Beispiel #1
0
        public static byte[] GetBytesForMessage(
            UasMessage msg, byte systemId, byte componentId, byte sequenceNumber, byte signalMark)
        {
            MavLinkPacket p = MavLinkPacket.GetPacketForMessage(
                msg, systemId, componentId, sequenceNumber);

            int bufferSize = p.GetPacketSize();

            if (signalMark != 0)
            {
                bufferSize++;
            }

            byte[] result = new byte[bufferSize];

            using (MemoryStream s = new MemoryStream(result))
            {
                using (BinaryWriter w = new BinaryWriter(s))
                {
                    if (signalMark != 0)
                    {
                        w.Write(signalMark);
                    }
                    p.Serialize(w);
                }
            }

            return(result);
        }
        // __ API _____________________________________________________________


        public override void SendMessage(UasMessage msg)
        {
            mSendQueue.Enqueue(msg);

            // Signal send thread
            mSendSignal.Set();
        }
Beispiel #3
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        // __ Serialization ___________________________________________________


        public static MavLinkPacket GetPacketForMessage(
            UasMessage msg, byte systemId, byte componentId, byte sequenceNumber)
        {
            MavLinkPacket result = new MavLinkPacket()
            {
                SystemId             = systemId,
                InCompatFlags        = 0,
                CompatFlats          = 0,
                ComponentId          = componentId,
                PacketSequenceNumber = sequenceNumber,
                MessageId            = msg.MessageId,
                Message = msg
            };

            using (MemoryStream ms = new MemoryStream())
            {
                using (BinaryWriter bw = new BinaryWriter(ms))
                {
                    msg.SerializeBody(bw);
                }

                result.Payload       = ms.ToArray();
                result.PayLoadLength = (byte)result.Payload.Length;
                result.UpdateCrc();
            }

            return(result);
        }
        public override void SendMessage(UasMessage msg)
        {
            // No messages are sent on this transport (only read from the logfile)
            mSendQueue.Enqueue(msg);

            // Signal send thread
            mSendSignal.Set();
        }
Beispiel #5
0
        /// <summary>
        /// Generates the buffer bytes to be sent on the wire for given message.
        /// </summary>
        /// <param name="msg"></param>
        /// <param name="systemId"></param>
        /// <param name="componentId"></param>
        /// <param name="includeSignalMark">Whether to include the Packet signal in the buffer or not.</param>
        /// <param name="sequenceNumber">A sequence number for the message, if needed.</param>
        /// <returns></returns>
        public byte[] SerializeMessage(
            UasMessage msg, byte systemId, byte componentId,
            bool includeSignalMark, byte sequenceNumber = 1)
        {
            byte mark = includeSignalMark ? PacketSignalByte : (byte)0;

            return(MavLinkPacket.GetBytesForMessage(
                       msg, systemId, componentId, sequenceNumber, mark));
        }
        private void SendMavlinkMessage(UasMessage msg)
        {
            byte[] buffer = mMavLink.SerializeMessage(msg, MavlinkSystemId, MavlinkComponentId, true);

            try
            {
                mSerialPort.Write(buffer, 0, buffer.Length);
            }
            catch
            {
                //throw new Exception("Serialpoart is closed.");
            }
        }
Beispiel #7
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        private void DeserializeMessage()
        {
            UasMessage result = UasSummary.CreateFromId(MessageId);

            if (result == null)
            {
                return;                                         // Unknown type
            }
            using (MemoryStream ms = new MemoryStream(Payload)) //在组装包的时候进行解密(未完成)
            {
                using (BinaryReader br = GetBinaryReader(ms))
                {
                    try
                    {
                        result.DeserializeBody(br);
                    }
                    catch { }//mavlinkv2会精简为0的包PayLoad从零开始就不发了
                }
            }

            Message = result;
            IsValid = true;
        }
Beispiel #8
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 private void SendMavlinkMessage(IPEndPoint ep, UasMessage msg)
 {
     byte[] buffer = mMavLink.SerializeMessage(msg, MavlinkSystemId, MavlinkComponentId, true);
     //buffer = BtyesToBytes(buffer);
     mUdpClient.Send(buffer, buffer.Length, ep);
 }
Beispiel #9
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 public abstract void SendMessage(UasMessage msg);