| public GenerateMAVLinkPacket20 ( MAVLINK_MSG_ID messageType, object indata, bool sign = false ) : byte[] | ||
| messageType | MAVLINK_MSG_ID | |
| indata | object | |
| sign | bool | |
| 리턴 | byte[] | |
public void DisarmClick()
{
MAVLink.mavlink_command_long_t cmd = new MAVLink.mavlink_command_long_t
{
command = (ushort)MAVLink.MAV_CMD.COMPONENT_ARM_DISARM,
target_system = 0,
param1 = 0,
param2 = 21196
};
byte[] data = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.COMMAND_LONG, cmd);
sock.SendTo(data, ep);
}
public void Main()
{
stopwatch = new Stopwatch();
stopwatch.Start();
drones.Add("bebop2", new DroneData("192.168.42.1", 20000));
MAVLink.mavlink_system_time_t cmd = new MAVLink.mavlink_system_time_t();
cmd.time_boot_ms = 0;
cmd.time_unix_usec = (ulong)((DateTime.UtcNow - unix_epoch).TotalMilliseconds * 1000);
byte[] pkt = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.SYSTEM_TIME, cmd);
foreach (KeyValuePair <string, DroneData> drone in drones)
{
mavSock.SendTo(pkt, drone.Value.ep);
}
send_flag = true;
}
public override bool Init()
{
var oldlist = MAVLink.MAVLINK_MESSAGE_INFOS.ToList();
oldlist.Add(new MAVLink.message_info(27499, "VFR_HUD_EDIT", 20, 20, 20, typeof(mavlink_vfr_hud_EDIT_t)));
MAVLink.MAVLINK_MESSAGE_INFOS = oldlist.ToArray();
var parse = new MAVLink.MavlinkParse();
var packet = parse.GenerateMAVLinkPacket20((MAVLink.MAVLINK_MSG_ID) 274, new mavlink_vfr_hud_EDIT_t());
loopratehz = 1f;
return(true);
}
public static void anonymise(string logfile, string outputfile)
{
if (!File.Exists(logfile))
{
return;
}
var rand = new Random();
var latrandom = rand.NextDouble() * (rand.NextDouble() * 3);
// TLOG
if (logfile.ToLower().EndsWith(".tlog"))
{
Comms.CommsFile tlogFile = new CommsFile();
tlogFile.Open(logfile);
using (var stream = new CommsStream(tlogFile, tlogFile.BytesToRead))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
MAVLink.MavlinkParse parse = new MAVLink.MavlinkParse(true);
var block = new Type[]
{
typeof(MAVLink.mavlink_fence_point_t),
typeof(MAVLink.mavlink_simstate_t),
typeof(MAVLink.mavlink_rally_point_t),
typeof(MAVLink.mavlink_ahrs2_t),
typeof(MAVLink.mavlink_camera_feedback_t),
typeof(MAVLink.mavlink_ahrs3_t),
typeof(MAVLink.mavlink_deepstall_t),
typeof(MAVLink.mavlink_gps_raw_int_t),
typeof(MAVLink.mavlink_global_position_int_t),
typeof(MAVLink.mavlink_set_gps_global_origin_t),
typeof(MAVLink.mavlink_gps_global_origin_t),
typeof(MAVLink.mavlink_global_position_int_cov_t),
typeof(MAVLink.mavlink_set_position_target_global_int_t),
typeof(MAVLink.mavlink_hil_state_t),
typeof(MAVLink.mavlink_sim_state_t),
typeof(MAVLink.mavlink_hil_gps_t),
typeof(MAVLink.mavlink_hil_state_quaternion_t),
typeof(MAVLink.mavlink_gps2_raw_t),
typeof(MAVLink.mavlink_terrain_request_t),
typeof(MAVLink.mavlink_terrain_check_t),
typeof(MAVLink.mavlink_terrain_report_t),
typeof(MAVLink.mavlink_follow_target_t),
typeof(MAVLink.mavlink_gps_input_t),
typeof(MAVLink.mavlink_high_latency_t),
typeof(MAVLink.mavlink_home_position_t),
typeof(MAVLink.mavlink_set_home_position_t),
typeof(MAVLink.mavlink_adsb_vehicle_t),
typeof(MAVLink.mavlink_camera_image_captured_t),
typeof(MAVLink.mavlink_uavionix_adsb_out_dynamic_t),
typeof(MAVLink.mavlink_global_position_int_t),
typeof(MAVLink.mavlink_set_home_position_t),
typeof(MAVLink.mavlink_home_position_t),
typeof(MAVLink.mavlink_set_position_target_global_int_t),
typeof(MAVLink.mavlink_local_position_ned_t),
typeof(MAVLink.mavlink_command_long_t),
typeof(MAVLink.mavlink_mission_item_t),
typeof(MAVLink.mavlink_mission_item_int_t),
typeof(MAVLink.mavlink_uavionix_adsb_out_cfg_t)
};
var checks = new string[]
{
"lat", "latitude", "lat_int", "landing_lat",
"path_lat", "arc_entry_lat", "gpsLat", "gpsOffsetLat"
};
while (stream.Position < stream.Length)
{
var packet = parse.ReadPacket(stream);
if (packet == null)
{
continue;
}
var msginfo = MAVLink.MAVLINK_MESSAGE_INFOS.GetMessageInfo(packet.msgid);
if (block.Contains(msginfo.type))
{
bool valid = false;
var oldrxtime = packet.rxtime;
foreach (var check in checks)
{
var field = msginfo.type.GetField(check);
if (field != null)
{
var pkt = packet.data;
var value = field.GetValue(pkt);
if (value is Int32)
{
if ((int)value != 0)
{
field.SetValue(pkt, (int)((int)value + latrandom * 1e7));
}
