Example #1
0
        public void DoAcceptTcpClientCallback(IAsyncResult ar)
        {
            // Get the listener that handles the client request.
            TcpListener listener = (TcpListener)ar.AsyncState;

            // End the operation and display the received data on
            // the console.
            using (
                TcpClient client = listener.EndAcceptTcpClient(ar))
            {
                // Signal the calling thread to continue.
                tcpClientConnected.Set();



                try
                {
                    // Get a stream object for reading and writing
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.mymap.streamjpgenable = true;
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    NetworkStream stream = client.GetStream();

                    // 3 seconds
                    stream.ReadTimeout = 3000;

again:

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024];

                    int    len  = stream.Read(request, 0, request.Length);
                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    if (url.Contains("websocket"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end   = head.IndexOf('\r', start);
                            if (end == -1)
                            {
                                end = head.IndexOf('\n', start);
                            }
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);

                            writer.WriteLine("Server: APM Planner");

                            writer.WriteLine("");

                            writer.Flush();

                            while (client.Connected)
                            {
                                Thread.Sleep(200);
                                log.Debug(stream.DataAvailable + " " + client.Available);

                                while (client.Available > 0)
                                {
                                    Console.Write(stream.ReadByte());
                                }

                                byte[] packet = new byte[256];

                                string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw;

                                packet[0] = 0x81; // fin - binary
                                packet[1] = (byte)sendme.Length;

                                int i = 2;
                                foreach (char ch in sendme)
                                {
                                    packet[i++] = (byte)ch;
                                }

                                stream.Write(packet, 0, i);

                                //break;
                            }
                        }
                    }
                    else if (url.Contains("georefnetwork.kml"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + georefkml.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.Contains("network.kml"))
                    {
                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                        pmplane.Name = "P/Q ";

                        pmplane.Visibility = true;

                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                        loc.Latitude  = MainV2.comPort.MAV.cs.lat;
                        loc.Longitude = MainV2.comPort.MAV.cs.lng;
                        loc.Altitude  = MainV2.comPort.MAV.cs.alt;

                        if (loc.Altitude < 0)
                        {
                            loc.Altitude = 0.01;
                        }

                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                        ori.Heading = MainV2.comPort.MAV.cs.yaw;
                        ori.Roll    = -MainV2.comPort.MAV.cs.roll;
                        ori.Tilt    = -MainV2.comPort.MAV.cs.pitch;

                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                        sca.X = 2;
                        sca.Y = 2;
                        sca.Z = 2;

                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                        model.Location     = loc;
                        model.Orientation  = ori;
                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                        model.Scale        = sca;

                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                        model.Link = link;

                        pmplane.Geometry = model;

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude     = loc.Altitude.Value,
                            Latitude     = loc.Latitude.Value,
                            Longitude    = loc.Longitude.Value,
                            Tilt         = 80,
                            Heading      = MainV2.comPort.MAV.cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range        = 50
                        };

                        kml.Viewpoint = la;

                        kml.AddFeature(pmplane);

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        foreach (var point in MainV2.comPort.MAV.wps.Values)
                        {
                            coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                        ls.Coordinates  = coords;

                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
                        {
                            Geometry = ls
                        };

                        kml.AddFeature(pm);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + buffer.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.Contains("block_plane_0.dae"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file   = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[]       buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.Contains("hud.html"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file   = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[]       buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
                    {
                        refreshmap();

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\r\n\r\n--APMPLANNER\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        while (client.Connected)
                        {
                            System.Threading.Thread.Sleep(200); // 5hz
                            byte[] data = null;

                            if (url.ToLower().Contains("hud"))
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                data = GCSViews.FlightData.myhud.streamjpg.ToArray();
                            }
                            else if (url.ToLower().Contains("map"))
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                data = GCSViews.FlightData.mymap.streamjpg.ToArray();
                            }
                            else
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                Image img1   = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
                                Image img2   = Image.FromStream(GCSViews.FlightData.mymap.streamjpg);
                                int   bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
                                Image imgout = new Bitmap(img1.Width + img2.Width, bigger);

                                Graphics grap = Graphics.FromImage(imgout);

                                grap.DrawImageUnscaled(img1, 0, 0);
                                grap.DrawImageUnscaled(img2, img1.Width, 0);

