public Core(ILogger <Core> logger, TelloClient client, TelloStateServer stateServer, FFmpeg ffmpeg)
{
this.logger = logger;
this.client = client;
this.stateServer = stateServer;
this.ffmpeg = ffmpeg;
stateServer.OnState += (s) => telloState = s;
stateServer.OnException += (ex) => logger.LogError(ex, "stateServer.OnException");
}
public override void OnNext(IEnvelope message)
{
try
{
State = new TelloState(Encoding.UTF8.GetString(message.Data), message.Timestamp, _position);
StateChanged?.Invoke(this, new StateChangedArgs(State));
}
catch (Exception ex)
{
OnError(ex);
}
}
public static void GenerateCsv(string file, List <TelloState> states)
{
if (!file.EndsWith(".csv"))
{
file += ".csv";
}
var lines = states.Select(state => state.GetCsvDataRow()).ToList();
lines.Insert(0, TelloState.GetCsvHeaderRow());
var csvFile = File.Create(file);
csvFile.Close();
File.WriteAllLines(file, lines);
}
private async void ListenTask()
{
while (true)
{
try
{
var result = await udpServer.ReceiveAsync();
var data = Encoding.ASCII.GetString(result.Buffer);
OnStateRaw?.Invoke(data);
OnState?.Invoke(TelloState.FromString(data));
}
catch (Exception ex)
{
OnException?.Invoke(ex);
}
}
}
public void AirSpeed_Insert_Read()
{
using (var repo = CreateRepository())
{
Assert.IsTrue(repo.CreateCatalog <Session>());
Assert.IsTrue(repo.CreateCatalog <ObservationGroup>());
Assert.IsTrue(repo.CreateCatalog <AirSpeedObservation>());
var start = DateTime.UtcNow;
var session = repo.NewEntity <Session>(start, TimeSpan.FromSeconds(1));
Assert.IsNotNull(session);
Assert.AreEqual(1, session.Id);
Assert.AreEqual(start, session.StartTime);
Assert.AreEqual(1000, session.Duration.TotalMilliseconds);
var group = repo.NewEntity <ObservationGroup>(session, start);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
group = repo.Read <ObservationGroup>(1);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
var stateString = "mid:-1;x:0;y:0;z:0;mpry:0,0,0;pitch:1;roll:2;yaw:3;vgx:4;vgy:5;vgz:6;templ:7;temph:8;tof:9;h:10;bat:11;baro:12.13;time:14;agx:15.16;agy:17.18;agz:19.20;";
var state = new TelloState(stateString);
var observation = new AirSpeedObservation(group, state);
Assert.AreEqual(1, repo.Insert(observation));
observation = repo.Read <AirSpeedObservation>(1);
Assert.IsNotNull(observation);
Assert.AreEqual(1, observation.Id);
Assert.AreEqual(state.Timestamp, observation.Timestamp);
Assert.AreEqual(1, observation.GroupId);
Assert.AreEqual(15.16, observation.AccelerationX);
Assert.AreEqual(17.18, observation.AccelerationY);
Assert.AreEqual(19.20, observation.AccelerationZ);
Assert.AreEqual(4, observation.SpeedX);
Assert.AreEqual(5, observation.SpeedY);
Assert.AreEqual(6, observation.SpeedZ);
}
}
public void PositionObservation_Insert_Read()
{
using (var repo = this.CreateRepository())
{
Assert.IsTrue(repo.CreateCatalog <Session>());
Assert.IsTrue(repo.CreateCatalog <ObservationGroup>());
Assert.IsTrue(repo.CreateCatalog <PositionObservation>());
var start = DateTime.UtcNow;
var session = repo.NewEntity <Session>(start, TimeSpan.FromSeconds(1));
Assert.IsNotNull(session);
Assert.AreEqual(1, session.Id);
Assert.AreEqual(start, session.StartTime);
Assert.AreEqual(1000, session.Duration.TotalMilliseconds);
var group = repo.NewEntity <ObservationGroup>(session, start);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
group = repo.Read <ObservationGroup>(1);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
var stateString = "mid:-1;x:0;y:0;z:0;mpry:0,0,0;pitch:1;roll:2;yaw:3;vgx:4;vgy:5;vgz:6;templ:7;temph:8;tof:9;h:10;bat:11;baro:12.13;time:14;agx:15.16;agy:17.18;agz:19.20;";
var state = new TelloState(stateString);
var observation = new PositionObservation(group, state);
Assert.AreEqual(1, repo.Insert(observation));
observation = repo.Read <PositionObservation>(1);
Assert.IsNotNull(observation);
Assert.AreEqual(1, observation.Id);
Assert.AreEqual(state.Timestamp, observation.Timestamp);
Assert.AreEqual(1, observation.GroupId);
Assert.AreEqual(10, observation.AltitudeAGLInCm);
Assert.AreEqual(12.13, observation.BarometricPressueInCm);
Assert.AreEqual(0, observation.Heading);
Assert.AreEqual(0, observation.X);
Assert.AreEqual(0, observation.Y);
}
}
public void Battery_Insert_Read()
{
using (var repo = this.CreateRepository())
{
Assert.IsTrue(repo.CreateCatalog <Session>());
Assert.IsTrue(repo.CreateCatalog <ObservationGroup>());
Assert.IsTrue(repo.CreateCatalog <BatteryObservation>());
var start = DateTime.UtcNow;
var session = repo.NewEntity <Session>(start, TimeSpan.FromSeconds(1));
Assert.IsNotNull(session);
Assert.AreEqual(1, session.Id);
Assert.AreEqual(start, session.StartTime);
Assert.AreEqual(1000, session.Duration.TotalMilliseconds);
var group = repo.NewEntity <ObservationGroup>(session, start);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
group = repo.Read <ObservationGroup>(1);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
var stateString = "mid:-1;x:0;y:0;z:0;mpry:0,0,0;pitch:1;roll:2;yaw:3;vgx:4;vgy:5;vgz:6;templ:7;temph:8;tof:9;h:10;bat:11;baro:12.13;time:14;agx:15.16;agy:17.18;agz:19.20;";
var state = new TelloState(stateString);
var observation = new BatteryObservation(group, state);
Assert.AreEqual(1, repo.Insert(observation));
observation = repo.Read <BatteryObservation>(1);
Assert.IsNotNull(observation);
Assert.AreEqual(1, observation.Id);
Assert.AreEqual(state.Timestamp, observation.Timestamp);
Assert.AreEqual(1, observation.GroupId);
Assert.AreEqual(11, observation.PercentRemaining);
Assert.AreEqual(8, observation.TemperatureHighC);
Assert.AreEqual(7, observation.TemperatureLowC);
}
}
