public void AddFiles(DroneConfig config, IList<string> sourceFiles, IList<string> referenceFiles)
{
if(config == null)
throw new ArgumentNullException("config");
if(sourceFiles == null)
throw new ArgumentNullException("sourceFiles");
if(referenceFiles == null)
throw new ArgumentNullException("referenceFiles");
var sourcesToAdd = sourceFiles.Except(config.SourceFiles).ToList();
var referencesToAdd = referenceFiles.Except(config.ReferenceFiles).ToList();
if (sourcesToAdd.Count == 0 && referencesToAdd.Count == 0)
{
this.log.Warn("no files added. files already exists in config");
return;
}
var fileNotFound = this.EnsureFilesExists(config.DirPath, sourcesToAdd.Concat(referencesToAdd));
if (fileNotFound)
return;
config.SourceFiles.AddRange(sourcesToAdd);
config.ReferenceFiles.AddRange(referencesToAdd);
foreach (var file in sourcesToAdd.Concat(referencesToAdd))
this.log.Info("added '{0}'", file);
}
private void SetDialogSettings(DroneConfig droneConfig, HudConfig hudConfig)
{
configSettings = new GeneralConfigBinding(droneConfig, hudConfig);
configSettings.PropertyChanged += configSettings_PropertyChanged;
this.DataContext = configSettings;
}
public GeneralConfigWindow(DroneConfig droneConfig, HudConfig hudConfig)
{
InitializeComponent();
SetDialogSettings(droneConfig, hudConfig);
UpdateDependentHudCheckBoxes(hudConfig.ShowHud);
}
public GeneralConfigBinding(DroneConfig droneConfig, HudConfig hudConfig)
{
networkUtils = new NetworkUtils();
TakeOverDroneConfigSettings(droneConfig);
TakeOverHudConfigSettings(hudConfig);
}
private void InitializeDroneControl()
{
currentDroneConfig = new DroneConfig();
currentDroneConfig.Load();
InitializeDroneControl(currentDroneConfig);
}
private void SaveDroneAndHudConfigStates(DroneConfig droneConfig /*, HudConfig hudConfig*/)
{
currentDroneConfig = droneConfig;
//currentHudConfig = hudConfig;
droneConfig.Save();
//hudConfig.Save();
}
private void SaveDroneAndHudConfigStates(DroneConfig droneConfig, HudConfig hudConfig)
{
currentDroneConfig = droneConfig;
currentHudConfig = hudConfig;
droneConfig.Save();
hudConfig.Save();
}
public GeneralConfigWindow(DroneConfig droneConfig, HudConfig hudConfig)
{
InitializeComponent();
SetDialogSettings(droneConfig, hudConfig);
UpdateDependentHudCheckBoxes(hudConfig.ShowHud);
UpdateFirmwareVersionComboBox(droneConfig.UseSpecificFirmwareVersion);
}
public CommandSender(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion, DroneCameraMode defaultCameraMode, DroneConfig droneConfig)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
this.defaultCameraMode = defaultCameraMode;
this.droneConfig = droneConfig;
ResetVariables();
}
public CommandSender(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion, DroneCameraMode defaultCameraMode, DroneConfig droneConfig)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
this.defaultCameraMode = defaultCameraMode;
this.droneConfig = droneConfig;
ResetVariables();
}
public DroneModule Load(DroneConfig config)
{
if (!File.Exists(config.AssemblyFilePath))
throw DroneAssemblyNotFoundException.Get(config.AssemblyFilePath);
var assembly = null as Assembly;
this.log.Debug("attempting to load drone module assembly: '{0}'", Path.GetFileName(config.AssemblyFilePath));
try
{
assembly = Assembly.LoadFrom(config.AssemblyFilePath);
this.log.Debug("assembly loaded");
}
catch (Exception ex)
{
throw DroneAssemblyLoadException.Get(config.AssemblyFilePath, ex);
}
this.log.Debug("searching for main drone module...");
var moduleTypes = (from type in assembly.GetTypes()
where typeof(DroneModule).IsAssignableFrom(type) &&
