public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
File.Move(logfile, destdir + Path.GetFileName(logfile));
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
continue;
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
File.Move(logfile, destdir + Path.GetFileName(logfile));
try
{
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
}
}
catch { continue; }
}
}
public MAVLinkSerialPort(MAVLinkInterface mavint, MAVLink.SERIAL_CONTROL_DEV port)
{
this.mavint = mavint;
this.port = port;
if (!mavint.BaseStream.IsOpen)
{
mavint.BaseStream.Open();
}
if (mavint.getHeartBeat().Length == 0)
{
throw new Exception("No valid heartbeats read from port");
}
if (subscription.Value != null)
mavint.UnSubscribeToPacketType(subscription);
subscription = mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SERIAL_CONTROL, ReceviedPacket, true);
bgdata = new Thread(mainloop);
bgdata.Name = "MAVLinkSerialPort";
bgdata.IsBackground = true;
bgdata.Start();
}
public MAVLinkSerialPort(MAVLinkInterface mavint, MAVLink.SERIAL_CONTROL_DEV port)
{
this.mavint = mavint;
this.port = port;
if (!mavint.BaseStream.IsOpen)
{
throw new Exception(Strings.PleaseConnect);
}
if (mavint.getHeartBeat().Length == 0)
{
throw new Exception("No valid heartbeats read from port");
}
if (subscription.Value != null)
{
mavint.UnSubscribeToPacketType(subscription);
}
subscription = mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SERIAL_CONTROL, ReceviedPacket, true);
bgdata = new Thread(mainloop);
bgdata.Name = "MAVLinkSerialPort";
bgdata.IsBackground = true;
bgdata.Start();
}
private void clientdata(IAsyncResult ar)
{
var client = ((UdpClient)ar.AsyncState);
if (client == null || client.Client == null)
{
return;
}
try
{
var port = ((IPEndPoint)client.Client.LocalEndPoint).Port;
var udpclient = new UdpSerial(client);
var mav = new MAVLinkInterface();
mav.BaseStream = udpclient;
MainV2.comPort = mav;
MainV2.Comports.Add(mav);
//MainV2.instance.doConnect(mav, "preset", port.ToString());
Log.Warning("", "mav init " + mav.ToString());
var hb = mav.getHeartBeat();
Log.Warning("", "getHeartBeat " + hb.ToString());
mav.setAPType(mav.MAV.sysid, mav.MAV.compid);
Log.Warning("", "setAPType " + mav.MAV.ToJSON());
Forms.Device.BeginInvokeOnMainThread(() =>
{
});
Task.Run(() =>
{
while (true)
{
try
{
while (mav.BaseStream.BytesToRead < 10 || mav.giveComport == true)
{
Thread.Sleep(20);
}
var packet = mav.readPacket();
mav.MAV.cs.UpdateCurrentSettings(null);
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
Thread.Sleep(10);
}
}
});
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
}
}
public static void doUpload(string file)
{
if (!validcred)
{
doUserAndPassword();
}
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.BaseStream.Open();
if (mav.getHeartBeat().Length == 0)
{
CustomMessageBox.Show("Invalid log");
return;
}
mav.Close();
string viewurl = Utilities.DroneApi.droneshare.doUpload(file, droneshareusername, dronesharepassword, mav.MAV.Guid, Utilities.DroneApi.APIConstants.apiKey);
if (viewurl != "")
{
try
{
validcred = true;
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { log.Error(ex); CustomMessageBox.Show("Failed to open url " + viewurl); }
}
}
static void ATmainloop()
{
ATthreadrun = true;
DowdingPlugin.UpdateOutput += DowdingPlugin_UpdateOutput;
try
{
mavlink = new MAVLinkInterface();
mavlink.BaseStream = ATStream;
mavlink.getHeartBeat();
}
catch
{
ATthreadrun = false;
CustomMessageBox.Show("Failed to detect antenna tracker");
}
starttime = DateTime.Now;
while (ATthreadrun)
{
try
{
while (mavlink.giveComport)
{
Thread.Sleep(2);
}
mavlink.readPacket();
}
catch
{
Thread.Sleep(2);
}
}
DowdingPlugin.UpdateOutput -= DowdingPlugin_UpdateOutput;
}
public MAVLinkSerialPort(MAVLinkInterface mavint, MAVLink.SERIAL_CONTROL_DEV port)
{
this.mavint = mavint;
this.port = port;
if (!mavint.BaseStream.IsOpen)
{
mavint.BaseStream.Open();
}
if (mavint.getHeartBeat().Length == 0)
{
throw new Exception("No valid heartbeats read from port");
}
if (subscription.Value != null)
{
