public UavDataparser(UAVObjectManager dataManager)
{
rxTmpBuffer = new ByteBuffer(4);
rxBuffer = new ByteBuffer(uavConsts.MAX_PAYLOAD_LENGTH);
_stats = new ComStats();
rxState = commState.SYNC;
rxPacketLength = 0;
_objMgr = dataManager;
}
public UavTalkProto(ICommChannel communicationChannel, UAVObjectManager objMgr)
{
this.objMgr = objMgr;
parser = new UavDataparser(objMgr);
parser.onObjectReceived += new UavDataparser.onObjectReceivedDelegate(parser_onObjectReceived);
txStats = new ComStats();
ch = communicationChannel;
ch.onDataReceived += ch_onDataReceived;
statTimer = new Timer(1000);
statTimer.Elapsed += statTimer_Elapsed;
statTimer.Start();
}
public Form1()
{
InitializeComponent();
mgr = new UAVObjectManager();
UAVObjectsInitialize.register(mgr);
foreach (var item in mgr.getObjects())
{
item[0].onUpdated += new EventHandler(obj_updated);
}
applyStyle();
/*FileChannel ch = new FileChannel(@"C:\Users\mimmo\Google Drive\Mimmo\cc3d\TauLabs-2013-05-19_11-13-29.tll");
UavTalk.UavTalk tlk = new UavTalk.UavTalk(ch, mgr);
timestamp = 0;
ch.open();*/
}
static void exportMatlabTest()
{
UAVObjectManager mgr = new UAVObjectManager();
UAVObjectsInitialize.register(mgr);
UavLogReader rd = new UavLogReader(mgr);
var data = rd.parseFile(@"C:\Users\mimmo\Desktop\xports\OP-2014-01-13_22-17-14.opl");
IEnumerable<AccelSensor> mags = data.OfType<AccelSensor>().Where(k => k.temperature.value < 37);
var gyro = data.OfType<GyroSensor>().Where(k => k.temperature.value < 37);
List<MLArray> data1 = new List<MLArray>();
foreach (var type in data.Select(k => k.GetType()).Distinct().OrderBy(k => k.Name))
{
IEnumerable<UAVObject> qq = data.Where(k => k.GetType() == type);
data1.Add(getStructure(qq, type));
}
MatFileWriter mfw = new MatFileWriter(@"C:\Users\mimmo\Desktop\xports\test2.mat", data1, true);
}
static void exportKml(string filename, string outputFile)
{
Document kml = new Document();
FileChannel ch = new FileChannel(filename);
UAVObjectManager mgr = new UAVObjectManager();
UAVObjectsInitialize.register(mgr);
UavTalk.UavTalkProto tlk = new UavTalkProto(ch, mgr);
mgr.getObject<GPSPositionSensor>().onUpdated += new EventHandler(GpsPositionReceived);
mgr.getObject<PositionState>().onUpdated += new EventHandler(GpsPositionReceived);
ch.open();
while (ch.isRunning)
Thread.Sleep(50);
LineString ls = new LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = "Flight Path ";
//pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
kml.AddFeature(pm);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
StreamWriter sw = new StreamWriter(outputFile);
sw.Write(serializer.Xml);
sw.Close();
}
/**
* Static function to retrieve an instance of the object.
