public MavlinkPayloadServer(MavlinkPayloadServerConfig cfg, bool sendHeartBeatMessages = true)
{
_logger.Info($"Create mavlink payload server: cs:{cfg.ConnectionString}, comId:{cfg.Identity.ComponenId}, sysId:{cfg.Identity.SystemId}, netId:{cfg.Identity.NetworkId}");
_conn = new MavlinkV2Connection(cfg.ConnectionString, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
_srv = new MavlinkServerBase(_conn, cfg.Identity);
_identity = cfg.Identity;
_srv.Heartbeat.Set(_ =>
{
_.Autopilot = MavAutopilot.MavAutopilotGeneric;
_.Type = MavType.MavTypeGeneric;
_.SystemStatus = MavState.MavStateActive;
_.MavlinkVersion = 3;
_.CustomMode = PayloadHelper.HeartbeatMagicDigit;
});
if (sendHeartBeatMessages)
{
_srv.Heartbeat.Start();
}
_srv.V2Extension.OnData.Where(CheckPacketTarget).Subscribe(OnData, _disposeCancel.Token);
}
public GroundControlStation()
{
MavlinkV2 = new MavlinkV2Connection(Ports, _ =>
{
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
_cancel.Token.Register(() => _foundDeviceSubject.Dispose());
_cancel.Token.Register(() => _lostDeviceSubject.Dispose());
MavlinkV2.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId).Cast <HeartbeatPacket>().Subscribe(DeviceFounder, _cancel.Token);
Observable.Timer(TimeSpan.FromSeconds(1), TimeSpan.FromSeconds(1)).Subscribe(_ => RemoveOldDevice(), _cancel.Token);
}
public GroundControlStation(GroundControlStationIdentity config, IPacketSequenceCalculator sequenceCalculator = null, int sendHeartBeatMs = 0)
{
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_seq = sequenceCalculator ?? new PacketSequenceCalculator();
_config = config;
MavlinkV2 = new MavlinkV2Connection(Ports, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
_cancel.Token.Register(() =>
{
_foundDeviceSubject.OnCompleted();
_foundDeviceSubject.Dispose();
});
_cancel.Token.Register(() =>
{
_lostDeviceSubject.OnCompleted();
_lostDeviceSubject.Dispose();
});
MavlinkV2.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId).Cast <HeartbeatPacket>().Subscribe(DeviceFounder, _cancel.Token);
Observable.Timer(TimeSpan.FromSeconds(3), TimeSpan.FromSeconds(3)).Subscribe(_ => RemoveOldDevice(), _cancel.Token);
if (sendHeartBeatMs != 0)
{
_transponder = new MavlinkPacketTransponder <HeartbeatPacket, HeartbeatPayload>(MavlinkV2, new MavlinkPayloadIdentity {
ComponenId = _config.ComponentId, SystemId = _config.SystemId
}, _seq);
_transponder.Set(_ =>
{
_.Autopilot = MavAutopilot.MavAutopilotInvalid;
_.BaseMode = 0;
_.CustomMode = 0;
_.MavlinkVersion = 3;
_.SystemStatus = MavState.MavStateActive;
_.Type = MavType.MavTypeGcs;
});
_transponder.Start(TimeSpan.FromMilliseconds(sendHeartBeatMs));
}
}
