bool ReceviedPacket(byte[] rawpacket)
{
if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REQUEST)
{
MAVLink.mavlink_terrain_request_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_request_t>();
if (issending)
{
return(false);
}
lastrequest = packet;
log.Info("received TERRAIN_REQUEST " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " space " +
packet.grid_spacing + " " + Convert.ToString((long)packet.mask, 2));
System.Threading.ThreadPool.QueueUserWorkItem(QueueSendGrid);
}
else if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
{
MAVLink.mavlink_terrain_report_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_report_t>();
log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
packet.pending);
}
return(false);
}
private bool ReceivedPacket(MAVLink.MAVLinkMessage rawpacket)
{
if (rawpacket.msgid == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REQUEST)
{
MAVLink.mavlink_terrain_request_t packet =
rawpacket.ToStructure <MAVLink.mavlink_terrain_request_t>();
if (issending)
{
return(false);
}
lastmessage = rawpacket;
lastrequest = packet;
log.Info("received TERRAIN_REQUEST " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " space " +
packet.grid_spacing + " " + Convert.ToString((long)packet.mask, 2));
// reset state to block
mre.Reset();
System.Threading.ThreadPool.QueueUserWorkItem(QueueSendGrid);
// wait for thread to start
mre.WaitOne();
}
else if (rawpacket.msgid == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
{
MAVLink.mavlink_terrain_report_t packet =
rawpacket.ToStructure <MAVLink.mavlink_terrain_report_t>();
log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
packet.pending);
}
return(false);
}
public void CheckTerrainReportObject()
{
MAVLink.mavlink_terrain_report_t data = new MAVLink.mavlink_terrain_report_t();
data.current_height = 1;
data.lat = 2;
data.loaded = 3;
data.lon = 4;
data.pending = 5;
data.spacing = 6;
data.terrain_height = 7;
MavLinkMessage message = createSampleMessage(MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT, data);
TerrainReport obj = new TerrainReport(message);
Assert.AreEqual(data.current_height, obj.current_height);
Assert.AreEqual(data.lat, obj.lat);
Assert.AreEqual(data.loaded, obj.loaded);
Assert.AreEqual(data.lon, obj.lon);
Assert.AreEqual(data.pending, obj.pending);
Assert.AreEqual(data.spacing, obj.spacing);
Assert.AreEqual(data.terrain_height, obj.terrain_height);
TerrainReportDTO dto = DTOFactory.createTerrainReportDTO(obj);
Assert.AreEqual(dto.current_height, obj.current_height);
Assert.AreEqual(dto.lat, obj.lat);
Assert.AreEqual(dto.loaded, obj.loaded);
Assert.AreEqual(dto.lon, obj.lon);
Assert.AreEqual(dto.pending, obj.pending);
Assert.AreEqual(dto.spacing, obj.spacing);
Assert.AreEqual(dto.terrain_height, obj.terrain_height);
}
public TerrainReport(MavLinkMessage message) : base(null)
{
if (message.messid.Equals(this.MessageID))
{
MAVLink.mavlink_terrain_report_t data = (MAVLink.mavlink_terrain_report_t)message.data_struct;
this.current_height = data.current_height;
this.lat = data.lat;
this.loaded = data.loaded;
this.lon = data.lon;
this.pending = data.pending;
this.spacing = data.spacing;
this.terrain_height = data.terrain_height;
}
}
bool ReceviedPacket(byte[] rawpacket)
{
if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_DATA)
{
MAVLink.mavlink_terrain_data_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_data_t>();
if (issending)
{
return(false);
}
double lLat = packet.lat / Math.Pow(10, 7);
double lLon = packet.lon / Math.Pow(10, 7);
short[] lData = packet.data;
// bls: they will all have the same location so
// just add one map marker. Perhaps labeled with
// the highest value or the range of values?
for (int i = 0; i < lData.Length; i++)
{
short lDataVal = lData[i];
if (lDataVal > 0)
{
Debug.WriteLine("data at {0} = {1}", i, lDataVal);
mFlightData.addPOIatLoc(lLat, lLon, lDataVal.ToString());
}
}
}
else if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
{
MAVLink.mavlink_terrain_report_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_report_t>();
log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
packet.pending);
}
return(false);
}
bool ReceviedPacket(byte[] rawpacket)
{
if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_DATA)
{
MAVLink.mavlink_terrain_data_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_data_t>();
if (issending)
{
return(false);
}
bool lNeedToAddPoint = false;
short lMin = short.MaxValue;
short lMax = short.MinValue;
float lSum = 0;
double lLat = packet.lat / Math.Pow(10, 7);
double lLon = packet.lon / Math.Pow(10, 7);
short[] lData = packet.data;
// bls: they will all have the same location so
// just add one map marker. Perhaps labeled with
// the highest value or the range of values?
for (int i = 0; i < lData.Length; i++)
{
short lDataVal = lData[i];
lSum += lDataVal;
if (lDataVal < lMin)
{
lMin = lDataVal;
}
if (lDataVal > lMax)
{
lMax = lDataVal;
}
if (lDataVal > 100)
{
Debug.WriteLine("value {0} = {1} ", i, lDataVal);
lNeedToAddPoint = true;
}
}
if (lNeedToAddPoint)
{
float lAverage = lSum / lData.Count();
string lLabel = "";
lLabel += " Max: " + lMax.ToString();
lLabel += " Avg: " + lAverage.ToString();
lLabel += " Min: " + lMin.ToString();
mFlightData.addPOIatLoc(lLat, lLon, lLabel);
}
}
else if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
{
MAVLink.mavlink_terrain_report_t packet =
rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_report_t>();
log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
packet.pending);
}
return(false);
}