*/
public GroundTruth GetInstance(UAVObjectManager objMngr, long instID)
{
return (GroundTruth)(objMngr.getObject(GroundTruth.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public ActuatorCommand GetInstance(UAVObjectManager objMngr, long instID)
{
return (ActuatorCommand)(objMngr.getObject(ActuatorCommand.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public ManualControlCommand GetInstance(UAVObjectManager objMngr, long instID)
{
return (ManualControlCommand)(objMngr.getObject(ManualControlCommand.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public CameraDesired GetInstance(UAVObjectManager objMngr, long instID)
{
return (CameraDesired)(objMngr.getObject(CameraDesired.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public SystemAlarms GetInstance(UAVObjectManager objMngr, long instID)
{
return (SystemAlarms)(objMngr.getObject(SystemAlarms.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public PositionState GetInstance(UAVObjectManager objMngr, long instID)
{
return (PositionState)(objMngr.getObject(PositionState.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public AltHoldSmoothed GetInstance(UAVObjectManager objMngr, long instID)
{
return (AltHoldSmoothed)(objMngr.getObject(AltHoldSmoothed.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public OPLinkReceiver GetInstance(UAVObjectManager objMngr, long instID)
{
return (OPLinkReceiver)(objMngr.getObject(OPLinkReceiver.OBJID, instID));
}
public static void register(UAVObjectManager objMngr) {
objMngr.registerObject( new AccelSensor() );
objMngr.registerObject( new AccelState() );
objMngr.registerObject( new AccessoryDesired() );
objMngr.registerObject( new ActuatorCommand() );
objMngr.registerObject( new ActuatorDesired() );
objMngr.registerObject( new ActuatorSettings() );
objMngr.registerObject( new AirspeedSensor() );
objMngr.registerObject( new AirspeedSettings() );
objMngr.registerObject( new AirspeedState() );
objMngr.registerObject( new AltHoldSmoothed() );
objMngr.registerObject( new AltitudeFilterSettings() );
objMngr.registerObject( new AltitudeHoldDesired() );
objMngr.registerObject( new AltitudeHoldSettings() );
objMngr.registerObject( new AttitudeSettings() );
objMngr.registerObject( new AttitudeSimulated() );
objMngr.registerObject( new AttitudeState() );
objMngr.registerObject( new BaroSensor() );
objMngr.registerObject( new CameraDesired() );
objMngr.registerObject( new CameraStabSettings() );
objMngr.registerObject( new EKFConfiguration() );
objMngr.registerObject( new EKFStateVariance() );
objMngr.registerObject( new FaultSettings() );
objMngr.registerObject( new FirmwareIAPObj() );
objMngr.registerObject( new FixedWingPathFollowerSettings() );
objMngr.registerObject( new FixedWingPathFollowerStatus() );
objMngr.registerObject( new FlightBatterySettings() );
objMngr.registerObject( new FlightBatteryState() );
objMngr.registerObject( new FlightPlanControl() );
objMngr.registerObject( new FlightPlanSettings() );
objMngr.registerObject( new FlightPlanStatus() );
objMngr.registerObject( new FlightStatus() );
objMngr.registerObject( new FlightTelemetryStats() );
objMngr.registerObject( new GCSReceiver() );
objMngr.registerObject( new GCSTelemetryStats() );
objMngr.registerObject( new GPSPositionSensor() );
objMngr.registerObject( new GPSSatellites() );
objMngr.registerObject( new GPSSettings() );
objMngr.registerObject( new GPSTime() );
objMngr.registerObject( new GPSVelocitySensor() );
objMngr.registerObject( new GroundTruth() );
objMngr.registerObject( new GyroSensor() );
objMngr.registerObject( new GyroState() );
objMngr.registerObject( new HomeLocation() );
objMngr.registerObject( new HwSettings() );
objMngr.registerObject( new I2CStats() );
objMngr.registerObject( new MagSensor() );
objMngr.registerObject( new MagState() );
objMngr.registerObject( new ManualControlCommand() );
objMngr.registerObject( new ManualControlSettings() );
objMngr.registerObject( new MixerSettings() );
objMngr.registerObject( new MixerStatus() );
objMngr.registerObject( new Mpu6000Settings() );
objMngr.registerObject( new NedAccel() );
objMngr.registerObject( new ObjectPersistence() );
objMngr.registerObject( new OPLinkReceiver() );
objMngr.registerObject( new OPLinkSettings() );
objMngr.registerObject( new OPLinkStatus() );
objMngr.registerObject( new OsdSettings() );
