| public SendCommand ( byte command, bool ack ) : void | ||
| command | byte | |
| ack | bool | |
| return | void | |
private void doCommand(bool capture)
{
statusLabel.Text = "Starting";
progressBar.Value = 1;
string fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
string filePath = filePathTextBox.Text + "\\" + fileName;
stopCommand = false;
if (capture)
{
byte[] zeroToken = { 0 }; // send 0 to take picture
uavConn.SendCommand(zeroToken, false);
}
uint imageID = 0;
while (stopCommand == false)
{
Application.DoEvents();
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packetSize > 0)
{
if (packet[0] == 1 && packetSize == 3)
{
// got PICTURE_TAKEN
//byte[] picture_taken_ack = { 8, 1 }; // ack the picture_taken command
//uavConn.SendCommand(picture_taken_ack, true);
statusLabel.Text = "Found PICTURE_TAKEN";
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest, false);
imageListen(fileName, filePath);
}
private void doCommand()
{
statusLabel.Text = "Starting";
progressBar.Value = 1;
string fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
FileStream fileStream;
fileStream = new FileStream(filePathTextBox.Text + "\\" + fileName, FileMode.Create);
BinaryWriter opFile = new BinaryWriter(fileStream);
uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
stopCommand = false;
byte[] zeroToken = { 0 }; // send 0 to receive data
uavConn.SendCommand(zeroToken, false);
uint imageID = 0;
while (stopCommand == false)
{
Application.DoEvents();
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packetSize > 0)
{
if (packet[0] == 1 && packetSize == 3)
{
// got PICTURE_TAKEN
byte[] picture_taken_ack = { 8, 1 }; // ack the picture_taken command
uavConn.SendCommand(picture_taken_ack, true);
statusLabel.Text = "Found PICTURE_TAKEN";
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest, false);
imageListen(fileName, fileStream, opFile);
}
static void Main(string[] args)
{
mainForm.Show();
while (true)
{
Application.DoEvents();
}
#if false
UAVConnector uavConn = new UAVConnector();
uavConn.Connect(0);
FileStream fileStream = new FileStream("output.jpg", FileMode.Create);
BinaryWriter opFile = new BinaryWriter(fileStream);
uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
byte[] zeroToken = { 0 }; // send 0 to receive data
uavConn.SendCommand(zeroToken);
uint imageID = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 1)
{
// got PICTURE_TAKEN
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest);
uint lastPacketNum = 500;
uint totalPackets = 500;
bool startImage = false;
long numBytes = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
{
Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
}
else if(packet[0] == 4) // is a IMAGE_DATA packet
{
Console.WriteLine("Found IMAGE_DATA");
uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);
Console.Write("#" + packetNum + " ");
for (int i = 3; i < packetSize; i++)
{
Console.Write(packet[i] + " ");
}
Console.WriteLine();
if (packetNum == 0)
startImage = true;
if (startImage == false)
continue;
if (packetNum == lastPacketNum)
{
//Console.WriteLine("End of image.");
continue;
}
Console.WriteLine("Writing.");
for (int i = 3; i < packetSize; i++)
{
opFile.Write(packet[i]);
numBytes++;
}
if (packetNum == totalPackets - 1)
break;
lastPacketNum = packetNum;
}
}
Console.WriteLine("Done!");
opFile.Close();
uavConn.Close();
Console.ReadLine();
#endif
}
private void doCommand()
{
statusLabel.Text = "Starting";
progressBar.Value = 1;
string fileName = string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
FileStream fileStream;
