private bool messageReceived(MAVLinkMessage arg)
{
//accept any compid, but filter sysid
if (arg.sysid != _parent.sysid)
{
return(true);
}
if (arg.msgid == (uint)MAVLINK_MSG_ID.DISTANCE_SENSOR)
{
var dist = arg.ToStructure <mavlink_distance_sensor_t>();
if (dist.current_distance >= dist.max_distance)
{
return(true);
}
if (dist.current_distance <= dist.min_distance)
{
return(true);
}
_dS.Add((MAV_SENSOR_ORIENTATION)dist.orientation, dist.current_distance, DateTime.Now, 1);
}
return(true);
}
private bool messageReceived(MAVLinkMessage arg)
{
//accept any compid, but filter sysid
if (arg.sysid != _parent.sysid)
{
return(true);
}
if (arg.msgid == (uint)MAVLINK_MSG_ID.DISTANCE_SENSOR)
{
var dist = arg.ToStructure <mavlink_distance_sensor_t>();
if (dist.current_distance >= dist.max_distance)
{
return(true);
}
if (dist.current_distance <= dist.min_distance)
{
return(true);
}
_dS.Add((MAV_SENSOR_ORIENTATION)dist.orientation, dist.current_distance, DateTime.Now, 3);
//Console.WriteLine("DIST " + (MAV_SENSOR_ORIENTATION)dist.orientation + " " + dist.current_distance);
if (temp.IsHandleCreated)
{
//temp.Text = arg.sysid.ToString();
temp.Invalidate();
//temp.Refresh();
}
else
{
if (!temp.IsDisposed)
{
MainV2.instance.Invoke((MethodInvoker) delegate { temp.Show(); });
}
}
}
return(true);
}
private void OpenBg(object PRsender, bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, Strings.MavlinkConnecting);
giveComport = true;
if (BaseStream is SerialPort)
{
// allow settings to settle - previous dtr
System.Threading.Thread.Sleep(1000);
}
Terrain = new TerrainFollow(this);
bool hbseen = false;
try
{
BaseStream.ReadBufferSize = 16*1024;
lock (objlock) // so we dont have random traffic
{
log.Info("Open port with " + BaseStream.PortName + " " + BaseStream.BaudRate);
BaseStream.Open();
BaseStream.DiscardInBuffer();
// other boards seem to have issues if there is no delay? posible bootloader timeout issue
Thread.Sleep(1000);
}
MAVLinkMessage buffer = new MAVLinkMessage();
MAVLinkMessage buffer1 = new MAVLinkMessage();
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;
frmProgressReporter.UpdateProgressAndStatus(-1, string.Format(Strings.Trying, secondsRemaining));
if (secondsRemaining > 0) countDown.Start();
};
countDown.Start();
// px4 native
BaseStream.WriteLine("sh /etc/init.d/rc.usb");
int count = 0;
while (true)
{
if (progressWorkerEventArgs.CancelRequested)
{
progressWorkerEventArgs.CancelAcknowledged = true;
countDown.Stop();
if (BaseStream.IsOpen)
BaseStream.Close();
giveComport = false;
return;
}
log.Info(DateTime.Now.Millisecond + " Start connect loop ");
if (DateTime.Now > deadline)
{
//if (Progress != null)
// Progress(-1, "No Heartbeat Packets");
countDown.Stop();
this.Close();
if (hbseen)
{
progressWorkerEventArgs.ErrorMessage = Strings.Only1Hb;
throw new Exception(Strings.Only1HbD);
}
else
{
progressWorkerEventArgs.ErrorMessage = "No Heartbeat Packets Received";
throw new Exception(@"Can not establish a connection\n
Please check the following
1. You have firmware loaded
2. You have the correct serial port selected
3. PX4 - You have the microsd card installed
4. Try a diffrent usb port\n\n" +
"No Mavlink Heartbeat Packets where read from this port - Verify Baud Rate and setup\nMission Planner waits for 2 valid heartbeat packets before connecting");
}
}
System.Threading.Thread.Sleep(1);
// can see 2 heartbeat packets at any time, and will connect - was one after the other
if (buffer.Length == 0)
buffer = getHeartBeat();
System.Threading.Thread.Sleep(1);
