private void HandleCmdNetworkPacket(NetworkPacket networkPacket)
{
// the drone tends to send not one, but several commands at once.
// they are aggregated and chained from head to tail. (or tail to head, whatever)
int idx = DjiPacket.GetWhSize(networkPacket.Payload);
while (idx < networkPacket.Payload.Length)
{
bool instSetRes = InstSetRes(networkPacket, out DjiCmdPacket packet, idx);
if (instSetRes)
{
// set the head of the next packet to the current tail
idx += packet.DumlSize;
}
else if (packet.DumlSize != default(ushort))
{
// the command didn't resolve, but the chain is still intact
Trace.TraceWarning($"Faulty cmd received. Chain successfully recovered. " +
$"Faulty cmd {networkPacket.Payload[idx..(idx + packet.DumlSize)].ToHexString(false, false)}");
protected override void ProcessNetworkPacket(NetworkPacket networkPacket)
{
var packetType = typeof(DjiEmptyPacket);
byte wifiSize = DjiPacket.GetWhSize(networkPacket.Payload);
// we did receive a wifi-packet with cmd data attached.
// ensure that the delimiter is indeed 0x55 before we declare it a command.
if (wifiSize < networkPacket.Payload.Length && networkPacket.Payload[wifiSize] == DjiDUMLPacket.DELIMITER)
{
packetType = typeof(DjiCmdPacket);
}
DjiPacket djiPacket = (DjiPacket)Activator.CreateInstance(packetType);
if (djiPacket.Set(networkPacket.Payload))
{
Resolve(networkPacket.Wrap(djiPacket, packetType));
}
else
{
Trace.TraceError($"{nameof(DjiDronePacketResolver)} - Unprocessable packet {packetType.Name}: {networkPacket.Payload.ToHexString(false, false)}");
}
}
public static dynamic Wrap <T>(this NetworkPacket networkPacket, DjiPacket djiPacket) where T : DjiPacket => Wrap(networkPacket, djiPacket, typeof(T));
public static DjiNetworkPacket Wrap(this NetworkPacket networkPacket, DjiPacket djiPacket) => new DjiNetworkPacket(networkPacket, djiPacket);
public static dynamic Wrap(this NetworkPacket networkPacket, DjiPacket djiPacket, Type packetType)
{
var djiNetworkPacketType = typeof(DjiNetworkPacket <>).MakeGenericType(packetType);
return(Activator.CreateInstance(djiNetworkPacketType, new object[] { networkPacket, djiPacket }));
}
public DjiNetworkPacket(NetworkPacket networkPacket, DjiPacket djiPacket) : base(networkPacket) => _djiPacket = djiPacket;
