private static object GetFieldValue(string fieldName, UasMessage m)
{
PropertyInfo p = m.GetType().GetProperty(fieldName);
if (p == null)
{
WL("MISSING FIELD: {0} on {1}", fieldName, m.GetType());
return("");
}
object result = p.GetValue(m, null);
if (result is char[])
{
return(new String((char[])result));
}
return(result);
}
private void GetFieldValue(string fieldName, UasMessage m)
{
if (fieldName == "Roll")
{
PropertyInfo p = m.GetType().GetProperty(fieldName);
Double degree = Convert.ToDouble(p.GetValue(m, null).ToString()) * (180 / Math.PI);
lblRoll.Invoke((MethodInvoker)(() => lblRoll.Text = degree.ToString()));
//lblRoll.Text= p.GetValue(m, null).ToString();
}
else if (fieldName == "Pitch")
{
PropertyInfo p = m.GetType().GetProperty(fieldName);
Double degree = Convert.ToDouble(p.GetValue(m, null).ToString()) * (180 / Math.PI);
lblPitch.Invoke((MethodInvoker)(() => lblPitch.Text = degree.ToString()));
//lblPitch.Text = p.GetValue(m, null).ToString();
}
else if (fieldName == "Yaw")
{
PropertyInfo p = m.GetType().GetProperty(fieldName);
Double degree = Convert.ToDouble(p.GetValue(m, null).ToString()) * (180 / Math.PI);
lblYaw.Invoke((MethodInvoker)(() => lblYaw.Text = degree.ToString()));
//lblYaw.Text = p.GetValue(m, null).ToString();
}
//if (fieldName != "Rxerrors" && fieldName != "TimeBootMs" && fieldName != "TimeUsec"&& fieldName != "Chan1Raw" && fieldName != "Fixed" && fieldName != "Chan2Raw" && fieldName!= "VtolState" && fieldName!= "Chan3Raw" && fieldName!= "Rssi" && fieldName!="Q" && fieldName!= "Chan4Raw")
//{
// PropertyInfo p = m.GetType().GetProperty(fieldName);
// var resulti = p.GetValue(m,null);
// object result = p.GetValue(m, null);
//}
//if (p == null)
//{
// WL("MISSING FIELD: {0} on {1}", fieldName, m.GetType());
// return "";
//}
//if (result is char[]) return new String((char[])result);
//return result;
}
private void PrintStandardMessage(UasMessage m)
{
if (m is UasAttitude)
{
DumpMsgMeta(m);
return;
}
if (m is UasCommandAck)
{
WL("CmdACK: {0}", ((UasCommandAck)m).Result);
}
else if (m is UasMissionAck)
{
WL("MissionACK: {0}", ((UasMissionAck)m).Type);
}
else if (m is UasStatustext)
{
var sb = new StringBuilder();
foreach (char c in ((UasStatustext)m).Text)
{
if ('\0' == c)
{
break;
}
sb.Append(c);
}
WL("Statustext: {0}", sb.ToString());
}
else if (m is UasPowerStatus)
{
WL("PowerStatus: {0}", ((UasPowerStatus)m).Vcc);
}
else if (m is UasHomePosition)
{
WL("**********HomePosition: {0}", ((UasHomePosition)m).X);
}
else if (m is UasHeartbeat)
{
var hb = (UasHeartbeat)m;
WL("Heartbeat: {0} {1}", hb.Autopilot, hb.Type);
}
else if (m is UasLogEntry)
{
var log = (UasLogEntry)m;
WL("UasLogEntry: {0} {1} {2}", log.Id, log.NumLogs, log.LastLogNum);
}
else if (m is UasMissionItem ||
m is UasMissionCount ||
m is UasMissionRequest ||
m is UasMissionCurrent ||
m is UasLogData)
{
var substring = m.GetType().ToString().Remove(0, 14);//remove prefix: "MavLinkNet.Uas"
WL("MSG: {0}", substring);
DumpMsgMeta(m);
}
else if (m is UasAutopilotVersion)
{
WL("MSG: UasAutopilotVersion");
DumpMsgMeta(m);
}
else if (m is UasParamValue)
{
WL("MSG: UasParamValue");
DumpMsgMeta(m);
/*
* var md = m.GetMetadata();
* var sb = new StringBuilder();
* foreach (var f in md.Fields)
* {
* sb.AppendLine(string.Format(" {0}: {1} ({2})",
* f.Name,
* GetFieldValue(f.Name, m),
* f.Description));
* }
* File.AppendAllText("UasParamValue.txt", sb.ToString());
*/
}
else
{
var substring = m.GetType().ToString().Remove(0, 14);//remove prefix: "MavLinkNet.Uas"
WL("MSG： {0,-5} {1}", m.MessageId, substring);
}
}