private void clientdata(IAsyncResult ar)
{
var client = ((UdpClient)ar.AsyncState);
if (client == null || client.Client == null)
{
return;
}
try
{
var port = ((IPEndPoint)client.Client.LocalEndPoint).Port;
var udpclient = new UdpSerial(client);
var mav = new MAVLinkInterface();
mav.BaseStream = udpclient;
MainV2.comPort = mav;
MainV2.Comports.Add(mav);
//MainV2.instance.doConnect(mav, "preset", port.ToString());
Log.Warning("", "mav init " + mav.ToString());
var hb = mav.getHeartBeat();
Log.Warning("", "getHeartBeat " + hb.ToString());
mav.setAPType(mav.MAV.sysid, mav.MAV.compid);
Log.Warning("", "setAPType " + mav.MAV.ToJSON());
Forms.Device.BeginInvokeOnMainThread(() =>
{
});
Task.Run(() =>
{
while (true)
{
try
{
while (mav.BaseStream.BytesToRead < 10 || mav.giveComport == true)
{
Thread.Sleep(20);
}
var packet = mav.readPacket();
mav.MAV.cs.UpdateCurrentSettings(null);
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
Thread.Sleep(10);
}
}
});
}
catch (Exception ex)
{
Log.Warning("", ex.ToString());
}
}
public void UpdateIcon(MAVLinkInterface mav, float x, float y, float z, bool movable)
{
foreach (var icon in icons)
{
if (icon.interf == mav)
{
icon.Movable = movable;
if (!movable)
{
icon.x = 0;
icon.y = 0;
icon.z = 0;
icon.Color = Color.Blue;
}
else
{
icon.x = x;
icon.y = y;
icon.z = z;
icon.Color = Color.Red;
}
this.Invalidate();
return;
}
}
Console.WriteLine("ADD MAV {0} {1} {2}", x, y, z);
icons.Add(new icon()
{
interf = mav, y = y, z = z, x = x, Movable = movable, Name = mav.ToString()
});
}