                                MemoryStream streamjpg = new MemoryStream();
                                imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
                                data = streamjpg.ToArray();
                            }

                            header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
                            temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Write(data, 0, data.Length);

                            header = "\r\n--APMPLANNER\r\n";
                            temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        GCSViews.FlightData.mymap.streamjpgenable = false;
                        GCSViews.FlightData.myhud.streamjpgenable = false;
                        stream.Close();
                    }
                    else if (url.Contains("/guided?"))
                    {
                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30

                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains(".jpg"))
                    {
                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            using (Image orig = Image.FromFile(georefimagepath + fileurl))
                                using (Image resi = ResizeImage(orig, new Size(640, 480)))
                                    using (MemoryStream memstream = new MemoryStream())
                                    {
                                        resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);

                                        memstream.Position = 0;

                                        string header = "HTTP/1.1 200 OK\r\nContent-Type: image/jpg\r\nContent-Length: " + memstream.Length + "\r\n\r\n";
                                        byte[] temp   = asciiEncoding.GetBytes(header);
                                        stream.Write(temp, 0, temp.Length);

                                        BinaryReader file   = new BinaryReader(memstream);
                                        byte[]       buffer = new byte[1024];
                                        while (file.BaseStream.Position < file.BaseStream.Length)
                                        {
                                            int leng = file.Read(buffer, 0, buffer.Length);

                                            stream.Write(buffer, 0, leng);
                                        }
                                        file.Close();
                                        resi.Dispose();
                                        orig.Dispose();
                                    }

                            goto again;

                            //stream.Close();
                        }
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("post /guide"))
                    {
                        Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(head);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/command_long"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/rcoverride"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/get_mission"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/mavlink/"))
                    {
                        /*
                         * GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
                         * Host: ubuntu:9999
                         * Connection: keep-alive
                         * X-Requested-With: XMLHttpRequest
                         * User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
                         * Accept:
                         * Referer: http://ubuntu:9999/index.html
                         * Accept-Encoding: gzip,deflate,sdch
                         * Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
                         * Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
                         *
                         * HTTP/1.1 200 OK
                         * Content-Type: application/json
                         * Content-Length: 2121
                         * Date: Thu, 29 Nov 2012 12:13:38 GMT
                         * Server: ubuntu
                         *
                         * {
                         * "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
                         * "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
                         * "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
                         * "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
                         * "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
                         * "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
                         * "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
                         * "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
                         * "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
                         */

                        JavaScriptSerializer serializer = new JavaScriptSerializer();

                        object[] data = new object[20];


                        Messagejson message = new Messagejson();


                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
                        {
                            message.ATTITUDE = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_ATTITUDE], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE].ByteArrayToStructure <MAVLink.mavlink_attitude_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] != null)
                        {
                            message.VFR_HUD = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_VFR_HUD], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD].ByteArrayToStructure <MAVLink.mavlink_vfr_hud_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] != null)
                        {
                            message.NAV_CONTROLLER_OUTPUT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT].ByteArrayToStructure <MAVLink.mavlink_nav_controller_output_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT] != null)
                        {
                            message.GPS_RAW_INT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT].ByteArrayToStructure <MAVLink.mavlink_gps_raw_int_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT] != null)
                        {
                            message.HEARTBEAT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_HEARTBEAT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT].ByteArrayToStructure <MAVLink.mavlink_heartbeat_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS] != null)
                        {
                            message.GPS_STATUS = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_GPS_STATUS], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS].ByteArrayToStructure <MAVLink.mavlink_gps_status_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null)
                        {
                            message.STATUSTEXT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].ByteArrayToStructure <MAVLink.mavlink_statustext_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS] != null)
                        {
                            message.SYS_STATUS = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_SYS_STATUS], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS].ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6)
                            }
                        }
                        ;

                        message.META_LINKQUALITY = message.SYS_STATUS = new Message2()
                        {
                            index = packetindex, msg = new META_LINKQUALITY()
                            {
                                master_in = (int)MainV2.comPort.packetsnotlost, mavpackettype = "META_LINKQUALITY", master_out = MainV2.comPort.packetcount, packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs
                            }
                        };

                        packetindex++;

