public MissionClient(IMavlinkV2Connection mavlink, MavlinkClientIdentity identity, IPacketSequenceCalculator seq, MissionClientConfig config) : base(mavlink, identity, seq, "MISSION")
{
_config = config;
_missionCurrent = new RxValue <ushort>().DisposeItWith(Disposable);
_missionReached = new RxValue <ushort>().DisposeItWith(Disposable);
mavlink.FilterVehicle(identity).Filter <MissionCurrentPacket>().Select(_ => _.Payload.Seq).Subscribe(_missionCurrent)
.DisposeItWith(Disposable);
mavlink.FilterVehicle(identity).Filter <MissionItemReachedPacket>().Select(_ => _.Payload.Seq).Subscribe(_missionReached)
.DisposeItWith(Disposable);
}
public HeartbeatClient(IMavlinkV2Connection connection, MavlinkClientIdentity config, int heartBeatTimeoutMs = 2000)
{
_heartBeatTimeoutMs = heartBeatTimeoutMs;
connection
.FilterVehicle(config)
.Select(_ => _.Sequence)
.Subscribe(_ =>
{
Interlocked.Exchange(ref _lastPacketId, _);
Interlocked.Increment(ref _packetCounter);
}, _disposeCancel.Token);
connection
.FilterVehicle(config)
.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId)
.Cast <HeartbeatPacket>()
.Select(_ => _.Payload)
.Subscribe(_heartBeat);
_disposeCancel.Token.Register(() => _heartBeat.Dispose());
connection
.FilterVehicle(config)
.Select(_ => 1)
.Buffer(TimeSpan.FromSeconds(1))
.Select(_ => _.Sum()).Subscribe(_packetRate, _disposeCancel.Token);
_disposeCancel.Token.Register(() => _packetRate.Dispose());
Observable.Timer(TimeSpan.FromSeconds(1), TimeSpan.FromSeconds(1)).Subscribe(CheckConnection, _disposeCancel.Token);
RawHeartbeat.Subscribe(_ =>
{
if (_disposeCancel.IsCancellationRequested)
{
return;
}
_lastHeartbeat = DateTime.Now;
_link.Upgrade();
CalculateLinqQuality();
}, _disposeCancel.Token);
_disposeCancel.Token.Register(() => _link.Dispose());
}
public MavlinkTelemetry(IMavlinkV2Connection connection, MavlinkClientIdentity config)
{
_config = config;
_connection = connection;
_inputPackets = connection.FilterVehicle(config);
HandleSystemStatus();
HandleGps();
HandleHighresImu();
HandleVfrHud();
HandleAttitude();
HandleBatteryStatus();
HandleAltitude();
HandleExtendedSysState();
HandleHome();
HandleGlobalPositionInt();
HandleRadioStatus();
}
public LoggingClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (identity == null)
{
throw new ArgumentNullException(nameof(identity));
}
connection
.FilterVehicle(identity)
.Where(_ => _.MessageId == LoggingDataPacket.PacketMessageId)
.Cast <LoggingDataPacket>()
.Where(_ => _.Payload.TargetSystem == identity.SystemId && _.Payload.TargetComponent == identity.ComponentId)
.Select(_ => _.Payload)
.Subscribe(_loggingData, _disposeCancel.Token);
_disposeCancel.Token.Register(() => _loggingData.Dispose());
}
public DebugClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity)
{
_identity = identity;
var inputPackets = connection.FilterVehicle(identity);
inputPackets
.Where(_ => _.MessageId == NamedValueFloatPacket.PacketMessageId)
.Cast <NamedValueFloatPacket>()
.Select(_ => new KeyValuePair <string, float>(ConvertToKey(_.Payload.Name), _.Payload.Value))
.Subscribe(_onFloatSubject, _disposeCancel.Token);
_disposeCancel.Token.Register(() =>
{
_onFloatSubject.OnCompleted();
_onFloatSubject.Dispose();
});
inputPackets
.Where(_ => _.MessageId == NamedValueIntPacket.PacketMessageId)
.Cast <NamedValueIntPacket>()
.Select(_ => new KeyValuePair <string, int>(ConvertToKey(_.Payload.Name), _.Payload.Value))
.Subscribe(_onIntSubject, _disposeCancel.Token);
_disposeCancel.Token.Register(() =>
{
_onIntSubject.OnCompleted();
_onIntSubject.Dispose();
});
inputPackets
.Where(_ => _.MessageId == DebugFloatArrayPacket.PacketMessageId)
.Cast <DebugFloatArrayPacket>()
.Select(_ => _.Payload)
.Subscribe(_debugFloatArray, _disposeCancel.Token);
_disposeCancel.Token.Register(() => _debugFloatArray.Dispose());
}