fileStream = new FileStream(filePathTextBox.Text + "\\" + fileName, FileMode.Create);
BinaryWriter opFile = new BinaryWriter(fileStream);
uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
stopCommand = false;
byte[] zeroToken = { 0 }; // send 0 to receive data
uavConn.SendCommand(zeroToken);
uint imageID = 0;
while (stopCommand == false)
{
Application.DoEvents();
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packetSize > 0)
{
if (packet[0] == 1 && packetSize == 3)
{
// got PICTURE_TAKEN
statusLabel.Text = "Found PICTURE_TAKEN";
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest);
uint lastPacketNum = 500;
uint totalPackets = 500;
bool startImage = false;
long numBytes = 0;
while (stopCommand == false)
{
Application.DoEvents();
// add cancel code check
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
//progressbar maximum
if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
{
statusLabel.Text = "Found IMAGE_DOWNLOAD_INFO";
Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
progressBar.Maximum = (int)totalPackets;
}
else if (packet[0] == 4) // is a IMAGE_DATA packet
{
statusLabel.Text = "Found IMAGE_DATA";
Console.WriteLine("Found IMAGE_DATA");
uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);
Console.Write("#" + packetNum + " ");
for (int i = 3; i < packetSize; i++)
{
Console.Write(packet[i] + " ");
}
Console.WriteLine();
if (packetNum == 0)
{
startImage = true;
}
if (startImage == false)
{
continue;
}
if (packetNum == lastPacketNum)
{
//Console.WriteLine("End of image.");
continue;
}
statusLabel.Text = "Writing";
Console.WriteLine("Writing.");
for (int i = 3; i < packetSize; i++)
{
opFile.Write(packet[i]);
numBytes++;
}
progressBar.PerformStep();
if (packetNum == totalPackets - 1)
{
break;
}
lastPacketNum = packetNum;
}
}
if (stopCommand == false)
{
fileStream.Close();
opFile.Close();
progressBar.Value = 1;
statusLabel.Text = "Done!";
Console.WriteLine("Done!");
updateDirectory(fileName);
Array.Resize(ref jpegList, jpegList.Length + 1);
jpegList[jpegList.Length - 1] = fileDirectory + "\\" + fileName;
jpegList = Directory.GetFiles(fileDirectory, "*.jpg");
Image img = Image.FromFile(fileDirectory + "\\" + fileName);
pictureBox.Image = img;
statusLabel.Text = null;
}
if (stopCommand == true)
{
fileStream.Close();
opFile.Close();
File.Delete(filePathTextBox.Text + "\\" + fileName);
statusLabel.Text = "Stop";
}
// Console.ReadLine();
/*
* // CameraCommand newCommand = new CameraCommand();
* byte[] command = new byte[3];
* byte[] uavDataCurrent = new byte[uavDataLength];
* byte[] imageData = new byte[250];
* byte[] allImageData = new byte[30000];
* byte[] zeroToken = { 0 }; // send 0 to receive data
* string fileName=string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
*
*
* // uavConnector.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
*
* uavConnector.StartStream(0);
*
* byte[] currentCommand = { 0 };
*
* uavConnector.SendCommand(zeroToken);
*
* // uavConnector.SendTextToUAV("payload[0].mem_bytes[0] 0");
*
* //while (currentCommand.Length > 0 && currentCommand[0] != PICTURE_TAKEN)
* while (true)
* {
* // currentCommand = uavConnector.ReceiveFromStream();
* currentCommand = uavConnector.ReceiveFromStream();
* }
*
* //uavConnector.SendTextToUAV("payload[0].mem_byte[0] 0");
*
* uint imageID = (uint)currentCommand[1] + (uint)(currentCommand[2] << 8);
*
* command[0] = SEND_DOWNLOAD_REQUEST;
* command[1] = currentCommand[1];
* command[2] = currentCommand[2];
*
* uavConnector.SendCommand(command);
*
* while (currentCommand[0] != DOWNLOAD_INFO_COMMAND)
* {