if (buffer1.Length == 0)
buffer1 = getHeartBeat();
if (buffer.Length > 0 || buffer1.Length > 0)
hbseen = true;
count++;
// 2 hbs that match
if (buffer.Length > 5 && buffer1.Length > 5 && buffer.sysid == buffer1.sysid && buffer.compid == buffer1.compid)
{
mavlink_heartbeat_t hb = buffer.ToStructure<mavlink_heartbeat_t>();
if (hb.type != (byte) MAVLink.MAV_TYPE.GCS)
{
SetupMavConnect(buffer, hb);
break;
}
}
// 2 hb's that dont match. more than one sysid here
if (buffer.Length > 5 && buffer1.Length > 5 && (buffer.sysid == buffer1.sysid || buffer.compid == buffer1.compid))
{
mavlink_heartbeat_t hb = buffer.ToStructure<mavlink_heartbeat_t>();
if (hb.type != (byte) MAVLink.MAV_TYPE.ANTENNA_TRACKER && hb.type != (byte) MAVLink.MAV_TYPE.GCS)
{
SetupMavConnect(buffer, hb);
break;
}
hb = buffer1.ToStructure<mavlink_heartbeat_t>();
if (hb.type != (byte) MAVLink.MAV_TYPE.ANTENNA_TRACKER && hb.type != (byte) MAVLink.MAV_TYPE.GCS)
{
SetupMavConnect(buffer1, hb);
break;
}
}
}
countDown.Stop();
getVersion();
frmProgressReporter.UpdateProgressAndStatus(0,
"Getting Params.. (sysid " + MAV.sysid + " compid " + MAV.compid + ") ");
if (getparams)
{
getParamListBG();
}
byte[] temp = ASCIIEncoding.ASCII.GetBytes("Mission Planner " + Application.ProductVersion + "\0");
Array.Resize(ref temp, 50);
generatePacket((byte) MAVLINK_MSG_ID.STATUSTEXT,
new mavlink_statustext_t() {severity = (byte) MAV_SEVERITY.INFO, text = temp});
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 = Strings.ConnectFailed;
log.Error(e);
throw;
}
//frmProgressReporter.Close();
giveComport = false;
frmProgressReporter.UpdateProgressAndStatus(100, Strings.Done);
log.Info("Done open " + MAV.sysid + " " + MAV.compid);
MAV.packetslost = 0;
MAV.synclost = 0;
}
/// <summary>
/// Used to extract mission from log file - both sent or received
/// </summary>
/// <param name="buffer">packet</param>
void getWPsfromstream(ref MAVLinkMessage buffer, byte sysid, byte compid)
{
if (buffer.msgid == (byte) MAVLINK_MSG_ID.MISSION_COUNT)
{
// clear old
mavlink_mission_count_t wp = buffer.ToStructure<mavlink_mission_count_t>();
if (wp.target_system == gcssysid)
{
wp.target_system = sysid;
wp.target_component = compid;
}
MAVlist[wp.target_system, wp.target_component].wps.Clear();
}
if (buffer.msgid == (byte)MAVLink.MAVLINK_MSG_ID.MISSION_ITEM)
{
mavlink_mission_item_t wp = buffer.ToStructure<mavlink_mission_item_t>();
if (wp.target_system == gcssysid)
{
wp.target_system = sysid;
wp.target_component = compid;
}
if (wp.current == 2)
{
// guide mode wp
MAVlist[wp.target_system, wp.target_component].GuidedMode = wp;
}
else
{
MAVlist[wp.target_system, wp.target_component].wps[wp.seq] = wp;
}
Console.WriteLine("WP # {7} cmd {8} p1 {0} p2 {1} p3 {2} p4 {3} x {4} y {5} z {6}", wp.param1, wp.param2,
wp.param3, wp.param4, wp.x, wp.y, wp.z, wp.seq, wp.command);
}
if (buffer.msgid == (byte) MAVLINK_MSG_ID.RALLY_POINT)
{
mavlink_rally_point_t rallypt = buffer.ToStructure<mavlink_rally_point_t>();
if (rallypt.target_system == gcssysid)
{
rallypt.target_system = sysid;
rallypt.target_component = compid;
}
MAVlist[rallypt.target_system, rallypt.target_component].rallypoints[rallypt.idx] = rallypt;
Console.WriteLine("RP # {0} {1} {2} {3} {4}", rallypt.idx, rallypt.lat, rallypt.lng, rallypt.alt,
rallypt.break_alt);
}
if (buffer.msgid == (byte)MAVLINK_MSG_ID.CAMERA_FEEDBACK)
{
mavlink_camera_feedback_t camerapt = buffer.ToStructure<mavlink_camera_feedback_t>();
if (MAVlist[sysid, compid].camerapoints.Count == 0 || MAVlist[sysid, compid].camerapoints.Last().time_usec != camerapt.time_usec)