mavint.UnSubscribeToPacketType(subscription);
}
subscription = mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SERIAL_CONTROL, ReceviedPacket, true);
}
public static void doUpload(string file)
{
doUserAndPassword();
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.getHeartBeat();
mav.Close();
string viewurl = Utilities.DroneApi.droneshare.doUpload(file, droneshareusername, dronesharepassword, mav.MAV.Guid , Utilities.DroneApi.APIConstants.apiKey);
if (viewurl != "")
{
try
{
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { log.Error(ex); CustomMessageBox.Show("Failed to open url " + viewurl); }
}
}
void processbg(object directory)
{
//this.Invoke((MethodInvoker)delegate { objectListView1.Clear(); });
string[] files1 = Directory.GetFiles(directory.ToString(), "*.tlog", SearchOption.AllDirectories);
string[] files2 = Directory.GetFiles(directory.ToString(), "*.bin", SearchOption.AllDirectories);
string[] files3 = Directory.GetFiles(directory.ToString(), "*.log", SearchOption.AllDirectories);
List<string> files = new List<string>();
files.AddRange(files1);
files.AddRange(files2);
files.AddRange(files3);
//objectListView1.VirtualListSize = files.Length;
List<object> logs = new List<object>();
foreach (var file in files)
{
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] {file});
}
var loginfo = new loginfo();
loginfo.fullname = file;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(-100000, SeekOrigin.End);
}
catch
{
}
var end = mine.lastlogread;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
mine.readPacket();
if (mine.lastlogread > end)
end = mine.lastlogread;
}
loginfo.Duration = (end - start).ToString();
}
}
objectListView1.AddObject(loginfo);
logs.Add(loginfo);
}
/*
this.Invoke((MethodInvoker)delegate
{
objectListView1.AddObjects(logs);
});
*/
}
void processbg(string file)
{
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] { file });
}
var loginfo = new loginfo();
loginfo.fullname = file;
loginfo.Size = new FileInfo(file).Length;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.speechenabled = false;
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
var start = mine.lastlogread;
try
{
if (mine.logplaybackfile.BaseStream.Length > MaxPlaybackLogSize)
{
mine.logplaybackfile.BaseStream.Seek(-100000, SeekOrigin.End);
}
else
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
}
catch
{
}
var end = mine.lastlogread;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
mine.readPacket();
if (mine.lastlogread > end)
{
end = mine.lastlogread;
}
}
loginfo.Duration = (end - start).ToString();
}
}
logs.Add(loginfo);
}
public static void doUpload(string file)
{
doUserAndPassword();
string droneshareusername = MainV2.getConfig("droneshareusername");
string dronesharepassword = MainV2.getConfig("dronesharepassword");
if (dronesharepassword != "")
{
try
{
// fail on bad entry
var crypto = new Crypto();
dronesharepassword = crypto.DecryptString(dronesharepassword);
}
catch { }
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = new Comms.CommsFile();
mav.BaseStream.PortName = file;
mav.getHeartBeat();
mav.Close();
string guid = Guid.NewGuid().ToString();
switch (mav.MAV.cs.firmware)
{
case MainV2.Firmwares.ArduCopter2:
guid = MainV2.config["copter_guid"].ToString();
break;
case MainV2.Firmwares.ArduPlane:
guid = MainV2.config["plane_guid"].ToString();
break;
case MainV2.Firmwares.ArduRover:
guid = MainV2.config["rover_guid"].ToString();
break;
}
string viewurl = Utilities.droneshare.doUpload(file, droneshareusername, dronesharepassword, guid, Utilities.droneshare.APIConstants.apiKey);
if (viewurl != "")
{
try
{
System.Diagnostics.Process.Start(viewurl);
}
catch (Exception ex) { CustomMessageBox.Show("Failed to open url "+ viewurl); }
}
}
void processbg(string file)
{
a++;
Loading.ShowLoading(a + "/" + files.Count + " " + file, this);
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] { file });
}
var loginfo = new loginfo();
loginfo.fullname = file;
try
{
// file not found exception even though it passes the exists check above.
