public ProgressReporterDialogue()
{
InitializeComponent();
doWorkArgs = new ProgressWorkerEventArgs();
this.btnClose.Visible = false;
}
void FrmProgressReporterDoWorkNOParams(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
OpenBg(false, e);
}
private void OpenBg(bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
giveComport = true;
// allow settings to settle - previous dtr
System.Threading.Thread.Sleep(500);
// reset
sysid = 0;
compid = 0;
param = new Hashtable();
packets.Initialize();
bool hbseen = false;
try
{
BaseStream.ReadBufferSize = 4 * 1024;
lock (objlock) // so we dont have random traffic
{
////log.Info("Open port with " + BaseStream.PortName + " " + BaseStream.BaudRate);
BaseStream.Open();
BaseStream.DiscardInBuffer();
Thread.Sleep(1000);
}
byte[] buffer = new byte[0];
byte[] buffer1 = new byte[0];
DateTime start = DateTime.Now;
DateTime deadline = start.AddSeconds(CONNECT_TIMEOUT_SECONDS);
var countDown = new System.Timers.Timer { Interval = 1000, AutoReset = false };
countDown.Elapsed += (sender, e) =>
{
int secondsRemaining = (deadline - e.SignalTime).Seconds;
//if (Progress != null)
// Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
frmProgressReporter.UpdateProgressAndStatus(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
if (secondsRemaining > 0) countDown.Start();
};
countDown.Start();
int count = 0;
while (true)
{
if (progressWorkerEventArgs.CancelRequested)
{
progressWorkerEventArgs.CancelAcknowledged = true;
countDown.Stop();
if (BaseStream.IsOpen)
BaseStream.Close();
giveComport = false;
return;
}
// incase we are in setup mode
//BaseStream.WriteLine("planner\rgcs\r");
////log.Info(DateTime.Now.Millisecond + " Start connect loop ");
if (DateTime.Now > deadline)
{
//if (Progress != null)
// Progress(-1, "No Heatbeat Packets");
countDown.Stop();
this.Close();
if (hbseen)
{
progressWorkerEventArgs.ErrorMessage = "Only 1 Heatbeat Received";
throw new Exception("Only 1 Mavlink Heartbeat Packets was read from this port - Verify your hardware is setup correctly\nAPM Planner waits for 2 valid heartbeat packets before connecting");
}
else
{
progressWorkerEventArgs.ErrorMessage = "No Heatbeat Packets Received";
throw new Exception("No Mavlink Heartbeat Packets where read from this port - Verify Baud Rate and setup\nAPM Planner waits for 2 valid heartbeat packets before connecting");
}
}
System.Threading.Thread.Sleep(1);
// incase we are in setup mode
//BaseStream.WriteLine("planner\rgcs\r");
// can see 2 heartbeat packets at any time, and will connect - was one after the other
if (buffer.Length == 0)
buffer = getHeartBeat();
// incase we are in setup mode
//BaseStream.WriteLine("planner\rgcs\r");
System.Threading.Thread.Sleep(1);
if (buffer1.Length == 0)
buffer1 = getHeartBeat();
if (buffer.Length > 0 || buffer1.Length > 0)
hbseen = true;
count++;
if (buffer.Length > 5 && buffer1.Length > 5 && buffer[3] == buffer1[3] && buffer[4] == buffer1[4])
{
mavlink_heartbeat_t hb = buffer.ByteArrayToStructure<mavlink_heartbeat_t>(6);
mavlinkversion = hb.mavlink_version;
aptype = (MAV_TYPE)hb.type;
apname = (MAV_AUTOPILOT)hb.autopilot;
setAPType();
sysid = buffer[3];
compid = buffer[4];
recvpacketcount = buffer[2];
//log.InfoFormat("ID sys {0} comp {1} ver{2}", sysid, compid, mavlinkversion);
break;
}
}
countDown.Stop();
frmProgressReporter.UpdateProgressAndStatus(0, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
if (getparams)
{
getParamListBG();
}
if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
{
giveComport = false;
if (BaseStream.IsOpen)
BaseStream.Close();
return;
}
}
catch (Exception e)
{
try
{
BaseStream.Close();
}
catch { }
giveComport = false;
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
progressWorkerEventArgs.ErrorMessage = "Connect Failed";
//log.Error(e);
throw;
}
//frmProgressReporter.Close();
giveComport = false;
frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
//log.Info("Done open " + sysid + " " + compid);
packetslost = 0;
synclost = 0;
}
void FrmProgressReporterGetParams(object sender, ProgressWorkerEventArgs e)
{
Hashtable old = new Hashtable(param);
getParamListBG();
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
param = old;
}
}