{
MAVlist[sysid, compid].camerapoints.Add(camerapt);
}
}
if (buffer.msgid == (byte) MAVLINK_MSG_ID.FENCE_POINT)
{
mavlink_fence_point_t fencept = buffer.ToStructure<mavlink_fence_point_t>();
if (fencept.target_system == gcssysid)
{
fencept.target_system = sysid;
fencept.target_component = compid;
}
MAVlist[fencept.target_system, fencept.target_component].fencepoints[fencept.idx] = fencept;
}
if (buffer.msgid == (byte) MAVLINK_MSG_ID.PARAM_VALUE)
{
mavlink_param_value_t value = buffer.ToStructure<mavlink_param_value_t>();
string st = System.Text.ASCIIEncoding.ASCII.GetString(value.param_id);
int pos = st.IndexOf('\0');
if (pos != -1)
{
st = st.Substring(0, pos);
}
if (MAV.apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
{
MAVlist[sysid, compid].param[st] = new MAVLinkParam(st, value.param_value, MAV_PARAM_TYPE.REAL32, (MAV_PARAM_TYPE)value.param_type);
}
else
{
MAVlist[sysid, compid].param[st] = new MAVLinkParam(st, value.param_value,
(MAV_PARAM_TYPE) value.param_type);
}
}
}
/// <summary>
/// Serial Reader to read mavlink packets. POLL method
/// </summary>
/// <returns></returns>
public MAVLinkMessage readPacket()
{
byte[] buffer = new byte[MAVLINK_MAX_PACKET_LEN + 25];
int count = 0;
int length = 0;
int readcount = 0;
BaseStream.ReadTimeout = 1200; // 1200 ms between chars - the gps detection requires this.
DateTime start = DateTime.Now;
//Console.WriteLine(DateTime.Now.Millisecond + " SR0 " + BaseStream.BytesToRead);
lock (readlock)
{
lastbad = new byte[2];
//Console.WriteLine(DateTime.Now.Millisecond + " SR1 " + BaseStream.BytesToRead);
while (BaseStream.IsOpen || logreadmode)
{
try
{
if (readcount > 300)
{
log.Info("MAVLink readpacket No valid mavlink packets");
break;
}
readcount++;
if (logreadmode)
{
buffer = readlogPacketMavlink().buffer;
if (buffer.Length == 0)
return new MAVLinkMessage();
}
else
{
// time updated for internal reference
MAV.cs.datetime = DateTime.Now;
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
// Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
while (BaseStream.IsOpen && BaseStream.BytesToRead <= 0)
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 1 wait time out btr {0} len {1}", BaseStream.BytesToRead,
length);
throw new TimeoutException("Timeout");
}
System.Threading.Thread.Sleep(1);
//Console.WriteLine(DateTime.Now.Millisecond + " SR0b " + BaseStream.BytesToRead);
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
if (BaseStream.IsOpen)
{
BaseStream.Read(buffer, count, 1);
if (rawlogfile != null && rawlogfile.CanWrite)
rawlogfile.WriteByte(buffer[count]);
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR1b " + BaseStream.BytesToRead);
}
}
catch (Exception e)
{
log.Info("MAVLink readpacket read error: " + e.ToString());
break;
}
// check if looks like a mavlink packet and check for exclusions and write to console
if (buffer[0] != 0xfe && buffer[0] != 'U' && buffer[0] != 0xfd)
{
if (buffer[0] >= 0x20 && buffer[0] <= 127 || buffer[0] == '\n' || buffer[0] == '\r')
{
// check for line termination
if (buffer[0] == '\r' || buffer[0] == '\n')
{
// check new line is valid
if (buildplaintxtline.Length > 3)
plaintxtline = buildplaintxtline;
// reset for next line
buildplaintxtline = "";
}
TCPConsole.Write(buffer[0]);
Console.Write((char)buffer[0]);
buildplaintxtline += (char)buffer[0];
}
_bytesReceivedSubj.OnNext(1);
count = 0;
lastbad[0] = lastbad[1];
lastbad[1] = buffer[0];
buffer[1] = 0;
continue;
}
// reset count on valid packet
