)
            {
                Console.Write(".");
                byte[] packet = uavConn.GetDataBytes();
                int packetSize = packet.Length;

                if (packet[0] == 1)
                {
                    // got PICTURE_TAKEN
                    Console.WriteLine("Found PICTURE_TAKEN");
                    imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                    break;
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest);

            uint lastPacketNum = 500;

            uint totalPackets = 500;

            bool startImage = false;
            long numBytes = 0;
            while (true)
            {
                Console.Write(".");
                byte[] packet = uavConn.GetDataBytes();
                int packetSize = packet.Length;

                if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
                {
                    Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
                    totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
                }
                else if (packet[0] == 4) // is a IMAGE_DATA packet
                {
                    Console.WriteLine("Found IMAGE_DATA");
                    uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);

                    Console.Write("#" + packetNum + " ");

                    for (int i = 3; i < packetSize; i++)
                    {
                        Console.Write(packet[i] + " ");
                    }
                    Console.WriteLine();

                    if (packetNum == 0)
                        startImage = true;

                    if (startImage == false)
                        continue;

                    if (packetNum == lastPacketNum)
                    {
                        //Console.WriteLine("End of image.");
                        continue;
                    }

                    Console.WriteLine("Writing.");
                    for (int i = 3; i < packetSize; i++)
                    {
                        opFile.Write(packet[i]);
                        numBytes++;
                    }

                    if (packetNum == totalPackets - 1)
                        break;
                    lastPacketNum = packetNum;
                }
            }

            opFile.Close();

            Console.WriteLine("Done!");

            uavConn.Close();

            Image img = Image.FromFile("output.jpg");
            pictureBox.Image = img;

               // Console.ReadLine();

            /*
               // CameraCommand newCommand = new CameraCommand();
            byte[] command = new byte[3];
            byte[] uavDataCurrent = new byte[uavDataLength];
            byte[] imageData = new byte[250];
            byte[] allImageData = new byte[30000];
            byte[] zeroToken = { 0 }; // send 0 to receive data
            string fileName=string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);

               // uavConnector.SendTextToUAV("da 20 payload[0].mem_bytes[0]");

            uavConnector.StartStream(0);

            byte[] currentCommand = { 0 };

            uavConnector.SendCommand(zeroToken);

              //  uavConnector.SendTextToUAV("payload[0].mem_bytes[0] 0");

            //while (currentCommand.Length > 0 && currentCommand[0] != PICTURE_TAKEN)
            while (true)
            {
               // currentCommand = uavConnector.ReceiveFromStream();
                currentCommand = uavConnector.ReceiveFromStream();
            }

            //uavConnector.SendTextToUAV("payload[0].mem_byte[0] 0");

            uint imageID = (uint)currentCommand[1] + (uint)(currentCommand[2] << 8);

            command[0] = SEND_DOWNLOAD_REQUEST;
            command[1] = currentCommand[1];
            command[2] = currentCommand[2];

            uavConnector.SendCommand(command);

            while (currentCommand[0] != DOWNLOAD_INFO_COMMAND)
            {
                currentCommand = uavConnector.ReceiveFromStream();
            }

            uint numberOfPacket = (uint)command[1] + (uint)(command[2] << 8);
            int allImageDataCount=0;

            while (currentCommand[0] != TAKEN_IMAGE_DATA)
            {
                currentCommand = uavConnector.ReceiveFromStream();
            }

            uint prevPacketNumber = 500;

            while(currentCommand[0] == TAKEN_IMAGE_DATA)
            {
                uint currentPacketNum = (uint)command[1] + (uint)(command[2] << 8);

                if (currentPacketNum == prevPacketNumber + 1)
                {

                    for (int countData = 3; countData < currentCommand.Length; countData++, allImageDataCount++)
                    {
                        allImageData[allImageDataCount] = imageData[countData];
                    }
                    if (currentPacketNum >= numberOfPacket - 1)
                    {
                        break;
                    }
                }
                else if(currentPacketNum != prevPacketNumber)
                {
                    throw new Exception("ERROR: Skipped a packet.");
                }
                prevPacketNumber = currentPacketNum;
                currentCommand = uavConnector.ReceiveFromStream();
            }
            Image imageFromUAV = uavConnector.GetImage(allImageData);
            pictureBox.Image = imageFromUAV;

            uavConnector.SaveImage(allImageData, fileName, fileDirectory);
            //uavDataPrevious = uavDataCurrent;
             *
             * */
            /*
            while (!endOfCommand)
            {

                uavDataCurrent= streamPort.StartReceiving();
                switch (uavDataCurrent[COMMAND_BYTE_LOCATION])
                {
                    case PICTURE_TAKEN:
                        pictureTaken = true;
                        numberOfPacket = (int)uavDataCurrent[1]*0xFF+(int)uavDataCurrent[2];
                        imageID = (int)uavDataCurrent[3];
                        break;
                    case IMAGE_DATA:
                        if (pictureTaken == true)
                        {