packet = new MAVLink.MAVLinkMessage(
parse.GenerateMAVLinkPacket20((MAVLink.MAVLINK_MSG_ID)msginfo.msgid,
pkt, false, packet.sysid, packet.compid, packet.seq));
valid = true;
}
else if (value is Single)
{
if ((Single)value != 0)
{
field.SetValue(pkt, (Single)value + latrandom);
}
packet = new MAVLink.MAVLinkMessage(
parse.GenerateMAVLinkPacket20((MAVLink.MAVLINK_MSG_ID)msginfo.msgid,
pkt, false, packet.sysid, packet.compid, packet.seq));
valid = true;
}
else
{
continue;
}
}
}
packet.rxtime = oldrxtime;
}
byte[] datearray =
BitConverter.GetBytes(
(UInt64)((packet.rxtime.ToUniversalTime() - new DateTime(1970, 1, 1))
.TotalMilliseconds * 1000));
Array.Reverse(datearray);
outfilestream.Write(datearray, 0, datearray.Length);
outfilestream.Write(packet.buffer, 0, packet.Length);
}
}
}
else //LOG
{
using (DFLogBuffer col = new DFLogBuffer(File.OpenRead(logfile)))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
foreach (var dfItem in col.GetEnumeratorTypeAll())
{
var index = col.dflog.FindMessageOffset(dfItem.msgtype, "lat");
if (index != -1)
{
var lat = Double.Parse(dfItem.items[index], CultureInfo.InvariantCulture);
if (lat != 0)
{
dfItem.items[index] = (lat + latrandom).ToString(CultureInfo.InvariantCulture);
}
}
var str = String.Join(",", dfItem.items) + "\r\n";
outfilestream.Write(ASCIIEncoding.ASCII.GetBytes(str), 0, str.Length);
}
}
}
}
static void Main(string[] args)
{
var mavlinkudp = new UdpClient(14550);
var mavparse = new MAVLink.MavlinkParse();
var seqno = 0;
IPEndPoint ipEP = new IPEndPoint(IPAddress.Any, 0);
var oldlist = MAVLink.MAVLINK_MESSAGE_INFOS.ToList();
oldlist.Add(new MAVLink.message_info(27499, "VFR_HUD_EDIT", 20, 20, 20, typeof(mavlink_vfr_hud_EDIT_t)));
MAVLink.MAVLINK_MESSAGE_INFOS = oldlist.ToArray();
while (true)
{
while (mavlinkudp.Available > 0)
{
ipEP = new IPEndPoint(IPAddress.Any, 0);
try
{
var rawpacket = mavlinkudp.Receive(ref ipEP);
var packet = mavparse.ReadPacket(new MemoryStream(rawpacket));
Console.WriteLine(packet);
}
catch
{
continue;
}
}
if (ipEP.Address == IPAddress.Any)
{
Thread.Sleep(100);
continue;
}
var sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT,
new MAVLink.mavlink_heartbeat_t()
{
autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA,
base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED,
system_status = (byte)MAVLink.MAV_STATE.ACTIVE,
type = (byte)MAVLink.MAV_TYPE.QUADROTOR
}, false, 1, 1, seqno++);
mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
//sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.AUTOPILOT_VERSION,new MAVLink.mavlink_autopilot_version_t(){ }, false, 1, 1, seqno++);
//mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.AHRS,
new MAVLink.mavlink_ahrs_t()
{
}, false, 1, 1, seqno++);
mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.ATTITUDE,
new MAVLink.mavlink_attitude_t()
{
pitch = 0, roll = 0, yaw = 0, time_boot_ms = (uint)DateTime.Now.Ticks
}, false, 1, 1, seqno++);
mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT,
new MAVLink.mavlink_global_position_int_t()
{
lat = (int)(-35 * 1e7), lon = (int)(117.89 * 1e7), alt = (40 * 1000), hdg = 45 * 100,
time_boot_ms = (uint)DateTime.Now.Ticks
}, false, 1, 1, seqno++);
mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.PARAM_VALUE,
new MAVLink.mavlink_param_value_t()
{
param_count = 0, param_index = 0, param_type = 0, param_value = 0
}, false, 1, 1, seqno++);
mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP);
Thread.Sleep(100);
}
}
public static void Main(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
System.Windows.Forms.Application.SetCompatibleTextRenderingDefault(false);
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
AppDomain.CurrentDomain.UnhandledException +=
new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
// fix ssl on mono
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback(
(sender, certificate, chain, policyErrors) => { return(true); });
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
{
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
{
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
{
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
}
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
{
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
}