objMngr.registerObject( new OveroSyncSettings() );
objMngr.registerObject( new OveroSyncStats() );
objMngr.registerObject( new PathAction() );
objMngr.registerObject( new PathDesired() );
objMngr.registerObject( new PathStatus() );
objMngr.registerObject( new PoiLearnSettings() );
objMngr.registerObject( new PoiLocation() );
objMngr.registerObject( new PositionState() );
objMngr.registerObject( new RateDesired() );
objMngr.registerObject( new ReceiverActivity() );
objMngr.registerObject( new RelayTuning() );
objMngr.registerObject( new RelayTuningSettings() );
objMngr.registerObject( new RevoCalibration() );
objMngr.registerObject( new RevoSettings() );
objMngr.registerObject( new SonarAltitude() );
objMngr.registerObject( new StabilizationDesired() );
objMngr.registerObject( new StabilizationSettings() );
objMngr.registerObject( new SystemAlarms() );
objMngr.registerObject( new SystemSettings() );
objMngr.registerObject( new SystemStats() );
objMngr.registerObject( new TaskInfo() );
objMngr.registerObject( new TxPIDSettings() );
objMngr.registerObject( new VelocityDesired() );
objMngr.registerObject( new VelocityState() );
objMngr.registerObject( new VtolPathFollowerSettings() );
objMngr.registerObject( new WatchdogStatus() );
objMngr.registerObject( new Waypoint() );
objMngr.registerObject( new WaypointActive() );
}
/**
* Static function to retrieve an instance of the object.
*/
public VtolPathFollowerSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (VtolPathFollowerSettings)(objMngr.getObject(VtolPathFollowerSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public FaultSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (FaultSettings)(objMngr.getObject(FaultSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public PoiLearnSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (PoiLearnSettings)(objMngr.getObject(PoiLearnSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public AttitudeState GetInstance(UAVObjectManager objMngr, long instID)
{
return (AttitudeState)(objMngr.getObject(AttitudeState.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public CameraStabSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (CameraStabSettings)(objMngr.getObject(CameraStabSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public FlightPlanStatus GetInstance(UAVObjectManager objMngr, long instID)
{
return (FlightPlanStatus)(objMngr.getObject(FlightPlanStatus.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public PoiLocation GetInstance(UAVObjectManager objMngr, long instID)
{
return (PoiLocation)(objMngr.getObject(PoiLocation.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public EKFConfiguration GetInstance(UAVObjectManager objMngr, long instID)
{
return (EKFConfiguration)(objMngr.getObject(EKFConfiguration.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public ActuatorSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (ActuatorSettings)(objMngr.getObject(ActuatorSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public ReceiverActivity GetInstance(UAVObjectManager objMngr, long instID)
{
return (ReceiverActivity)(objMngr.getObject(ReceiverActivity.OBJID, instID));
}
public UavLogReader(UAVObjectManager mgr)
{
_objmgr = mgr;
parser = new parser.UavDataparser(mgr);
parser.onObjectReceived += new UavTalk.parser.UavDataparser.onObjectReceivedDelegate(parser_onObjectReceived);
}
/**
* Static function to retrieve an instance of the object.
*/
public GPSSatellites GetInstance(UAVObjectManager objMngr, long instID)
{
return (GPSSatellites)(objMngr.getObject(GPSSatellites.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public MagSensor GetInstance(UAVObjectManager objMngr, long instID)
{
return (MagSensor)(objMngr.getObject(MagSensor.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public GPSTime GetInstance(UAVObjectManager objMngr, long instID)
{
return (GPSTime)(objMngr.getObject(GPSTime.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public OveroSyncSettings GetInstance(UAVObjectManager objMngr, long instID)
{
return (OveroSyncSettings)(objMngr.getObject(OveroSyncSettings.OBJID, instID));
}
/**
* Static function to retrieve an instance of the object.
*/
public I2CStats GetInstance(UAVObjectManager objMngr, long instID)
{
return (I2CStats)(objMngr.getObject(I2CStats.OBJID, instID));
}