readcount = 0;
//Console.WriteLine(DateTime.Now.Millisecond + " SR2 " + BaseStream.BytesToRead);
mavlinkv2 = buffer[0] == MAVLINK_STX ? true : false;
int headerlength = mavlinkv2 ? MAVLINK_CORE_HEADER_LEN : MAVLINK_CORE_HEADER_MAVLINK1_LEN;
int headerlengthstx = headerlength + 1;
// check for a header
if (buffer[0] == 0xfe || buffer[0] == 0xfd || buffer[0] == 'U')
{
// if we have the header, and no other chars, get the length and packet identifiers
if (count == 0 && !logreadmode)
{
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.IsOpen && BaseStream.BytesToRead < headerlength)
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 2 wait time out btr {0} len {1}", BaseStream.BytesToRead,
length);
throw new Exception("Timeout");
}
System.Threading.Thread.Sleep(1);
}
int read = BaseStream.Read(buffer, 1, headerlength);
count = read;
if (rawlogfile != null && rawlogfile.CanWrite)
rawlogfile.Write(buffer, 1, read);
}
// packet length
if (buffer[0] == 0xfd)
{
length = buffer[1] + headerlengthstx + 2 - 2; // data + header + checksum - magic - length
if ((buffer[2] & MAVLINK_IFLAG_SIGNED) > 0)
{
length += MAVLINK_SIGNATURE_BLOCK_LEN;
}
}
else
{
length = buffer[1] + headerlengthstx + 2 - 2; // data + header + checksum - U - length
}
if (count >= headerlength || logreadmode)
{
try
{
if (logreadmode)
{
}
else
{
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.IsOpen && BaseStream.BytesToRead < (length - count))
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 3 wait time out btr {0} len {1}",
BaseStream.BytesToRead, length);
break;
}
System.Threading.Thread.Sleep(1);
}
if (BaseStream.IsOpen)
{
int read = BaseStream.Read(buffer, headerlengthstx, length - (headerlengthstx-2));
if (rawlogfile != null && rawlogfile.CanWrite)
{
// write only what we read, temp is the whole packet, so 6-end
rawlogfile.Write(buffer, headerlengthstx, read);
}
}
}
count = length + 2;
}
catch
{
break;
}
break;
}
}
count++;
if (count == 299)
break;
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR3 " + BaseStream.BytesToRead);
} // end readlock
// resize the packet to the correct length
Array.Resize<byte>(ref buffer, count);
// add byte count
_bytesReceivedSubj.OnNext(buffer.Length);
// update bps statistics
if (bpstime.Second != DateTime.Now.Second)
{
long btr = 0;
if (BaseStream != null && BaseStream.IsOpen)
{
btr = BaseStream.BytesToRead;
}
else if (logreadmode)
{
btr = logplaybackfile.BaseStream.Length - logplaybackfile.BaseStream.Position;
}
Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, MAV.synclost, btr,
System.GC.GetTotalMemory(false)/1024/1024.0);
bps2 = bps1; // prev sec
bps1 = 0; // current sec
bpstime = DateTime.Now;
}
bps1 += buffer.Length;
if (buffer.Length == 0)
return new MAVLinkMessage();
MAVLinkMessage message = new MAVLinkMessage(buffer);
uint msgid = message.msgid;
message_info msginfo;
msginfo = MAVLINK_MESSAGE_INFOS.SingleOrDefault(p => p.msgid == msgid);
// calc crc
var sigsize = (message.sig != null) ? MAVLINK_SIGNATURE_BLOCK_LEN : 0;
ushort crc = MavlinkCRC.crc_calculate(buffer, message.Length - sigsize-MAVLINK_NUM_CHECKSUM_BYTES);
// calc extra bit of crc for mavlink 1.0/2.0
if (message.header == 0xfe || message.header == 0xfd)
{
crc = MavlinkCRC.crc_accumulate(msginfo.crc, crc);
}
// check message length vs table
if (message.payloadlength != msginfo.length)
{
if (msginfo.length == 0) // pass for unknown packets
{
log.InfoFormat("unknown packet type {0}", message.msgid);
}
else
{
log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", buffer.Length, message.msgid);