string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
Application.DoEvents();
Application.DoEvents();
// setup theme provider
CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
log.InfoFormat("64bit os {0}, 64bit process {1}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess);
Device.DeviceStructure test1 = new Device.DeviceStructure(73225);
Device.DeviceStructure test2 = new Device.DeviceStructure(262434);
Device.DeviceStructure test3 = new Device.DeviceStructure(131874);
MAVLink.MavlinkParse tmp = new MAVLink.MavlinkParse();
MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t()
{
autopilot = 1,
base_mode = 2,
custom_mode = 3,
mavlink_version = 2,
system_status = 6,
type = 7
};
var t1 = tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
var t2 = tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
try
{
//System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
if (Controls.SITL.simulator != null)
{
Controls.SITL.simulator.Kill();
}
}
catch
{
}
}
public static void Start(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Console.WriteLine("Data Dir " + Settings.GetDataDirectory());
Console.WriteLine("Log Dir " + Settings.GetDefaultLogDir());
Console.WriteLine("Running Dir " + Settings.GetRunningDirectory());
Console.WriteLine("User Data Dir " + Settings.GetUserDataDirectory());
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
// fix ssl on mono
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback(
(sender, certificate, chain, policyErrors) => { return(true); });
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
{
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
{
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "logo2.png"))
{
Logo2 = new Bitmap(Settings.GetRunningDirectory() + "logo2.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
{
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
}
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
{
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
}
string strVersion = File.Exists("version.txt")
? File.ReadAllText("version.txt")
: System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
Application.DoEvents();
Application.DoEvents();
CustomMessageBox.ShowEvent += (text, caption, buttons, icon) =>
{
return((CustomMessageBox.DialogResult)(int) MsgBox.CustomMessageBox.Show(text, caption, (MessageBoxButtons)(int)buttons, (MessageBoxIcon)(int)icon));
};
// setup theme provider
MsgBox.CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
Controls.BackstageView.BackstageView.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.InputBoxShow += CommsBaseOnInputBoxShow;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Eniro_Topo.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Lake.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1974.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1979.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1984.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1988.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Relief.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Slopezone.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Sea.Instance);
GoogleMapProvider.APIKey = "AIzaSyA5nFp39fEHruCezXnG3r8rGyZtuAkmCug";
// optionally add gdal support
if (Directory.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "gdal"))
{
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
}
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
// generic status report screen
MAVLinkInterface.CreateIProgressReporterDialogue += title =>
new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = title
};
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
//LoadDlls();
log.InfoFormat("64bit os {0}, 64bit process {1}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess);
Device.DeviceStructure test1 = new Device.DeviceStructure(73225);
Device.DeviceStructure test2 = new Device.DeviceStructure(262434);
Device.DeviceStructure test3 = new Device.DeviceStructure(131874);
//ph2 - cube with here
Device.DeviceStructure test5 = new Device.DeviceStructure(466441);
Device.DeviceStructure test6 = new Device.DeviceStructure(131874);
Device.DeviceStructure test7 = new Device.DeviceStructure(263178);
//
Device.DeviceStructure test8 = new Device.DeviceStructure(1442082);
