static void Main(string[] args)
{
Stream strm = null;
if (args.Length == 0)
{
strm = Console.OpenStandardInput();
}
else if (args.Length == 1)
{
Console.WriteLine("Usage '" + FileUsage + "' OR '" + SerialUsage + "' Use no arguments for stdin");
Console.ReadKey();
Environment.Exit(0);
}
else if (args[0] == "-S" )
{
if (args.Length != 3)
{
Console.WriteLine("Error - argument syntax should be: '" + SerialUsage + "'");
Environment.Exit(1);
}
var comport = args[1];
var baud = Convert.ToInt32(args[2]);
var port = new SerialPort(comport, baud);
port.Open();
strm = port.BaseStream;
}
else
{
strm = File.OpenRead(args[1]);
}
var link = new Mavlink_Link(strm);
var net = new MavlinkNetwork(link);
var consoledumper = new ConsoleDumper(net);
Console.ReadKey();
}
static void Main(string[] args)
{
_mavStream = ExampleCommon.GetMavStreamFromArgs(args);
_link = new Mavlink_Link(_mavStream);
_net = new MavlinkNetwork(_link);
var packetsReceived = Observable.FromEvent<PacketReceivedEventHandler, MavlinkPacket>(
handler => (sender, e) => handler.Invoke(e),
d => _net.PacketReceived += d,
d => _net.PacketReceived -= d);
var heartbeats = packetsReceived.Where(p => p.Message is MAVLink_heartbeat_message);
Console.WriteLine("Waiting For hearbeat (10 second timeout)...");
var paramsReceived = from hb in heartbeats
.Take(1)
.Do(SendParamListRequest)
.Timeout(TimeSpan.FromSeconds(10))
from message in packetsReceived
.Where(m => m.SystemId == hb.SystemId)
.Where(m => m.ComponentId == hb.ComponentId)
.Select(p => p.Message)
.OfType<MAVLink_param_value_message>()
.TakeWhile(p => p.param_index < p.param_count - 1 )
select message;
paramsReceived.Subscribe(
DumpPacket,
e => Console.WriteLine("Error: " + e.Message),
() => Console.WriteLine("Complete"));
_link.Start();
Console.ReadKey();
_link.Stop();
_mavStream.Close();
}
public ConsoleDumper(MavlinkNetwork mavNet)
{
_mavNet = mavNet;
_mavNet.PacketReceived += NetworkLayerPacketReceived;
}