* currentCommand = uavConnector.ReceiveFromStream();
* }
*
* uint numberOfPacket = (uint)command[1] + (uint)(command[2] << 8);
* int allImageDataCount=0;
*
* while (currentCommand[0] != TAKEN_IMAGE_DATA)
* {
* currentCommand = uavConnector.ReceiveFromStream();
* }
*
* uint prevPacketNumber = 500;
*
* while(currentCommand[0] == TAKEN_IMAGE_DATA)
* {
* uint currentPacketNum = (uint)command[1] + (uint)(command[2] << 8);
*
* if (currentPacketNum == prevPacketNumber + 1)
* {
*
* for (int countData = 3; countData < currentCommand.Length; countData++, allImageDataCount++)
* {
* allImageData[allImageDataCount] = imageData[countData];
* }
* if (currentPacketNum >= numberOfPacket - 1)
* {
* break;
* }
* }
* else if(currentPacketNum != prevPacketNumber)
* {
* throw new Exception("ERROR: Skipped a packet.");
* }
* prevPacketNumber = currentPacketNum;
* currentCommand = uavConnector.ReceiveFromStream();
* }
* Image imageFromUAV = uavConnector.GetImage(allImageData);
* pictureBox.Image = imageFromUAV;
*
* uavConnector.SaveImage(allImageData, fileName, fileDirectory);
* //uavDataPrevious = uavDataCurrent;
*
* */
/*
* while (!endOfCommand)
* {
*
* uavDataCurrent= streamPort.StartReceiving();
* switch (uavDataCurrent[COMMAND_BYTE_LOCATION])
* {
* case PICTURE_TAKEN:
* pictureTaken = true;
* numberOfPacket = (int)uavDataCurrent[1]*0xFF+(int)uavDataCurrent[2];
* imageID = (int)uavDataCurrent[3];
* break;
* case IMAGE_DATA:
* if (pictureTaken == true)
* {
*
* if (uavDataCurrent != uavDataPrevious && pictureTaken == true)
* {
* packetID = (int)uavDataCurrent[PACKET_ID_LOCATION];
* dataLength = (int)uavDataCurrent[LENGTH_BYTE_LOCATION_1] * 0xFF + uavDataCurrent[LENGTH_BYTE_LOCATION_2];
* // IMPORTANT: Make the second byte(first byte is command byte) of the data a data length byte in the PAYLOAD MODULE
* //This for loop check whether the data is at the end of file or not //I set 0xD9 to be the end of file code
* //also it will check for data length cycle.
* //IMPORTANT: the eachByteCheck start at 1 so make sure that the data start at second byte !! (or modify the code)
* for (int eachByteCheck = START_OF_IMAGE_DATA; eachByteCheck < dataLength&&!endOfCommand; eachByteCheck++, count++)
* {
* imageData[count] = uavDataCurrent[eachByteCheck];
*
* //Check for end of file
* if (imageData[count] == COMMAND_HEADER || nextIsCommandByte)
* {
* if (((eachByteCheck != dataLength - 1) && imageData[count + 1] == END_OF_FILE) || nextIsCommandByte && imageData[count] == END_OF_FILE)
* {
* endOfCommand = true;
* }
* else if (eachByteCheck == dataLength - 1)
* {
* nextIsCommandByte = true;
* }
* }
* }
* }
* }
* break;
* default:
* break;
* }
* }
* */
//consolePort.SendCommand(stopSendingDataCommand, STOP_SENDING_COMMAND_LENGTH);
}
private void doCommand()
{
UAVConnector uavConn = new UAVConnector();
uavConn.Connect(0);
FileStream fileStream = new FileStream("output.jpg", FileMode.Create);
BinaryWriter opFile = new BinaryWriter(fileStream);
uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
byte[] zeroToken = { 0 }; // send 0 to receive data
uavConn.SendCommand(zeroToken);
uint imageID = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 1)
{
// got PICTURE_TAKEN
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest);
uint lastPacketNum = 500;
uint totalPackets = 500;
bool startImage = false;
long numBytes = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
{
Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
}
else if (packet[0] == 4) // is a IMAGE_DATA packet
{
Console.WriteLine("Found IMAGE_DATA");
uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);