type.Name.ToLower() == DroneModule.MainModuleName.ToLower()
select type).ToList();
if (moduleTypes.Count > 0)
{
this.log.Debug("found {0} drone module{1}", moduleTypes.Count, moduleTypes.Count > 1 ? "s" : string.Empty);
if(moduleTypes.Count > 1)
throw DroneTooManyMainModulesFoundException.Get(moduleTypes);
var moduleType = moduleTypes[0];
this.log.Debug("creating drone module instance from type: '{0}'", moduleType.FullName);
try
{
var module = Activator.CreateInstance(moduleType) as DroneModule;
this.log.Debug("drone module created");
return module;
}
catch(Exception ex)
{
throw DroneCreateMainModuleFailedException.Get(ex, moduleType);
}
}
else
{
this.log.Debug("no drone modules found");
throw DroneMainModuleNotFoundException.Get();
}
}
private void InitializeDroneControl()
{
DroneConfig droneConfig = new DroneConfig();
droneConfig.FirmwareVersion = SupportedFirmwareVersion.Firmware_164_Or_Above;
droneConfig.DefaultCameraMode = DroneCameraMode.BottomCamera;
droneControl = new DroneControl(droneConfig);
droneControl.Error += droneControl_Error_Async;
droneControl.ConnectionStateChanged += droneControl_ConnectionStateChanged_Async;
}
private void InitializeDroneControl()
{
DroneConfig droneConfig = new DroneConfig();
droneConfig.DefaultCameraMode = DroneCameraMode.BottomCamera;
droneControl = new DroneControl();
droneControl.Init(droneConfig);
droneControl.Error += droneControl_Error_Async;
droneControl.ConnectionStateChanged += droneControl_ConnectionStateChanged_Async;
}
public bool IsRecompileNeeded(DroneConfig config)
{
this.EnsureBuildDirExits(config);
if(!File.Exists(config.AssemblyFilePath))
return true;
if(!File.Exists(this.GetCacheFileName(config)))
return true;
var cache = this.store.Load<FileMetadataCache>(this.GetCacheFileName(config));
return cache.HasChanges();
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
UseP264 = droneConfig.InitialSettings.Any(x => x.Key == videoCodec && x.Value == VideoCodecs.P264);
}
public DroneConfig GetResultingDroneConfig()
{
DroneConfig droneConfig = new DroneConfig();
droneConfig.DroneNetworkIdentifierStart = droneNetworkSSID;
droneConfig.DroneIpAddress = droneIpAddress;
droneConfig.StandardOwnIpAddress = ownIpAddress;
droneConfig.CommandPort = Int32.Parse(commandPortText);
droneConfig.NavigationPort = Int32.Parse(navigationPortText);
droneConfig.VideoPort = Int32.Parse(videoPortText);
droneConfig.ControlInfoPort = Int32.Parse(controlPortText);
droneConfig.FirmwareVersion = firmwareVersion;
return(droneConfig);
}
public DroneConfig GetResultingDroneConfig()
{
DroneConfig droneConfig = new DroneConfig();
droneConfig.DroneNetworkIdentifierStart = droneNetworkSSID;
droneConfig.DroneIpAddress = droneIpAddress;
droneConfig.StandardOwnIpAddress = ownIpAddress;
droneConfig.CommandPort = Int32.Parse(commandPortText);
droneConfig.NavigationPort = Int32.Parse(navigationPortText);
droneConfig.VideoPort = Int32.Parse(videoPortText);
droneConfig.ControlInfoPort = Int32.Parse(controlPortText);
droneConfig.FirmwareVersion = firmwareVersion;
droneConfig.InitialSettings.RemoveAll(x => x.Key == videoCodec);
droneConfig.InitialSettings.Add(new DroneSetting(videoCodec, UseP264 ? VideoCodecs.P264 : VideoCodecs.VLIB));
return(droneConfig);
}
private void InitializeDroneControl(DroneConfig droneConfig)
{
droneControl = new DroneControl(droneConfig);
}
public void RemoveFiles(DroneConfig config, IList<string> sourceFiles, IList<string> referenceFiles)
{
if(config == null)
throw new ArgumentNullException("config");
if(sourceFiles == null)
throw new ArgumentNullException("sourceFiles");