                            if (uavDataCurrent != uavDataPrevious && pictureTaken == true)
                            {
                                packetID = (int)uavDataCurrent[PACKET_ID_LOCATION];
                                dataLength = (int)uavDataCurrent[LENGTH_BYTE_LOCATION_1] * 0xFF + uavDataCurrent[LENGTH_BYTE_LOCATION_2];
                                // IMPORTANT: Make the second byte(first byte is command byte) of the data a data length byte in the PAYLOAD MODULE
                                //This for loop check whether the data is at the end of file or not //I set 0xD9 to be the end of file code
                                //also it will check for data length cycle.
                                //IMPORTANT: the eachByteCheck start at 1 so make sure that the data start at second byte !! (or modify the code)
                                for (int eachByteCheck = START_OF_IMAGE_DATA; eachByteCheck < dataLength&&!endOfCommand; eachByteCheck++, count++)
                                {
                                    imageData[count] = uavDataCurrent[eachByteCheck];

                                    //Check for end of file
                                    if (imageData[count] == COMMAND_HEADER || nextIsCommandByte)
                                    {
                                        if (((eachByteCheck != dataLength - 1) && imageData[count + 1] == END_OF_FILE) || nextIsCommandByte && imageData[count] == END_OF_FILE)
                                        {
                                            endOfCommand = true;
                                        }
                                        else if (eachByteCheck == dataLength - 1)
                                        {
                                            nextIsCommandByte = true;
                                        }
                                    }
                                }
                            }
                        }
                        break;
                    default:
                        break;
                }
            }
             * */
            //consolePort.SendCommand(stopSendingDataCommand, STOP_SENDING_COMMAND_LENGTH);
        }
Beispiel #6
0
        static void Main(string[] args)
        {
            mainForm.Show();

            while (true)
            {
                Application.DoEvents();
            }

#if false
            UAVConnector uavConn = new UAVConnector();
            uavConn.Connect(0);

            FileStream   fileStream = new FileStream("output.jpg", FileMode.Create);
            BinaryWriter opFile     = new BinaryWriter(fileStream);

            uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");


            byte[] zeroToken = { 0 }; // send 0 to receive data
            uavConn.SendCommand(zeroToken);

            uint imageID = 0;

            while (true)
            {
                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;

                if (packet[0] == 1)
                {
                    // got PICTURE_TAKEN
                    Console.WriteLine("Found PICTURE_TAKEN");
                    imageID = (uint)packet[1] + (uint)(packet[2] << 8);
                    break;
                }
            }

            byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
            uavConn.SendCommand(imageDownloadRequest);

            uint lastPacketNum = 500;

            uint totalPackets = 500;

            bool startImage = false;
            long numBytes   = 0;
            while (true)
            {
                Console.Write(".");
                byte[] packet     = uavConn.GetDataBytes();
                int    packetSize = packet.Length;

                if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
                {
                    Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
                    totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
                }
                else if (packet[0] == 4) // is a IMAGE_DATA packet
                {
                    Console.WriteLine("Found IMAGE_DATA");
                    uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);

                    Console.Write("#" + packetNum + " ");

                    for (int i = 3; i < packetSize; i++)
                    {
                        Console.Write(packet[i] + " ");
                    }
                    Console.WriteLine();



                    if (packetNum == 0)
                    {
                        startImage = true;
                    }

                    if (startImage == false)
                    {
                        continue;
                    }

                    if (packetNum == lastPacketNum)
                    {
                        //Console.WriteLine("End of image.");
                        continue;
                    }

                    Console.WriteLine("Writing.");
                    for (int i = 3; i < packetSize; i++)
                    {
                        opFile.Write(packet[i]);
                        numBytes++;
                    }

                    if (packetNum == totalPackets - 1)
                    {
                        break;
                    }
                    lastPacketNum = packetNum;
                }
            }

            Console.WriteLine("Done!");
            opFile.Close();

            uavConn.Close();

            Console.ReadLine();
#endif
        }