private void Print(IVehicle vehicle)
{
Console.Clear();
const int percentWidth = 30;
var dict = new Dictionary <string, string>
{
{ nameof(Vehicle.Link), vehicle.Link.Value.ToString() },
{ nameof(Vehicle.PacketRateHz), vehicle.PacketRateHz.Value.ToString("0 Hz") },
{ nameof(HeartbeatPayload.SystemStatus), vehicle.RawHeartbeat.Value?.SystemStatus.ToString() ?? string.Empty },
{ nameof(HeartbeatPayload.Type), vehicle.RawHeartbeat.Value?.Type.ToString() ?? string.Empty },
{ nameof(HeartbeatPayload.Autopilot), vehicle.RawHeartbeat.Value?.Autopilot.ToString() ?? string.Empty },
{ nameof(HeartbeatPayload.BaseMode), vehicle.RawHeartbeat.Value?.BaseMode.ToString("F") ?? string.Empty },
{ nameof(HeartbeatPayload.CustomMode), vehicle.RawHeartbeat.Value?.CustomMode.ToString() ?? string.Empty },
{ nameof(HeartbeatPayload.MavlinkVersion), vehicle.RawHeartbeat.Value?.MavlinkVersion.ToString() ?? string.Empty },
{ nameof(SysStatusPayload.BatteryRemaining), vehicle.RawSysStatus.Value?.BatteryRemaining.ToString() ?? string.Empty },
{ nameof(SysStatusPayload.CurrentBattery), vehicle.RawSysStatus.Value?.CurrentBattery.ToString() ?? string.Empty },
{ nameof(SysStatusPayload.DropRateComm), TextRender.Progress(((vehicle.RawSysStatus.Value?.DropRateComm) ?? 0) / 10000.0, percentWidth) },
{ nameof(SysStatusPayload.ErrorsComm), vehicle.RawSysStatus.Value?.ErrorsComm.ToString() ?? string.Empty },
{ nameof(SysStatusPayload.Load), TextRender.Progress((vehicle.RawSysStatus.Value?.Load ?? 0) / 1000.0, percentWidth) },
{ nameof(SysStatusPayload.VoltageBattery), vehicle.RawSysStatus.Value?.VoltageBattery.ToString() ?? string.Empty },
{ nameof(Vehicle.GlobGps), vehicle.GlobGps.Value.ToString() },
{ nameof(Vehicle.Home), vehicle.Home.Value.ToString() },
{ nameof(GpsRawIntPayload.Alt), ((vehicle.RawGpsRawInt.Value?.Alt ?? double.NaN) / 1000.0).ToString("F1") },
{ "LastCommand", _lastCommand }
};
GetAddidtionslParams(vehicle, dict);
TextTable.PrintKeyValue(Console.WriteLine, new DoubleTextTableBorder(), dict.Max(_ => _.Key.Length), dict.Max(_ => _.Value.Length), "Vehicle", dict);
var help = new Dictionary <string, string>
{
{ "Arrows", "Move XY" },
{ "U and D", "Up/down altitude" },
{ "PageUp and PageDown", "Up / Down max speed (MPC_XY_VEL_MAX)" },
{ "A", "Arm" },
{ "T", "Take off" },
{ "Q", "Exit" },
};
TextTable.PrintKeyValue(Console.WriteLine, new DoubleTextTableBorder(), help.Max(_ => _.Key.Length), help.Max(_ => _.Value.Length), "Commands", help);
}
protected override async Task <int> RunAsync(IVehicle vehicle)
{
await vehicle.Params.ReadAllParams(CancellationToken.None, new Progress <double>(_ => Console.WriteLine("Read params progress:" + TextRender.Progress(_, 20))));
while (!_cancel.IsCancellationRequested)
{
Redraw();
await Task.Delay(1000).ConfigureAwait(false);
}
return(0);
}