if(referenceFiles == null)
throw new ArgumentNullException("referenceFiles");
var sourcesRemoved = sourceFiles
.Where(x => config.SourceFiles.Remove(x))
.ToList();
var referencesRemoved = referenceFiles
.Where(x => config.ReferenceFiles.Remove(x))
.ToList();
if (sourcesRemoved.Count == 0 && referencesRemoved.Count == 0)
{
this.log.Warn("nothing to remove. files do not exist in config");
return;
}
foreach (var file in sourcesRemoved.Concat(referencesRemoved))
this.log.Info("removed '{0}'", file);
}
public void SaveConfig(DroneConfig config)
{
if(config == null)
throw new ArgumentNullException("config");
this.store.Save(config.FilePath, config);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig droneConfig, Func <uint> additionalSequenceNumber)
{
CheckSequenceNumber();
if (!multiConfig)
{
return(String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, configurationKey, configurationValue));
}
string cmd = String.Format("AT*CONFIG_IDS={0},\"{1}\",\"{2}\",\"{3}\"\r", sequenceNumber, GetCrc32(droneConfig.SessionId), GetCrc32(droneConfig.UserId), GetCrc32(droneConfig.ApplicationId));
if (configurationKey == null)
{
return(cmd);
}
return(string.Format("{0}AT*CONFIG={1},\"{2}\",\"{3}\"\r", cmd, additionalSequenceNumber(), configurationKey, configurationValue));
}
public void InitDroneDir(DroneConfig config)
{
if(config == null)
throw new ArgumentNullException("config");
if(Directory.Exists(config.DroneDirPath))
return;
Directory.CreateDirectory(config.DroneDirPath);
if(!Directory.Exists(config.DroneSourceDirPath))
Directory.CreateDirectory(config.DroneSourceDirPath);
if(!Directory.Exists(config.DroneReferencesDirPath))
Directory.CreateDirectory(config.DroneReferencesDirPath);
var referenceFiles = this.compiler.GetBaseReferenceFiles(this.GetAppPathBaseDir());
foreach(var referenceFile in referenceFiles)
{
var destFile = Path.Combine(config.DroneReferencesDirPath, Path.GetFileName(referenceFile));
File.Copy(referenceFile, destFile);
}
}
public DroneController(IOptions <DroneConfig> config, ILoggerFactory loggerFactory, IHttpClientService httpClientService)
{
_httpClientService = httpClientService;
_config = config.Value;
_logger = loggerFactory.CreateLogger <DroneController>();
}
private void CreateCache(DroneConfig config)
{
var cache = new FileMetadataCache();
cache.Add(new FileInfo(config.FilePath));
foreach(var source in this.ResolveSourceFiles(config.SourceFiles, config.DirPath))
cache.Add(new FileInfo(source));
foreach(var reference in this.ResolveReferenceFiles(config.ReferenceFiles, config.DirPath))
cache.Add(new FileInfo(reference));
this.store.Save(this.GetCacheFileName(config), cache);
}
private void CreateNewDroneConfig()
{
droneConfig = configSettings.GetResultingDroneConfig();
}
private void EnsureBuildDirExits(DroneConfig config)
{
if(config == null)
throw new ArgumentNullException("config");
if(!Directory.Exists(config.BuildDirPath))
Directory.CreateDirectory(config.BuildDirPath);
}
private string GetCacheFileName(DroneConfig config)
{
return Path.Combine(config.BuildDirPath, CacheFileName);
}
public MvcConfig()
{
Debug = new DebugConfig();
Drone = new DroneConfig();
Site = new SiteConfig();
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig config, Func<uint> additionalSequenceNumber)
{
return CreateCommand(firmwareVersion);
}
public MvcConfig()
{
Debug = new DebugConfig();
Drone = new DroneConfig();
Site = new SiteConfig();
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig config, Func <uint> additionalSequenceNumber)
{
return(CreateCommand(firmwareVersion));
}