loginfo.Size = new FileInfo(file).Length;
}
catch
{
}
if (File.Exists(file + ".jpg"))
{
loginfo.imgfile = file + ".jpg";
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.speechenabled = false;
// file is to small
if (mine.logplaybackfile.BaseStream.Length < 1024 * 4)
{
return;
}
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
loginfo.Frame = mine.MAV.aptype.ToString();
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
catch
{
}
var end = mine.lastlogread;
var length = mine.logplaybackfile.BaseStream.Length;
var a = 0;
// abandon last 100 bytes
while (mine.logplaybackfile.BaseStream.Position < (length - 100))
{
var packet = mine.readPacket();
// gcs
if (packet.sysid == 255)
{
continue;
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.CAMERA_FEEDBACK)
{
loginfo.CamMSG++;
}
if (a % 10 == 0)
{
mine.MAV.cs.UpdateCurrentSettings(null, true, mine);
}
a++;
if (mine.lastlogread > end)
{
end = mine.lastlogread;
}
}
loginfo.Home = mine.MAV.cs.Location;
loginfo.TimeInAir = mine.MAV.cs.timeInAir;
loginfo.DistTraveled = mine.MAV.cs.distTraveled;
loginfo.Duration = (end - start).ToString();
}
}
else if (file.ToLower().EndsWith(".bin") || file.ToLower().EndsWith(".log"))
{
using (DFLogBuffer colbuf = new DFLogBuffer(File.OpenRead(file)))
{
PointLatLngAlt lastpos = null;
DateTime start = DateTime.MinValue;
DateTime end = DateTime.MinValue;
DateTime tia = DateTime.MinValue;
// set time in air/home/distancetraveled
foreach (var dfItem in colbuf.GetEnumeratorType("GPS"))
{
if (dfItem["Status"] != null)
{
var status = int.Parse(dfItem["Status"]);
if (status >= 3)
{
var pos = new PointLatLngAlt(
double.Parse(dfItem["Lat"], CultureInfo.InvariantCulture),
double.Parse(dfItem["Lng"], CultureInfo.InvariantCulture),
double.Parse(dfItem["Alt"], CultureInfo.InvariantCulture));
if (lastpos == null)
{
lastpos = pos;
}
if (start == DateTime.MinValue)
{
loginfo.Date = dfItem.time;
start = dfItem.time;
}
end = dfItem.time;
// add distance
loginfo.DistTraveled += (float)lastpos.GetDistance(pos);
// set home
if (loginfo.Home == null)
{
loginfo.Home = pos;
}
if (dfItem.time > tia.AddSeconds(1))
{
// ground speed > 0.2 or alt > homelat+2
if (double.Parse(dfItem["Spd"], CultureInfo.InvariantCulture) > 0.2 ||
pos.Alt > (loginfo.Home.Alt + 2))
{
loginfo.TimeInAir++;
}
tia = dfItem.time;
}
}
}
}
loginfo.Duration = (end - start).ToString();
loginfo.CamMSG = colbuf.GetEnumeratorType("CAM").Count();
loginfo.Aircraft = 0; //colbuf.dflog.param[""];
loginfo.Frame = "Unknown"; //mine.MAV.aptype.ToString();
}
}
lock (logs)
logs.Add(loginfo);
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
File.Move(logfile, destdir + Path.GetFileName(logfile));
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
}
File.Move(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
File.Move(logfile, destdir + Path.GetFileName(logfile));
try
{
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
}
}
catch { continue; }
}
}
public static void SortLogs(string[] logs, string masterdestdir = "")
{
foreach (var logfile in logs)
{
if (masterdestdir == "")
{
masterdestdir = Path.GetDirectoryName(logfile);
}
issitl = false;
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch
{
}
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = masterdestdir + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch
{
}
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
mine.speechenabled = false;
var midpoint = mine.logplaybackfile.BaseStream.Length / 2;
mine.logplaybackfile.BaseStream.Seek(midpoint, SeekOrigin.Begin);
// used for sitl detection
mine.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SIMSTATE, sitldetection);
mine.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SIM_STATE, sitldetection);
MAVLink.MAVLinkMessage hbpacket = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket1 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket2 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket3 = mine.getHeartBeat();