Console.Write("#" + packetNum + " ");
for (int i = 3; i < packetSize; i++)
{
Console.Write(packet[i] + " ");
}
Console.WriteLine();
if (packetNum == 0)
startImage = true;
if (startImage == false)
continue;
if (packetNum == lastPacketNum)
{
//Console.WriteLine("End of image.");
continue;
}
Console.WriteLine("Writing.");
for (int i = 3; i < packetSize; i++)
{
opFile.Write(packet[i]);
numBytes++;
}
if (packetNum == totalPackets - 1)
break;
lastPacketNum = packetNum;
}
}
opFile.Close();
Console.WriteLine("Done!");
uavConn.Close();
Image img = Image.FromFile("output.jpg");
pictureBox.Image = img;
// Console.ReadLine();
/*
// CameraCommand newCommand = new CameraCommand();
byte[] command = new byte[3];
byte[] uavDataCurrent = new byte[uavDataLength];
byte[] imageData = new byte[250];
byte[] allImageData = new byte[30000];
byte[] zeroToken = { 0 }; // send 0 to receive data
string fileName=string.Format("uavPictureAt{0:yyyy-MM-dd_hh-mm-ss-tt}.jpg", DateTime.Now);
// uavConnector.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
uavConnector.StartStream(0);
byte[] currentCommand = { 0 };
uavConnector.SendCommand(zeroToken);
// uavConnector.SendTextToUAV("payload[0].mem_bytes[0] 0");
//while (currentCommand.Length > 0 && currentCommand[0] != PICTURE_TAKEN)
while (true)
{
// currentCommand = uavConnector.ReceiveFromStream();
currentCommand = uavConnector.ReceiveFromStream();
}
//uavConnector.SendTextToUAV("payload[0].mem_byte[0] 0");
uint imageID = (uint)currentCommand[1] + (uint)(currentCommand[2] << 8);
command[0] = SEND_DOWNLOAD_REQUEST;
command[1] = currentCommand[1];
command[2] = currentCommand[2];
uavConnector.SendCommand(command);
while (currentCommand[0] != DOWNLOAD_INFO_COMMAND)
{
currentCommand = uavConnector.ReceiveFromStream();
}
uint numberOfPacket = (uint)command[1] + (uint)(command[2] << 8);
int allImageDataCount=0;
while (currentCommand[0] != TAKEN_IMAGE_DATA)
{
currentCommand = uavConnector.ReceiveFromStream();
}
uint prevPacketNumber = 500;
while(currentCommand[0] == TAKEN_IMAGE_DATA)
{
uint currentPacketNum = (uint)command[1] + (uint)(command[2] << 8);
if (currentPacketNum == prevPacketNumber + 1)
{
for (int countData = 3; countData < currentCommand.Length; countData++, allImageDataCount++)
{
allImageData[allImageDataCount] = imageData[countData];
}
if (currentPacketNum >= numberOfPacket - 1)
{
break;
}
}
else if(currentPacketNum != prevPacketNumber)
{
throw new Exception("ERROR: Skipped a packet.");
}
prevPacketNumber = currentPacketNum;
currentCommand = uavConnector.ReceiveFromStream();
}
Image imageFromUAV = uavConnector.GetImage(allImageData);
pictureBox.Image = imageFromUAV;
uavConnector.SaveImage(allImageData, fileName, fileDirectory);
//uavDataPrevious = uavDataCurrent;
*
* */
/*
while (!endOfCommand)
{
uavDataCurrent= streamPort.StartReceiving();
switch (uavDataCurrent[COMMAND_BYTE_LOCATION])
{
case PICTURE_TAKEN:
pictureTaken = true;
numberOfPacket = (int)uavDataCurrent[1]*0xFF+(int)uavDataCurrent[2];
imageID = (int)uavDataCurrent[3];
break;
case IMAGE_DATA:
if (pictureTaken == true)
{
if (uavDataCurrent != uavDataPrevious && pictureTaken == true)
{
packetID = (int)uavDataCurrent[PACKET_ID_LOCATION];
dataLength = (int)uavDataCurrent[LENGTH_BYTE_LOCATION_1] * 0xFF + uavDataCurrent[LENGTH_BYTE_LOCATION_2];
// IMPORTANT: Make the second byte(first byte is command byte) of the data a data length byte in the PAYLOAD MODULE
//This for loop check whether the data is at the end of file or not //I set 0xD9 to be the end of file code
//also it will check for data length cycle.
