private void ProcessSendQueue(object state)
{
byte seq = 0;
using (FileStream s = new FileStream(_recordFileName, FileMode.Create))
{
using (BinaryWriter writer = new BinaryWriter(s))
{
while (true)
{
UasMessage msg;
if (mSendQueue.TryDequeue(out msg))
{
//SendMavlinkMessage(msg);
writer.Write(MavLinkPacket.GetBytesForMessage(
msg, MavlinkSystemId, MavlinkComponentId, seq++, MavLinkGenericPacketWalker.PacketSignalByte));
}
else
{
// Queue is empty, sleep until signalled
mSendSignal.WaitOne();
if (!mIsActive)
{
break;
}
}
}
}
}
isEndSignal.Set();
}
/// <summary>
/// Generates the buffer bytes to be sent on the wire for given message.
/// </summary>
/// <param name="msg"></param>
/// <param name="systemId"></param>
/// <param name="componentId"></param>
/// <param name="includeSignalMark">Whether to include the Packet signal in the buffer or not.</param>
/// <param name="sequenceNumber">A sequence number for the message, if needed.</param>
/// <returns></returns>
public byte[] SerializeMessage(
UasMessage msg, byte systemId, byte componentId,
bool includeSignalMark, byte sequenceNumber = 1)
{
byte mark = includeSignalMark ? PacketSignalByte : (byte)0;
return(MavLinkPacket.GetBytesForMessage(
msg, systemId, componentId, sequenceNumber, mark));
}