if (hbpacket.Length == 0 && hbpacket1.Length == 0 && hbpacket2.Length == 0 && hbpacket3.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(masterdestdir + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(masterdestdir + Path.DirectorySeparatorChar +
"BAD");
}
log.Info("Move log bad " + logfile + " to " + masterdestdir +
Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar +
Path.GetFileName(logfile));
movefileusingmask(logfile,
masterdestdir + Path.DirectorySeparatorChar + "BAD" +
Path.DirectorySeparatorChar);
continue;
}
if (hbpacket.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
}
if (hbpacket1.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb1 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket1);
}
if (hbpacket2.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb2 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket2);
}
if (hbpacket3.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb3 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket3);
}
// find most appropriate
if (mine.MAVlist.Count > 1)
{
foreach (var mav in mine.MAVlist)
{
if (mav.aptype == MAVLink.MAV_TYPE.ANTENNA_TRACKER)
{
continue;
}
if (mav.aptype == MAVLink.MAV_TYPE.GCS)
{
continue;
}
mine.sysidcurrent = mav.sysid;
mine.compidcurrent = mav.compid;
}
}
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = masterdestdir + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
if (issitl)
{
destdir = masterdestdir + Path.DirectorySeparatorChar
+ "SITL" + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
}
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
movefileusingmask(logfile, destdir);
}
}
catch
{
continue;
}
}
}
private void FWUpload(object?a)
{
try
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
var tryupload = true;
lock (ports)
if (ports.Contains(portname))
{
tryupload = false;
}
if (tryupload)
{
var fw = Firmware.ProcessFirmware(_args[0]);
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
try
{
up.identify();
validcomms = true;
up.currentChecksum(fw);
flashit = true;
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
if (flashit)
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Flashing fw\r\n"); }));
up.upload(fw);
}
else
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " reboot\r\n"); }));
up.__reboot();
}
lock (ports)
ports.Add(portname);
up.close();
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Done fw\r\n"); }));
if (validcomms)
{
return;
}
}
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
}
DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
this.BeginInvoke(new Action(() =>
{
textBox1.AppendText(portname + " Done bl " + (bldone ? "OK" : "FAIL") + "\r\n");
}));
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
void processbg(string file)
{
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] {file});
}
var loginfo = new loginfo();
loginfo.fullname = file;
loginfo.Size = new FileInfo(file).Length;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
var start = mine.lastlogread;
try
{
if (mine.logplaybackfile.BaseStream.Length > MaxPlaybackLogSize)
{
mine.logplaybackfile.BaseStream.Seek(-100000, SeekOrigin.End);
}
else
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
}
catch
{
}
var end = mine.lastlogread;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
mine.readPacket();
if (mine.lastlogread > end)
end = mine.lastlogread;
}
loginfo.Duration = (end - start).ToString();
}
}
logs.Add(loginfo);
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch { }
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
}
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
movefileusingmask(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar);
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
movefileusingmask(logfile, destdir);
}
}
catch { continue; }
}
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch
{
}
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch
{
}
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
var midpoint = mine.logplaybackfile.BaseStream.Length / 2;
mine.logplaybackfile.BaseStream.Seek(midpoint, SeekOrigin.Begin);