                        string output = serializer.Serialize(message);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " + output.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        temp = asciiEncoding.GetBytes(output);
                        stream.Write(temp, 0, temp.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.ToLower().Contains("/mav/"))
                    {
                        //C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web


                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            fileurl = fileurl.Replace("/mav/", "");

                            if (fileurl == "" || fileurl == "/")
                            {
                                fileurl = "index.html";
                            }

                            string header = "HTTP/1.1 200 OK\r\n";
                            if (fileurl.Contains(".html"))
                            {
                                header += "Content-Type: text/html\r\n\r\n";
                            }
                            else if (fileurl.Contains(".js"))
                            {
                                header += "Content-Type: application/x-javascript\r\n\r\n";
                            }
                            else if (fileurl.Contains(".css"))
                            {
                                header += "Content-Type: text/css\r\n\r\n";
                            }
                            else
                            {
                                header += "Content-Type: text/plain\r\n\r\n";
                            }
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);


                            BinaryReader file   = new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read, FileShare.Read));
                            byte[]       buffer = new byte[1024];
                            while (file.BaseStream.Position < file.BaseStream.Length)
                            {
                                int leng = file.Read(buffer, 0, buffer.Length);

                                stream.Write(buffer, 0, leng);
                            }
                            file.Close();
                            stream.Close();
                        }
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Close();
                        }
                    }
                    else
                    {
                        Console.WriteLine(url);
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        string content = @"
                <a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>

";
                        temp = asciiEncoding.GetBytes(content);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }

                    stream.Close();
                }
                catch (Exception ee)
                {
                    log.Error("Failed mjpg ", ee);
                    try
                    {
                        client.Close();
                    }
                    catch { }
                }
            }
        }
Example #2
0
        public void DoAcceptTcpClientCallback(IAsyncResult ar)
        {
            // Get the listener that handles the client request.
            TcpListener listener = (TcpListener)ar.AsyncState;

            // End the operation and display the received data on
            // the console.
            using (
            TcpClient client = listener.EndAcceptTcpClient(ar))
            {

                // Signal the calling thread to continue.
                tcpClientConnected.Set();

                try
                {

                    // Get a stream object for reading and writing
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.mymap.streamjpgenable = true;
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    NetworkStream stream = client.GetStream();

                    // 3 seconds
                    stream.ReadTimeout = 3000;

                again:

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024];

                    int len = stream.Read(request, 0, request.Length);
                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    if (url.Contains("websocket"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end = head.IndexOf('\r', start);
                            if (end == -1)
                                end = head.IndexOf('\n', start);
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);

                            writer.WriteLine("Server: APM Planner");

                            writer.WriteLine("");

                            writer.Flush();

                            while (client.Connected)
                            {
                                Thread.Sleep(200);
                                log.Debug(stream.DataAvailable + " " + client.Available);

                                while (client.Available > 0)
                                {
                                    Console.Write(stream.ReadByte());
                                }

                                byte[] packet = new byte[256];

                                string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw;

                                packet[0] = 0x81; // fin - binary
                                packet[1] = (byte)sendme.Length;

                                int i = 2;
                                foreach (char ch in sendme)
                                {
                                    packet[i++] = (byte)ch;
                                }

                                stream.Write(packet, 0, i);

                                //break;
                            }
                        }
                    }
                    else if (url.Contains("georefnetwork.kml"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + georefkml.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.Contains("network.kml"))
                    {

                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                        pmplane.Name = "P/Q ";

                        pmplane.Visibility = true;

                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                        loc.Latitude = MainV2.comPort.MAV.cs.lat;
                        loc.Longitude = MainV2.comPort.MAV.cs.lng;
                        loc.Altitude = MainV2.comPort.MAV.cs.alt;

                        if (loc.Altitude < 0)
                            loc.Altitude = 0.01;

                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                        ori.Heading = MainV2.comPort.MAV.cs.yaw;
                        ori.Roll = -MainV2.comPort.MAV.cs.roll;
                        ori.Tilt = -MainV2.comPort.MAV.cs.pitch;

                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                        sca.X = 2;
                        sca.Y = 2;
                        sca.Z = 2;

                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                        model.Location = loc;
                        model.Orientation = ori;
                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                        model.Scale = sca;

