private HeartbeatEvent CreateHeartbeatEvent()
{
var process = Process.GetCurrentProcess();
PerformanceCounterDto[] performanceCounterHistory;
lock (_mutex)
{
performanceCounterHistory = _performanceCounterHistory.ToArray();
_performanceCounterHistory.Clear();
}
var heartbeatEvent = new HeartbeatEvent
{
Timestamp = _clock.UtcNow,
ProcessId = process.Id,
ProcessName = process.ProcessName,
MachineName = Environment.MachineName,
OSVersion = Environment.OSVersion.VersionString,
ProcessorCount = Environment.ProcessorCount,
StartTime = new DateTimeOffset(process.StartTime),
UserProcessorTime = process.UserProcessorTime,
TotalProcessorTime = process.TotalProcessorTime,
WorkingSet64 = process.WorkingSet64,
PeakWorkingSet64 = process.PeakWorkingSet64,
VirtualMemorySize64 = process.VirtualMemorySize64,
PerformanceCounters = performanceCounterHistory,
};
return(heartbeatEvent);
}
private void OnMavLinkPacketReceived(object sender, MavLinkPacket packet)
{
switch (packet.MessageId)
{
case (byte)MavlinkMessageID.HEARTBEAT:
{
HeartbeatEvent?.Invoke(packet.Message as UasHeartbeat);
break;
}
case (byte)MavlinkMessageID.SYS_STATUS:
{
SysStatusEvent?.Invoke(packet.Message as UasSysStatus);
break;
}
case (byte)MavlinkMessageID.GPS_RAW_INT:
{
GpsRawIntEvent?.Invoke(packet.Message as UasGpsRawInt);
break;
}
case (byte)MavlinkMessageID.ATTITUDE:
{
AttitudeEvent?.Invoke(packet.Message as UasAttitude);
break;
}
case (byte)MavlinkMessageID.LOCAL_POSITION_NED:
{
LocalPositionNedEvent?.Invoke(packet.Message as UasLocalPositionNed);
break;
}
case (byte)MavlinkMessageID.SERVO_OUTPUT_RAW:
{
ServoOutputRawEvent?.Invoke(packet.Message as UasServoOutputRaw);
break;
}
case (byte)MavlinkMessageID.VFR_HUD:
{
VfrHudEvent?.Invoke(packet.Message as UasVfrHud);
break;
}
case (byte)MavlinkMessageID.POSITION_TARGET_GLOBAL_INT:
{
PositionTargetGlobalIntEvent?.Invoke(packet.Message as UasPositionTargetGlobalInt);
break;
}
case (byte)MavlinkMessageID.HIGHRES_IMU:
{
HighresImuEvent?.Invoke(packet.Message as UasHighresImu);
break;
}
case (byte)MavlinkMessageID.ALTITUDE:
{
AltitudeEvent?.Invoke(packet.Message as UasAltitude);
break;
}
case (byte)MavlinkMessageID.BATTERY_STATUS:
{
BatteryStatusEvent?.Invoke(packet.Message as UasBatteryStatus);
break;
}
default:
Debug.WriteLine(packet.MessageId);
break;
}
MavlinkReceivedEvent?.Invoke(packet.Message);
}