MAVLink.MAVLinkMessage hbpacket = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket1 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket2 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket3 = mine.getHeartBeat();
if (hbpacket.Length == 0 && hbpacket1.Length == 0 && hbpacket2.Length == 0 && hbpacket3.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar +
"BAD");
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) +
Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar +
Path.GetFileName(logfile));
movefileusingmask(logfile,
Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" +
Path.DirectorySeparatorChar);
continue;
}
if (hbpacket.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t) mine.DebugPacket(hbpacket);
}
if (hbpacket1.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb1 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket1);
}
if (hbpacket2.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb2 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket2);
}
if (hbpacket3.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb3 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket3);
}
// find most appropriate
if (mine.MAVlist.Count > 1)
{
foreach (var mav in mine.MAVlist.GetMAVStates())
{
if (mav.aptype == MAVLink.MAV_TYPE.ANTENNA_TRACKER)
continue;
if (mav.aptype == MAVLink.MAV_TYPE.GCS)
continue;
mine.sysidcurrent = mav.sysid;
mine.compidcurrent = mav.compid;
}
}
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
movefileusingmask(logfile, destdir);
}
}
catch
{
continue;
}
}
}
void processbg(string file)
{
Loading.ShowLoading(file, this);
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] {file});
}
var loginfo = new loginfo();
loginfo.fullname = file;
loginfo.Size = new FileInfo(file).Length;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.speechenabled = false;
// file is to small
if (mine.logplaybackfile.BaseStream.Length < 1024*4)
return;
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
loginfo.Frame = mine.MAV.aptype.ToString();
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
catch
{
}
var end = mine.lastlogread;
var length = mine.logplaybackfile.BaseStream.Length;
var a = 0;
// abandon last 100 bytes
while (mine.logplaybackfile.BaseStream.Position < (length-100))
{
var packet = mine.readPacket();
// gcs
if(packet.sysid == 255)
continue;
if(a % 10 == 0)
mine.MAV.cs.UpdateCurrentSettings(null, true, mine);
a++;
if (mine.lastlogread > end)
end = mine.lastlogread;
}
loginfo.Home = mine.MAV.cs.Location;
loginfo.TimeInAir = mine.MAV.cs.timeInAir;
loginfo.DistTraveled = mine.MAV.cs.distTraveled;
loginfo.Duration = (end - start).ToString();
}
}
logs.Add(loginfo);
}
static void Main(string[] args)
{
Console.CancelKeyPress += Console_CancelKeyPress;
if (args.Length < 2)
{
Console.WriteLine("usage: UAVCANFlasher com1 flow-crc.bin");
Console.WriteLine("this program will flash the firmware to every connected uavcan node. DONT connect devices that its not intended for");
Console.ReadKey();
return;
}
var portname = args[0];
var firmware_name = args[1];
var port = new MissionPlanner.Comms.SerialPort(args[0], 115200);
port.Open();
if (!File.Exists(firmware_name))
{
Console.WriteLine("firmware file not found");
Console.ReadKey();
return;
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = port;
mav.getHeartBeat();
try
{
mav.GetParam((byte)mav.sysidcurrent, (byte)mav.compidcurrent, "CAN_SLCAN_TIMOUT");
mav.GetParam((byte)mav.sysidcurrent, (byte)mav.compidcurrent, "CAN_SLCAN_SERNUM");
mav.setParam("CAN_SLCAN_TIMOUT", 2, true);
mav.setParam("CAN_SLCAN_SERNUM", 0, true); // usb
}
catch { }
DroneCAN.DroneCAN can = new DroneCAN.DroneCAN();
can.SourceNode = 127;
//can.Update();
// updater
var firmware_namebytes = ASCIIEncoding.ASCII.GetBytes(Path.GetFileName(firmware_name.ToLower()));
ulong firmware_crc = ulong.MaxValue;
Exception exception = null;
Dictionary <int, DateTime> lastseenDateTimes = new Dictionary <int, DateTime>();
