public DebugServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity)
{
_connection = connection;
_seq = seq;
_identity = identity;
_bootTime = DateTime.Now;
}
public StatusTextServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity, StatusTextLoggerConfig config)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (seq == null)
{
throw new ArgumentNullException(nameof(seq));
}
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_connection = connection;
_seq = seq;
_identity = identity;
_config = config;
_logger.Debug($"Create status logger for [sys:{identity.SystemId}, com:{identity.ComponenId}] with send rate:{config.MaxSendRateHz} Hz, buffer size: {config.MaxQueueSize}");
Observable.Timer(TimeSpan.FromSeconds(1.0 / _config.MaxSendRateHz),
TimeSpan.FromSeconds(1.0 / _config.MaxSendRateHz)).Subscribe(TrySend, _disposeCancel.Token);
}
public CommandLongServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity)
{
_connection = connection;
_seq = seq;
_identity = identity;
connection
.Where(_ => _.MessageId == CommandLongPacket.PacketMessageId)
.Cast <CommandLongPacket>()
.Where(_ => _.Payload.TargetComponent == identity.ComponentId && _.Payload.TargetSystem == identity.SystemId)
.ObserveOn(TaskPoolScheduler.Default)
.Subscribe(OnRequest, _disposeCancel.Token);
}
public V2ExtensionServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity)
{
_connection = connection;
_seq = seq;
_identity = identity;
connection
.Where(_ => _.MessageId == V2ExtensionPacket.PacketMessageId)
.Cast <V2ExtensionPacket>().Where(_ =>
(_.Payload.TargetSystem == 0 || _.Payload.TargetSystem == _identity.SystemId) &&
(_.Payload.TargetComponent == 0 || _.Payload.TargetComponent == _identity.ComponenId))
.Subscribe(_onData, _disposeCancel.Token);
}
public LoggingServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq,
MavlinkServerIdentity identity)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (seq == null)
{
throw new ArgumentNullException(nameof(seq));
}
_connection = connection;
_seq = seq;
_identity = identity;
}
public MavlinkPacketTransponder(IMavlinkV2Connection connection, MavlinkServerIdentity identityConfig, IPacketSequenceCalculator seq)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (identityConfig == null)
{
throw new ArgumentNullException(nameof(identityConfig));
}
if (seq == null)
{
throw new ArgumentNullException(nameof(seq));
}
_connection = connection;
_identityConfig = identityConfig;
_seq = seq;
_payloadContent = new byte[new TPacket().Payload.GetMaxByteSize() + 1];
_payloadSize = new TPacket().Payload.GetMaxByteSize();
}
public MavlinkServerBase(IMavlinkV2Connection connection, MavlinkServerIdentity identity, IPacketSequenceCalculator sequenceCalculator = null, bool disposeConnection = true)
{
_seq = sequenceCalculator ?? new PacketSequenceCalculator();
_heartbeat = new MavlinkHeartbeatServer(connection, _seq, identity, new MavlinkHeartbeatServerConfig
{
HeartbeatRateMs = 1000
});
_statusText = new StatusTextServer(connection, _seq, identity, new StatusTextLoggerConfig
{
MaxQueueSize = 100,
MaxSendRateHz = 10
});
_commandLong = new CommandLongServer(connection, _seq, identity);
_debug = new DebugServer(connection, _seq, identity);
_logging = new LoggingServer(connection, _seq, identity);
_v2Extension = new V2ExtensionServer(connection, _seq, identity);
_params = new MavlinkParamsServer(connection, _seq, identity);
MavlinkV2Connection = connection;
_identity = identity;
_disposeConnection = disposeConnection;
}
public MavlinkParamsServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity)
: base(connection, seq, identity)
{
Subscribe <ParamRequestListPacket, ParamRequestListPayload>(OnRequestList);
}
protected MavlinkMicroserviceBase(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity)
{
_connection = connection ?? throw new ArgumentNullException(nameof(connection));
_seq = seq ?? throw new ArgumentNullException(nameof(seq));
_identity = identity ?? throw new ArgumentNullException(nameof(identity));
}
public MavlinkHeartbeatServer(IMavlinkV2Connection connection, IPacketSequenceCalculator seq, MavlinkServerIdentity identity, MavlinkHeartbeatServerConfig config)
{
_config = config;
_transponder = new MavlinkPacketTransponder <HeartbeatPacket, HeartbeatPayload>(connection, identity, seq);
}