/// <summary>
/// Convenience method to generate a MAVLink v2 byte message.
/// </summary>
public byte[] GenerateMAVLinkPacket(MAVLink.MAVLINK_MSG_ID messageType, object indata, byte sysid = 255, byte compid = 0, int sequence = -1, byte[] signingkey = null)
{
message_id = (uint)messageType;
payload = indata;
system_id = sysid;
component_id = compid;
return(toBytes(signingkey));
}
T getCurrentMessage <T>(MAVLink.MAVLINK_MSG_ID id) where T : MessageContainerBase
{
if (!this.currentState.ContainsKey(id))
{
return(null);
}
MavLinkMessage message = this.currentState[id];
return((T)Activator.CreateInstance(typeof(T), new object[] { message }));
}
MavLinkMessage createSampleMessage(MAVLink.MAVLINK_MSG_ID id, object data_struct)
{
MavLinkMessage sampleMessage = new MavLinkMessage();
sampleMessage.messid = id;
sampleMessage.seq = 128;
sampleMessage.sysid = 12;
sampleMessage.compid = 12;
sampleMessage.data_struct = data_struct;
return(sampleMessage);
}
void SendMessage(MAVLink.MAVLINK_MSG_ID id, object mavlinkPayload)
{
var channel = ConnectionPanel.Channel;
if (channel != null)
{
MavLinkMessage message = new MavLinkMessage();
message.ComponentId = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
message.SystemId = 255;
message.MsgId = id;
message.TypedPayload = mavlinkPayload;
channel.SendMessage(message);
}
}
public MavLinkMessage(byte[] buffer)
{
// fill out standard fields
header = buffer[0];
length = (int)buffer[1];
seq = (int)buffer[2];
sysid = (int)buffer[3];
compid = (int)buffer[4];
messid = (MAVLink.MAVLINK_MSG_ID)buffer[5];
//create the object specified by the packet type
object data = Activator.CreateInstance(getMessageType());
// fill in the data of the object
MavlinkUtil.ByteArrayToStructure(buffer, ref data, 6);
data_struct = data;
}
void SendMessage(MAVLink.MAVLINK_MSG_ID id, object mavlinkPayload)
{
var channel = this.Channel;
if (channel != null)
{
MavLinkMessage message = new MavLinkMessage();
message.ComponentId = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
message.SystemId = 255;
message.MsgId = id;
message.TypedPayload = mavlinkPayload;
try
{
channel.SendMessage(message);
}
catch (Exception ex)
{
Write(ex.Message);
}
}
}