DroneCAN.DroneCAN.MessageRecievedDel updatedelegate = (frame, msg, transferID) =>
{
if (frame.IsServiceMsg && frame.SvcDestinationNode != can.SourceNode)
{
return;
}
if (frame.SourceNode == 0)
{
return;
}
lastseenDateTimes[frame.SourceNode] = DateTime.Now;
if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_res))
{
var bfures = msg as DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_res;
if (bfures.error != 0)
{
exception = new Exception(frame.SourceNode + " Begin Firmware Update returned an error");
}
}
else if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res))
{
var gnires = msg as DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res;
Console.WriteLine("GetNodeInfo: seen '{0}' from {1}",
ASCIIEncoding.ASCII.GetString(gnires.name).TrimEnd('\0'), frame.SourceNode);
if (firmware_crc != gnires.software_version.image_crc || firmware_crc == ulong.MaxValue)
{
if (gnires.status.mode != DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE)
{
Console.WriteLine("Update node " + frame.SourceNode);
var req_msg =
new DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_req()
{
image_file_remote_path = new DroneCAN.DroneCAN.uavcan_protocol_file_Path()
{
path = firmware_namebytes
},
source_node_id = can.SourceNode
};
req_msg.image_file_remote_path.path_len = (byte)firmware_namebytes.Length;
var slcan = can.PackageMessageSLCAN(frame.SourceNode, frame.Priority, transferID, req_msg);
can.WriteToStreamSLCAN(slcan);
}
else
{
//exception = new Exception("already in update mode");
return;
}
}
else
{
Console.WriteLine(frame.SourceNode + " CRC matchs");
}
}
};
can.MessageReceived += updatedelegate;
// getfile crc
using (var stream = File.OpenRead(firmware_name))
{
string app_descriptor_fmt = "<8cQI";
var SHARED_APP_DESCRIPTOR_SIGNATURES = new byte[][] {
new byte[] { 0xd7, 0xe4, 0xf7, 0xba, 0xd0, 0x0f, 0x9b, 0xee },
new byte[] { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }
};
var app_descriptor_len = 8 * 1 + 8 + 4;
var location = GetPatternPositions(stream, SHARED_APP_DESCRIPTOR_SIGNATURES[0]);
stream.Seek(0, SeekOrigin.Begin);
var location2 = GetPatternPositions(stream, SHARED_APP_DESCRIPTOR_SIGNATURES[1]);
if (location.Count > 0 || location2.Count > 0)
{
var offset = location.Count > 0 ? location[0] : location2[0];
stream.Seek(offset, SeekOrigin.Begin);
byte[] buf = new byte[app_descriptor_len];
stream.Read(buf, 0, app_descriptor_len);
firmware_crc = BitConverter.ToUInt64(buf, 8);
}
}
can.NodeAdded += (id, status) =>
{
Console.WriteLine(id + " Node status seen");
// get node info
DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req gnireq = new DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req()
{
};
var slcan = can.PackageMessageSLCAN((byte)id, 30, 0, gnireq);
can.WriteToStreamSLCAN(slcan);
};
DroneCAN.DroneCAN.uavcan_protocol_NodeStatus node;
can.FileSendComplete += (id, file) =>
{
Console.WriteLine(id + " File send complete " + file);
can.NodeList.TryRemove(id, out node);
lastseenDateTimes.Remove(id);
};
can.StartSLCAN(port.BaseStream);
can.ServeFile(args[1]);
can.SetupFileServer();
can.SetupDynamicNodeAllocator();
Console.WriteLine("Ready.. " + portname + " -> " + firmware_name);
run = true;
while (run)
{
Thread.Sleep(100);
foreach (var lastseenDateTime in lastseenDateTimes.ToArray())
{
if (lastseenDateTime.Value.AddSeconds(3) < DateTime.Now)
{
can.NodeList.TryRemove(lastseenDateTime.Key, out node);
lastseenDateTimes.Remove(lastseenDateTime.Key);
Console.WriteLine(lastseenDateTime.Key + " Remove old node - 3 seconds of no data");
}
}
if (exception != null)
{
Console.WriteLine(exception.ToString());
exception = null;
}
}
}
void processbg(object directory)
{
//this.Invoke((MethodInvoker)delegate { objectListView1.Clear(); });
string[] files1 = Directory.GetFiles(directory.ToString(), "*.tlog", SearchOption.AllDirectories);
string[] files2 = Directory.GetFiles(directory.ToString(), "*.bin", SearchOption.AllDirectories);
string[] files3 = Directory.GetFiles(directory.ToString(), "*.log", SearchOption.AllDirectories);
