public void Start()
{
if (_mavint.doCommandInt(_mavint.MAV.sysid, _mavint.MAV.compid, MAVLink.MAV_CMD.SCRIPTING, 0, 0, 0, 0, 0, 0, 0))
{
_active = true;
if (!_mavftp.kCmdListDirectory("/", new CancellationTokenSource())
.Any(a => a.Name == "repl"))
{
if (_mavftp.kCmdListDirectory("/APM/", new CancellationTokenSource())
.Any(a => a.Name == "repl"))
{
NewResponse?.Invoke(this, "Base dir changed to " + "/APM/repl/");
basepath = "/APM/repl/";
}
}
_timer = new Timer(state =>
{
_semaphore.Wait();
try
{
if (!_active)
{
return;
}
if (!_mavint.BaseStream.IsOpen)
{
return;
}
if (_mavftp.kCmdOpenFileRO(basepath + "out", out _outsize, new CancellationTokenSource()))
{
var stream = _mavftp.kCmdReadFile(basepath + "out", _outsize, _cancellation);
_mavftp.kCmdTerminateSession();
NewResponse?.Invoke(this,
ASCIIEncoding.ASCII.GetString(stream.GetBuffer().Skip(_outskip).ToArray()));
_outskip = (int)stream.Length;
}
_mavftp.kCmdTerminateSession();
}
finally
{
_semaphore.Release();
}
}, this, 0, 1000);
SendLine(@"""Hello World!!""" + "\n");
}
else
{
NewResponse?.Invoke(this, "Failed to start REPL");
}
}
public void Start()
{
if (_mavint.doCommandInt(_mavint.MAV.sysid, _mavint.MAV.compid, (MAVLink.MAV_CMD) 42701, 0, 0, 0, 0, 0, 0, 0))
{
_active = true;
_timer = new Timer(state =>
{
_semaphore.Wait();
try
{
if (!_active)
{
return;
}
if (!_mavint.BaseStream.IsOpen)
{
return;
}
if (_mavftp.kCmdOpenFileRO("repl/out", out _outsize))
{
var stream = _mavftp.kCmdReadFile("repl/out", _outsize, _cancellation);
_mavftp.kCmdTerminateSession();
NewResponse?.Invoke(this,
ASCIIEncoding.ASCII.GetString(stream.ToArray().Skip(_outskip).ToArray()));
_outskip = (int)stream.Length;
}
_mavftp.kCmdTerminateSession();
}
finally
{
_semaphore.Release();
}
}, this, 0, 1000);
SendLine(@"""Hello World!!""" + "\n");
}
else
{
NewResponse?.Invoke(this, "Failed to start REPL");
}
}
