コード例 #1
0
ファイル: Program.cs プロジェクト: mandrolic/pymavlink
        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();
        }
コード例 #2
0
ファイル: Program.cs プロジェクト: mandrolic/pymavlink
        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();
        }
コード例 #3
0
ファイル: ConsoleDumper.cs プロジェクト: mandrolic/pymavlink
 public ConsoleDumper(MavlinkNetwork mavNet)
 {
     _mavNet = mavNet;
     _mavNet.PacketReceived += NetworkLayerPacketReceived;
 }