List <string> files = new List <string>();
files.AddRange(files1);
files.AddRange(files2);
files.AddRange(files3);
//objectListView1.VirtualListSize = files.Length;
List <object> logs = new List <object>();
foreach (var file in files)
{
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] { file });
}
var loginfo = new loginfo();
loginfo.fullname = file;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(-100000, SeekOrigin.End);
}
catch
{
}
var end = mine.lastlogread;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
mine.readPacket();
if (mine.lastlogread > end)
{
end = mine.lastlogread;
}
}
loginfo.Duration = (end - start).ToString();
}
}
objectListView1.AddObject(loginfo);
logs.Add(loginfo);
}
/*
* this.Invoke((MethodInvoker)delegate
* {
* objectListView1.AddObjects(logs);
* });
*/
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
movefileusingmask(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar);
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
movefileusingmask(logfile, destdir);
}
}
catch { continue; }
}
}
void processbg(string file)
{
Loading.ShowLoading(file, this);
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] { file });
}
var loginfo = new loginfo();
loginfo.fullname = file;
loginfo.Size = new FileInfo(file).Length;
if (File.Exists(file + ".jpg"))
{
loginfo.img = new Bitmap(file + ".jpg");
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.speechenabled = false;
// file is to small
if (mine.logplaybackfile.BaseStream.Length < 1024 * 4)
{
return;
}
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
loginfo.Frame = mine.MAV.aptype.ToString();
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
catch
{
}
var end = mine.lastlogread;
var length = mine.logplaybackfile.BaseStream.Length;
var a = 0;
// abandon last 100 bytes
while (mine.logplaybackfile.BaseStream.Position < (length - 100))
{
var packet = mine.readPacket();
// gcs
if (packet.sysid == 255)
{
continue;
}
if (a % 10 == 0)
{
mine.MAV.cs.UpdateCurrentSettings(null, true, mine);
}
a++;
if (mine.lastlogread > end)
{
end = mine.lastlogread;
}
}
loginfo.Home = mine.MAV.cs.Location;
loginfo.TimeInAir = mine.MAV.cs.timeInAir;
loginfo.DistTraveled = mine.MAV.cs.distTraveled;
loginfo.Duration = (end - start).ToString();
}
}
logs.Add(loginfo);
}
private void FWUpload(object a)
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
Console.WriteLine("Thread start for " + portname);
try
{
if (!portstatus.ContainsKey(portname))
{
portstatus[portname] = "";
}
{
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
Firmware fw = null;
try
{
up.identify();
validcomms = true;
portstatus[portname] += "BL ";
UpdateTextBox();
fw = Firmware.ProcessFirmware(_args[0]);
up.currentChecksum(fw);
fw.board_id = up.board_type;
flashit = true;
portstatus[portname] += "CS ";
UpdateTextBox();
}
catch (Exception ex)
{
if (ex.Message.Contains("Same Firmware"))
{
portstatus[portname] += "BLUPD OK ";
}
else
{
portstatus[portname] += "BLEX ";
}
UpdateTextBox();
}
if (flashit)
{
DateTime ts = DateTime.Now;
up.ProgressEvent += completed =>
{
if (ts.Second != DateTime.Now.Second)
{
Console.WriteLine("{0}: {1}", portname, completed);
ts = DateTime.Now;
}
};
up.upload(fw);
portstatus[portname] += "BLUPD OK ";
UpdateTextBox();
}
else
{
up.__reboot();
UpdateTextBox();
}
up.close();
if (validcomms)
{
return;
}
}
}
var ports = getPortByVPidInt(txt_vid.Text, txt_pid.Text, txt_int.Text);
if (!ports.Contains(portname))
{
portstatus[portname] += "NOTML OK ";
UpdateTextBox();
return;
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
portstatus[portname] += ASCIIEncoding.ASCII
.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim()
.TrimEnd(new char[] { '\0', '\r', '\n' });
UpdateTextBox();
}
//DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
if (bldone)
{
portstatus[portname] += "MLBLUPD OK";
}
UpdateTextBox();
}
catch (Exception ex)
{
portstatus[portname] += "MLEX ";
UpdateTextBox();
}
}
catch (Exception ex)
{
portstatus[portname] += "EX!! ";
UpdateTextBox();
}
UpdateTextBox();
}