//IMPORTANT: the eachByteCheck start at 1 so make sure that the data start at second byte !! (or modify the code)
for (int eachByteCheck = START_OF_IMAGE_DATA; eachByteCheck < dataLength&&!endOfCommand; eachByteCheck++, count++)
{
imageData[count] = uavDataCurrent[eachByteCheck];
//Check for end of file
if (imageData[count] == COMMAND_HEADER || nextIsCommandByte)
{
if (((eachByteCheck != dataLength - 1) && imageData[count + 1] == END_OF_FILE) || nextIsCommandByte && imageData[count] == END_OF_FILE)
{
endOfCommand = true;
}
else if (eachByteCheck == dataLength - 1)
{
nextIsCommandByte = true;
}
}
}
}
}
break;
default:
break;
}
}
* */
//consolePort.SendCommand(stopSendingDataCommand, STOP_SENDING_COMMAND_LENGTH);
}
static void Main(string[] args)
{
mainForm.Show();
while (true)
{
Application.DoEvents();
}
#if false
UAVConnector uavConn = new UAVConnector();
uavConn.Connect(0);
FileStream fileStream = new FileStream("output.jpg", FileMode.Create);
BinaryWriter opFile = new BinaryWriter(fileStream);
uavConn.SendTextToUAV("da 20 payload[0].mem_bytes[0]");
byte[] zeroToken = { 0 }; // send 0 to receive data
uavConn.SendCommand(zeroToken);
uint imageID = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 1)
{
// got PICTURE_TAKEN
Console.WriteLine("Found PICTURE_TAKEN");
imageID = (uint)packet[1] + (uint)(packet[2] << 8);
break;
}
}
byte[] imageDownloadRequest = { 2, (byte)imageID, (byte)(imageID >> 8) };
uavConn.SendCommand(imageDownloadRequest);
uint lastPacketNum = 500;
uint totalPackets = 500;
bool startImage = false;
long numBytes = 0;
while (true)
{
Console.Write(".");
byte[] packet = uavConn.GetDataBytes();
int packetSize = packet.Length;
if (packet[0] == 3) // is a IMAGE_DOWNLOAD_INFO packet
{
Console.WriteLine("Found IMAGE_DOWNLOAD_INFO");
totalPackets = (uint)packet[1] + (uint)(packet[2] << 8);
}
else if (packet[0] == 4) // is a IMAGE_DATA packet
{
Console.WriteLine("Found IMAGE_DATA");
uint packetNum = (uint)packet[1] + (uint)(packet[2] << 8);
Console.Write("#" + packetNum + " ");
for (int i = 3; i < packetSize; i++)
{
Console.Write(packet[i] + " ");
}
Console.WriteLine();
if (packetNum == 0)
{
startImage = true;
}
if (startImage == false)
{
continue;
}
if (packetNum == lastPacketNum)
{
//Console.WriteLine("End of image.");
continue;
}
Console.WriteLine("Writing.");
for (int i = 3; i < packetSize; i++)
{
opFile.Write(packet[i]);
numBytes++;
}
if (packetNum == totalPackets - 1)
{
break;
}
lastPacketNum = packetNum;
}
}
Console.WriteLine("Done!");
opFile.Close();
uavConn.Close();
Console.ReadLine();
#endif
}