if (buffer.Length == 11 && message.header == 'U' && message.msgid == 0) // check for 0.9 hb packet
{
string messagehb =
"Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n";
Console.WriteLine(messagehb);
if (logreadmode)
logplaybackfile.BaseStream.Seek(0, SeekOrigin.End);
throw new Exception(messagehb);
}
return new MAVLinkMessage();
}
}
// check crc
if ((message.crc16 >> 8) != (crc >> 8) ||
(message.crc16 & 0xff) != (crc & 0xff))
{
if (message.msgid != -1 && buffer.Length > 5 && msginfo.name != null)
log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} vs {4} pkno {2} {3}", buffer.Length,
crc, message.msgid, msginfo.name.ToString(),
message.crc16);
if (logreadmode)
log.InfoFormat("bad packet pos {0} ", logplaybackfile.BaseStream.Position);
return new MAVLinkMessage();
}
byte sysid = message.sysid;
byte compid = message.compid;
byte packetSeqNo = message.seq;
//check if sig was included in packet, and we are not ignoring the signature (signing isnt checked else we wont enable signing)
if (message.sig != null && !MAVlist[sysid,compid].signingignore)
{
using (SHA256Managed signit = new SHA256Managed())
{
signit.TransformBlock(signingKey, 0, signingKey.Length, null, 0);
signit.TransformFinalBlock(message.buffer, 0, message.Length - MAVLINK_SIGNATURE_BLOCK_LEN + 7);
var ctx = signit.Hash;
// trim to 48
Array.Resize(ref ctx, 6);
//Console.WriteLine("linkid {0}, time {1} {2} {3} {4} {5} {6} - {7}", message.sig[0], message.sig[1], message.sig[2], message.sig[3], message.sig[4], message.sig[5], message.sig[6], message.sigTimestamp);
for (int i = 0; i < ctx.Length; i++)
{
if (ctx[i] != message.sig[7 + i])
{
log.InfoFormat("Packet failed signature but passed crc");
return new MAVLinkMessage();
}
}
MAVlist[sysid, compid].linkid = message.sig[0];
enableSigning();
}
}
// packet is now verified
// update packet loss statistics
if (!logreadmode && MAVlist[sysid, compid].packetlosttimer.AddSeconds(5) < DateTime.Now)
{
MAVlist[sysid, compid].packetlosttimer = DateTime.Now;
MAVlist[sysid, compid].packetslost = (MAVlist[sysid, compid].packetslost*0.8f);
MAVlist[sysid, compid].packetsnotlost = (MAVlist[sysid, compid].packetsnotlost*0.8f);
}
else if (logreadmode && MAVlist[sysid, compid].packetlosttimer.AddSeconds(5) < lastlogread)
{
MAVlist[sysid, compid].packetlosttimer = lastlogread;
MAVlist[sysid, compid].packetslost = (MAVlist[sysid, compid].packetslost*0.8f);
MAVlist[sysid, compid].packetsnotlost = (MAVlist[sysid, compid].packetsnotlost*0.8f);
}
// extract wp's from stream
if (buffer.Length >= 5)
{
getWPsfromstream(ref message, sysid, compid);
}
// if its a gcs packet - dont process further
if (buffer.Length >= 5 && (sysid == 255 || sysid == 253) && logreadmode) // gcs packet
{
return message;
}
// create a state for any sysid/compid
if (!MAVlist.Contains(sysid, compid))
{
// create an item - hidden
MAVlist.AddHiddenList(sysid, compid);
}
try
{
if ((message.header == 'U' || message.header == 0xfe || message.header == 0xfd) && buffer.Length >= message.payloadlength)
{
// check if we lost pacakets based on seqno
int expectedPacketSeqNo = ((MAVlist[sysid, compid].recvpacketcount + 1)%0x100);
{
// the seconds part is to work around a 3dr radio bug sending dup seqno's
if (packetSeqNo != expectedPacketSeqNo && packetSeqNo != MAVlist[sysid, compid].recvpacketcount)
{
MAVlist[sysid, compid].synclost++; // actualy sync loss's
int numLost = 0;
if (packetSeqNo < ((MAVlist[sysid, compid].recvpacketcount + 1)))