                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                        model.Link = link;

                        pmplane.Geometry = model;

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude = loc.Altitude.Value,
                            Latitude = loc.Latitude.Value,
                            Longitude = loc.Longitude.Value,
                            Tilt = 80,
                            Heading = MainV2.comPort.MAV.cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range = 50
                        };

                        kml.Viewpoint = la;

                        kml.AddFeature(pmplane);

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        foreach (var point in MainV2.comPort.MAV.wps.Values)
                        {
                            coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                        ls.Coordinates = coords;

                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark() { Geometry = ls };

                        kml.AddFeature(pm);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.Contains("block_plane_0.dae"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {

                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.Contains("hud.html"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {

                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
                    {
                        refreshmap();

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\r\n\r\n--APMPLANNER\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        while (client.Connected)
                        {
                            System.Threading.Thread.Sleep(200); // 5hz
                            byte[] data = null;

                            if (url.ToLower().Contains("hud"))
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                data = GCSViews.FlightData.myhud.streamjpg.ToArray();
                            }
                            else if (url.ToLower().Contains("map"))
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                data = GCSViews.FlightData.mymap.streamjpg.ToArray();
                            }
                            else
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
                                Image img2 = Image.FromStream(GCSViews.FlightData.mymap.streamjpg);
                                int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
                                Image imgout = new Bitmap(img1.Width + img2.Width, bigger);

                                Graphics grap = Graphics.FromImage(imgout);

                                grap.DrawImageUnscaled(img1, 0, 0);
                                grap.DrawImageUnscaled(img2, img1.Width, 0);

                                MemoryStream streamjpg = new MemoryStream();
                                imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
                                data = streamjpg.ToArray();

                            }

                            header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Write(data, 0, data.Length);

                            header = "\r\n--APMPLANNER\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                        }
                        GCSViews.FlightData.mymap.streamjpgenable = false;
                        GCSViews.FlightData.myhud.streamjpgenable = false;
                        stream.Close();

                    }
                    else if (url.Contains("/guided?"))
                    {
                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30

                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains(".jpg"))
                    {
                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            using (Image orig = Image.FromFile(georefimagepath + fileurl))
                            using (Image resi = ResizeImage(orig, new Size(640, 480)))
                            using (MemoryStream memstream = new MemoryStream())
                            {
                                resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);

                                memstream.Position = 0;

                                string header = "HTTP/1.1 200 OK\r\nContent-Type: image/jpg\r\nContent-Length: " + memstream.Length + "\r\n\r\n";
                                byte[] temp = asciiEncoding.GetBytes(header);
                                stream.Write(temp, 0, temp.Length);

                                BinaryReader file = new BinaryReader(memstream);
                                byte[] buffer = new byte[1024];
                                while (file.BaseStream.Position < file.BaseStream.Length)
                                {

                                    int leng = file.Read(buffer, 0, buffer.Length);

                                    stream.Write(buffer, 0, leng);
                                }
                                file.Close();
                                resi.Dispose();
                                orig.Dispose();
                            }

                            goto again;

                            //stream.Close();
                        }
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("post /guide"))
                    {
                        Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(head);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/command_long"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/rcoverride"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/get_mission"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    else if (url.ToLower().Contains("/mavlink/"))
                    {
                        /*
            GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
            Host: ubuntu:9999
            Connection: keep-alive
            X-Requested-With: XMLHttpRequest
            User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
            Accept:
            Referer: http://ubuntu:9999/index.html
            Accept-Encoding: gzip,deflate,sdch
            Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
            Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3

            HTTP/1.1 200 OK
            Content-Type: application/json
            Content-Length: 2121
            Date: Thu, 29 Nov 2012 12:13:38 GMT
            Server: ubuntu

            {
            "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
            "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
            "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
            "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
            "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
            "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
            "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
            "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
            "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
                      */

                        JavaScriptSerializer serializer = new JavaScriptSerializer();

                        object[] data = new object[20];

                        Messagejson message = new Messagejson();

