public MavlinkPayloadServer(MavlinkPayloadServerConfig cfg, bool sendHeartBeatMessages = true)
{
_logger.Info($"Create mavlink payload server: cs:{cfg.ConnectionString}, comId:{cfg.Identity.ComponenId}, sysId:{cfg.Identity.SystemId}, netId:{cfg.Identity.NetworkId}");
_conn = new MavlinkV2Connection(cfg.ConnectionString, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
_srv = new MavlinkServerBase(_conn, cfg.Identity);
_identity = cfg.Identity;
_srv.Heartbeat.Set(_ =>
{
_.Autopilot = MavAutopilot.MavAutopilotGeneric;
_.Type = MavType.MavTypeGeneric;
_.SystemStatus = MavState.MavStateActive;
_.MavlinkVersion = 3;
_.CustomMode = PayloadHelper.HeartbeatMagicDigit;
});
if (sendHeartBeatMessages)
{
_srv.Heartbeat.Start();
}
_srv.V2Extension.OnData.Where(CheckPacketTarget).Subscribe(OnData, _disposeCancel.Token);
}
public Pv2ServerDeviceBase(IMavlinkV2Connection connection, IConfiguration cfgSvc,
IEnumerable <Pv2ParamType> paramList, Pv2DeviceClass @class, IEnumerable <IWorkModeFactory> workModes,
IChunkStore rttStore,
IEnumerable <Pv2RttRecordDesc> rttRecords,
IEnumerable <Pv2RttFieldDesc> rttFields, string configSuffix = "PV2")
{
var systemId = (byte)Pv2DeviceParams.SystemId.ReadFromConfigValue(cfgSvc, configSuffix);
var componentId = (byte)Pv2DeviceParams.ComponentId.ReadFromConfigValue(cfgSvc, configSuffix);
var networkId = (byte)Pv2DeviceParams.NetworkId.ReadFromConfigValue(cfgSvc, configSuffix);
Seq = new PacketSequenceCalculator();
var mavlinkServer = new MavlinkServerBase(connection, new MavlinkServerIdentity
{
ComponentId = componentId,
SystemId = systemId
}, Seq).DisposeItWith(Disposable);
_payloadServer = new PayloadV2Server(mavlinkServer, networkId).DisposeItWith(Disposable);
var defaultParamsList =
Pv2DeviceParams.Params.Concat(paramList)
.Concat(Pv2BaseInterface.Params)
.Concat(Pv2PowerInterface.Params)
.Concat(Pv2RttInterface.Params)
.Concat(Pv2MissionInterface.Params);
_params = new Pv2ServerParamsInterface(_payloadServer, cfgSvc, defaultParamsList, configSuffix)
.DisposeItWith(Disposable);
_base = new Pv2ServerBaseInterface(_payloadServer, @class, workModes).DisposeItWith(Disposable);
_power = new Pv2ServerPowerInterface(_payloadServer, _params).DisposeItWith(Disposable);
_rtt = new Pv2ServerRttInterface(_payloadServer, _base, _params, rttStore, rttRecords, rttFields)
.DisposeItWith(Disposable);
_mission = new Pv2ServerMissionInterface(_payloadServer, _rtt, _base).DisposeItWith(Disposable);
_base.OnLogMessage.Merge(_params.OnLogMessage).Merge(_power.OnLogMessage).Merge(_mission.OnLogMessage)
.Subscribe(_ => Server.Server.StatusText.Log(_)).DisposeItWith(Disposable);
}
public static IPayloadV2Server CreateServer(out int port, byte compId = 1, byte sysId = 1)
{
port = GetAvailablePort();
var serverPort = PortFactory.Create($"tcp://127.0.0.1:{port}?srv=true");
serverPort.Enable();
var serverConnection = new MavlinkV2Connection(serverPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
var mavlinkServer = new MavlinkServerBase(serverConnection,
new MavlinkServerIdentity {
ComponentId = compId, SystemId = sysId
});
mavlinkServer.Heartbeat.Set(_ => _.Autopilot = MavAutopilot.MavAutopilotGeneric);
mavlinkServer.Heartbeat.Start();
return(new PayloadV2Server(mavlinkServer));
}