// recvpacketcount = 255 then 10 < 256 = true if was % 0x100 this would fail
{
numLost = 0x100 - expectedPacketSeqNo + packetSeqNo;
}
else
{
numLost = packetSeqNo - expectedPacketSeqNo;
}
MAVlist[sysid, compid].packetslost += numLost;
WhenPacketLost.OnNext(numLost);
log.InfoFormat("mav {2}-{4} seqno {0} exp {3} pkts lost {1}", packetSeqNo, numLost, sysid,
expectedPacketSeqNo,compid);
}
MAVlist[sysid, compid].packetsnotlost++;
//Console.WriteLine("{0} {1}", sysid, packetSeqNo);
MAVlist[sysid, compid].recvpacketcount = packetSeqNo;
}
WhenPacketReceived.OnNext(1);
// packet stats per mav
if (double.IsInfinity(MAVlist[sysid, compid].packetspersecond[msgid]))
MAVlist[sysid, compid].packetspersecond[msgid] = 0;
MAVlist[sysid, compid].packetspersecond[msgid] = (((1000 /
((DateTime.Now -
MAVlist[sysid, compid]
.packetspersecondbuild[msgid])
.TotalMilliseconds) +
MAVlist[sysid, compid].packetspersecond[
msgid]) / 2));
MAVlist[sysid, compid].packetspersecondbuild[msgid] = DateTime.Now;
//Console.WriteLine("Packet {0}",temp[5]);
// store packet history
lock (objlock)
{
MAVlist[sysid, compid].packets[msgid] = message;
// 3dr radio status packet are injected into the current mav
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.RADIO_STATUS ||
msgid == (byte)MAVLink.MAVLINK_MSG_ID.RADIO)
{
MAVlist[sysidcurrent, compidcurrent].packets[msgid] = message;
}
// adsb packets are forwarded and can be from any sysid/compid
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.ADSB_VEHICLE)
{
var adsb = message.ToStructure<MAVLink.mavlink_adsb_vehicle_t>();
MainV2.instance.adsbPlanes[adsb.ICAO_address.ToString("X5")] = new MissionPlanner.Utilities.adsb.PointLatLngAltHdg(adsb.lat / 1e7, adsb.lon / 1e7, adsb.altitude / 1000, adsb.heading * 0.01f, adsb.ICAO_address.ToString("X5"), DateTime.Now);
}
}
// set seens sysid's based on hb packet - this will hide 3dr radio packets
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
{
mavlink_heartbeat_t hb = message.ToStructure<mavlink_heartbeat_t>();
// not a gcs
if (hb.type != (byte) MAV_TYPE.GCS)
{
// add a seen sysid
if (!MAVlist.Contains(sysid, compid, false))
{
// ensure its set from connect or log playback
MAVlist.Create(sysid, compid);
MAVlist[sysid, compid].aptype = (MAV_TYPE) hb.type;
MAVlist[sysid, compid].apname = (MAV_AUTOPILOT) hb.autopilot;
setAPType(sysid, compid);
}
// attach to the only remote device. / default to first device seen
if (MAVlist.Count == 1)
{
sysidcurrent = sysid;
compidcurrent = compid;
}
}
}
// only process for active mav
if (sysidcurrent == sysid && compidcurrent == compid)
PacketReceived(message);
if (debugmavlink)
DebugPacket(message);
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT) // status text
{
var msg = message.ToStructure<MAVLink.mavlink_statustext_t>();
byte sev = msg.severity;
string logdata = Encoding.ASCII.GetString(msg.text);
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
log.Info(DateTime.Now + " " + sev + " " + logdata);
MAVlist[sysid, compid].cs.messages.Add(logdata);
bool printit = false;
// the change of severity and the autopilot version where introduced at the same time, so any version non 0 can be used
// copter 3.4+
// plane 3.4+
if (MAVlist[sysid, compid].cs.version.Major > 0 || MAVlist[sysid, compid].cs.version.Minor >= 4)
{
if (sev <= (byte) MAV_SEVERITY.WARNING)
{
printit = true;
}
}
else
{
if (sev >= 3)
{
printit = true;
}
}
if (logdata.StartsWith("Tuning:"))
printit = true;
if (printit)
{
MAVlist[sysid, compid].cs.messageHigh = logdata;
MAVlist[sysid, compid].cs.messageHighTime = DateTime.Now;