                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
                            message.ATTITUDE = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_ATTITUDE], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE].ByteArrayToStructure<MAVLink.mavlink_attitude_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] != null)
                            message.VFR_HUD = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_VFR_HUD], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD].ByteArrayToStructure<MAVLink.mavlink_vfr_hud_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] != null)
                            message.NAV_CONTROLLER_OUTPUT = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT].ByteArrayToStructure<MAVLink.mavlink_nav_controller_output_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT] != null)
                            message.GPS_RAW_INT = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT].ByteArrayToStructure<MAVLink.mavlink_gps_raw_int_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT] != null)
                            message.HEARTBEAT = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_HEARTBEAT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT].ByteArrayToStructure<MAVLink.mavlink_heartbeat_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS] != null)
                            message.GPS_STATUS = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_GPS_STATUS], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS].ByteArrayToStructure<MAVLink.mavlink_gps_status_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null)
                            message.STATUSTEXT = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].ByteArrayToStructure<MAVLink.mavlink_statustext_t>(6) };
                        if (MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS] != null)
                            message.SYS_STATUS = new Message2() { index = MainV2.comPort.MAV.packetseencount[MAVLink.MAVLINK_MSG_ID_SYS_STATUS], msg = MainV2.comPort.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS].ByteArrayToStructure<MAVLink.mavlink_sys_status_t>(6) };

                        message.META_LINKQUALITY = message.SYS_STATUS = new Message2() { index = packetindex, time_usec = 0, msg = new META_LINKQUALITY() { master_in = (int)MainV2.comPort.packetsnotlost, mavpackettype = "META_LINKQUALITY", master_out = MainV2.comPort.packetcount, packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs, mav_loss = 0 } };

                        packetindex++;

                        string output = serializer.Serialize(message);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " + output.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        temp = asciiEncoding.GetBytes(output);
                        stream.Write(temp, 0, temp.Length);

                        goto again;

                        //stream.Close();
                    }
                    else if (url.ToLower().Contains("/mav/"))
                    {
                        //C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web

                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            fileurl = fileurl.Replace("/mav/", "");

                            if (fileurl == "" || fileurl == "/")
                                fileurl = "index.html";

                            string header = "HTTP/1.1 200 OK\r\n";
                            if (fileurl.Contains(".html"))
                                header += "Content-Type: text/html\r\n\r\n";
                            else if (fileurl.Contains(".js"))
                                header += "Content-Type: application/x-javascript\r\n\r\n";
                            else if (fileurl.Contains(".css"))
                                header += "Content-Type: text/css\r\n\r\n";
                            else
                                header += "Content-Type: text/plain\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            BinaryReader file = new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read, FileShare.Read));
                            byte[] buffer = new byte[1024];
                            while (file.BaseStream.Position < file.BaseStream.Length)
                            {

                                int leng = file.Read(buffer, 0, buffer.Length);

                                stream.Write(buffer, 0, leng);
                            }
                            file.Close();
                            stream.Close();
                        }
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Close();
                        }

                    }
                    else
                    {
                        Console.WriteLine(url);
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        string content = @"
                <a href=/mav/>Mavelous</a>
            <a href=/mavlink/>Mavelous traffic</a>
            <a href=/hud.jpg>Hud image</a>
            <a href=/map.jpg>Map image </a>
            <a href=/both.jpg>Map & hud image</a>
            <a href=/hud.html>hud html5</a>
            <a href=/network.kml>network kml</a>

            ";
                        temp = asciiEncoding.GetBytes(content);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }

                    stream.Close();
                }
                catch (Exception ee)
                {
                    log.Error("Failed mjpg ", ee);
                    try
                    {
                        client.Close();
                    }
                    catch { }
                }
            }
        }
        /// <summary>          
        /// little web server for sending network link kml's          
        /// </summary>          
        void listernforclients()
        {
            try
            {
                listener.Start();
            }
            catch (Exception e)
            {
                log.Error("Exception starting lister. Possible multiple instances of planner?", e);
                return;
            } // in use
            // Enter the listening loop.
            while (true)
            {
                // Perform a blocking call to accept requests.
                // You could also user server.AcceptSocket() here.
                try
                {
                    log.Info("Listening for client - 1 client at a time");
                    TcpClient client = listener.AcceptTcpClient();
                    // Get a stream object for reading and writing
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.mymap.streamjpgenable = true;
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    MethodInvoker m = delegate()
                    {
                        GCSViews.FlightData.mymap.Refresh();
                    };
                    this.Invoke(m);