if (MainV2.speechEngine != null &&
MainV2.speechEngine.IsReady &&
Settings.Instance["speechenable"] != null &&
Settings.Instance["speechenable"].ToString() == "True")
{
MainV2.speechEngine.SpeakAsync(logdata);
}
}
}
if (lastparamset != DateTime.MinValue && lastparamset.AddSeconds(10) < DateTime.Now)
{
lastparamset = DateTime.MinValue;
if (BaseStream.IsOpen)
{
doCommand(MAV_CMD.PREFLIGHT_STORAGE, 0, 0, 0, 0, 0, 0, 0);
}
}
getWPsfromstream(ref message, sysid, compid);
try
{
if (logfile != null && logfile.CanWrite && !logreadmode)
{
lock (logfile)
{
byte[] datearray =
BitConverter.GetBytes(
(UInt64) ((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds*1000));
Array.Reverse(datearray);
logfile.Write(datearray, 0, datearray.Length);
logfile.Write(buffer, 0, buffer.Length);
if (msgid == 0)
{
// flush on heartbeat - 1 seconds
logfile.Flush();
rawlogfile.Flush();
}
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
try
{
// full rw from mirror stream
if (MirrorStream != null && MirrorStream.IsOpen)
{
MirrorStream.Write(buffer, 0, buffer.Length);
while (MirrorStream.BytesToRead > 0)
{
byte[] buf = new byte[1024];
int len = MirrorStream.Read(buf, 0, buf.Length);
if (MirrorStreamWrite)
BaseStream.Write(buf, 0, len);
}
}
}
catch
{
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
// update last valid packet receive time
MAVlist[sysid, compid].lastvalidpacket = DateTime.Now;
return new MAVLinkMessage(buffer);
}
private bool messageReceived(MAVLinkMessage arg)
{
//accept any compid, but filter sysid
if (arg.sysid != _parent.sysid)
{
return(true);
}
if (arg.msgid == (uint)MAVLINK_MSG_ID.DISTANCE_SENSOR)
{
var dist = arg.ToStructure <mavlink_distance_sensor_t>();
if (dist.current_distance >= dist.max_distance)
{
return(true);
}
if (dist.current_distance <= dist.min_distance)
{
return(true);
}
_dS.Add(dist.id, (MAV_SENSOR_ORIENTATION)dist.orientation, dist.current_distance, DateTime.Now, 3);
DataAvailable = true;
}
else if (arg.msgid == (uint)MAVLINK_MSG_ID.OBSTACLE_DISTANCE)
{
var dists = arg.ToStructure <mavlink_obstacle_distance_t>();
var inc = dists.increment == 0 ? dists.increment_f : dists.increment;
var rangestart = dists.angle_offset;
if (dists.frame == (byte)MAV_FRAME.BODY_FRD)
{
// no action
}
else if (dists.frame == (byte)MAV_FRAME.GLOBAL)
{
rangestart += _parent.cs.yaw;
}
var rangeend = rangestart + inc * dists.distances.Length;
for (var a = 0; a < dists.distances.Length; a++)
{
// not used
if (dists.distances[a] == ushort.MaxValue)
{
continue;
}
if (dists.distances[a] > dists.max_distance)
{
continue;
}
if (dists.distances[a] < dists.min_distance)
{
continue;
}
var dist = Math.Min(Math.Max(dists.distances[a], dists.min_distance), dists.max_distance);
var angle = rangestart + inc * a;
_dS.Add(dists.sensor_type, angle, inc, dist, DateTime.Now, 0.2);
}
DataAvailable = true;
}
return(true);
}
private bool messageReceived(MAVLinkMessage arg)
{
//accept any compid, but filter sysid
if (arg.sysid != _parent.sysid)
return true;
if (arg.msgid == (uint)MAVLINK_MSG_ID.DISTANCE_SENSOR)
{
var dist = arg.ToStructure<mavlink_distance_sensor_t>();
if (dist.current_distance >= dist.max_distance)
return true;
if (dist.current_distance <= dist.min_distance)
return true;
_dS.Add(dist.id, (MAV_SENSOR_ORIENTATION)dist.orientation, dist.current_distance, DateTime.Now, 3);
if (temp.IsHandleCreated)
{
temp.Invalidate();
}
else
{
if (!temp.IsDisposed)
{
MainV2.instance.Invoke((MethodInvoker)delegate { temp.Show(); });
}
}
}
return true;
}