                    NetworkStream stream = client.GetStream();

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024];

                    int len = stream.Read(request, 0, request.Length);
                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    if (url.Contains("websocket"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end = head.IndexOf('\r', start);
                            if (end == -1)
                                end = head.IndexOf('\n', start);
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);

                            writer.WriteLine("Server: APM Planner");

                            writer.WriteLine("");

                            writer.Flush();

                            while (client.Connected)
                            {
                                Thread.Sleep(200);
                                log.Debug(stream.DataAvailable + " " + client.Available);

                                while (client.Available > 0)
                                {
                                    Console.Write(stream.ReadByte());
                                }

                                byte[] packet = new byte[256];

                                string sendme = cs.roll + "," + cs.pitch + "," + cs.yaw;

                                packet[0] = 0x81; // fin - binary
                                packet[1] = (byte)sendme.Length;

                                int i = 2;
                                foreach (char ch in sendme)
                                {
                                    packet[i++] = (byte)ch;
                                }

                                stream.Write(packet, 0, i);

                                //break;
                            }
                        }
                    }
                    else if (url.Contains("georefnetwork.kml"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        stream.Write(buffer, 0, buffer.Length);

                        stream.Close();
                    }
                    else if (url.Contains("network.kml"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                        pmplane.Name = "P/Q ";

                        pmplane.Visibility = true;

                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                        loc.Latitude = cs.lat;
                        loc.Longitude = cs.lng;
                        loc.Altitude = cs.alt;

                        if (loc.Altitude < 0)
                            loc.Altitude = 0.01;

                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                        ori.Heading = cs.yaw;
                        ori.Roll = -cs.roll;
                        ori.Tilt = -cs.pitch;

                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                        sca.X = 2;
                        sca.Y = 2;
                        sca.Z = 2;

                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                        model.Location = loc;
                        model.Orientation = ori;
                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                        model.Scale = sca;

                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                        model.Link = link;

                        pmplane.Geometry = model;

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude = loc.Altitude.Value,
                            Latitude = loc.Latitude.Value,
                            Longitude = loc.Longitude.Value,
                            Tilt = 80,
                            Heading = cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range = 50
                        };

                        kml.Viewpoint = la;

                        kml.AddFeature(pmplane);

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        foreach (var point in GCSViews.FlightPlanner.pointlist)
                        {
                            if (point != null)
                                coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));

                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                        ls.Coordinates = coords;

                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark() { Geometry = ls };

                        kml.AddFeature(pm);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        stream.Write(buffer, 0, buffer.Length);

                        stream.Close();
                    }
                    else if (url.Contains("block_plane_0.dae"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {

                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.Contains("hud.html"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {

                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\r\n\r\n--APMPLANNER\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        while (client.Connected)
                        {
                            System.Threading.Thread.Sleep(200); // 5hz
                            byte[] data = null;

                            if (url.ToLower().Contains("hud"))
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                data = GCSViews.FlightData.myhud.streamjpg.ToArray();
                            }
                            else if (url.ToLower().Contains("map"))
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                data = GCSViews.FlightData.mymap.streamjpg.ToArray();
                            }
                            else
                            {
                                GCSViews.FlightData.mymap.streamjpgenable = true;
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
                                Image img2 = Image.FromStream(GCSViews.FlightData.mymap.streamjpg);
                                int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
                                Image imgout = new Bitmap(img1.Width + img2.Width, bigger);

                                Graphics grap = Graphics.FromImage(imgout);

                                grap.DrawImageUnscaled(img1, 0, 0);
                                grap.DrawImageUnscaled(img2, img1.Width, 0);

                                MemoryStream streamjpg = new MemoryStream();
                                imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
                                data = streamjpg.ToArray();

                            }

                            header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Write(data, 0, data.Length);

                            header = "\r\n--APMPLANNER\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                        }
                        GCSViews.FlightData.mymap.streamjpgenable = false;
                        GCSViews.FlightData.myhud.streamjpgenable = false;
                        stream.Close();

                    }
                    stream.Close();
                }
                catch (Exception ee)
                {
                    log.Error("Failed mjpg ", ee);
                }
            }
        }