Device.DeviceStructure test9 = new Device.DeviceStructure(1114914);
Device.DeviceStructure test10 = new Device.DeviceStructure(1442826);
//
Device.DeviceStructure test11 = new Device.DeviceStructure(2359586);
Device.DeviceStructure test12 = new Device.DeviceStructure(2229282);
Device.DeviceStructure test13 = new Device.DeviceStructure(2360330);
Device.DeviceStructure test21 = new Device.DeviceStructure(592905);
Device.DeviceStructure test22 = new Device.DeviceStructure(131874);
Device.DeviceStructure test23 = new Device.DeviceStructure(263178);
MAVLink.MavlinkParse tmp = new MAVLink.MavlinkParse();
MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t()
{
autopilot = 1,
base_mode = 2,
custom_mode = 3,
mavlink_version = 2,
system_status = 6,
type = 7
};
var t1 = tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
var t2 = tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
var msg = new MAVLink.MAVLinkMessage(t2);
try
{
//System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
if (Controls.SITL.simulator != null)
{
Controls.SITL.simulator.Kill();
}
}
catch
{
}
}
public static void Main(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
System.Windows.Forms.Application.SetCompatibleTextRenderingDefault(false);
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
AppDomain.CurrentDomain.UnhandledException +=
new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
// fix ssl on mono
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback(
(sender, certificate, chain, policyErrors) => { return true; });
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
Application.DoEvents();
Application.DoEvents();
// setup theme provider
CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
log.InfoFormat("64bit os {0}, 64bit process {1}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess);
Device.DeviceStructure test1 = new Device.DeviceStructure(73225);
Device.DeviceStructure test2 = new Device.DeviceStructure(262434);
Device.DeviceStructure test3 = new Device.DeviceStructure(131874);
MAVLink.MavlinkParse tmp = new MAVLink.MavlinkParse();
MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t()
{
autopilot = 1,
base_mode = 2,
custom_mode = 3,
mavlink_version = 2,
system_status = 6,
type = 7
};
var t1 = tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
var t2 = tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
try
{
//System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
if (Controls.SITL.simulator != null)
Controls.SITL.simulator.Kill();
}
catch
{
}
}
static void Main()
{
stopwatch = new Stopwatch();
stopwatch.Start();
drones.Add("micro_uwb", new DroneData("127.0.0.1", 20000, 0));
drones.Add("micro_uwb2", new DroneData("127.0.0.1", 20000, 1));
drones.Add("micro_uwb3", new DroneData("127.0.0.1", 20000, 2));
Console.WriteLine("SampleClientML managed client application starting...\n");
/* [NatNet] Initialize client object and connect to the server */
connectToServer(); // Initialize a NatNetClient object and connect to a server.
Console.WriteLine("============================ SERVER DESCRIPTOR ================================\n");
/* [NatNet] Confirming Server Connection. Instantiate the server descriptor object and obtain the server description. */
bool connectionConfirmed = fetchServerDescriptor(); // To confirm connection, request server description data
MAVLink.mavlink_system_time_t cmd = new MAVLink.mavlink_system_time_t();
cmd.time_boot_ms = 0;
cmd.time_unix_usec = (ulong)((DateTime.UtcNow - unix_epoch).TotalMilliseconds * 1000);
byte[] pkt = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.SYSTEM_TIME, cmd);
foreach (KeyValuePair <string, DroneData> drone in drones)
{
mavSock.SendTo(pkt, drone.Value.ep);
}
if (connectionConfirmed) // Once the connection is confirmed.
{
Console.WriteLine("============================= DATA DESCRIPTOR =================================\n");
Console.WriteLine("Now Fetching the Data Descriptor.\n");
fetchDataDescriptor(); //Fetch and parse data descriptor
Console.WriteLine("============================= FRAME OF DATA ===================================\n");
Console.WriteLine("Now Fetching the Frame Data\n");
/* [NatNet] Assigning a event handler function for fetching frame data each time a frame is received */
mNatNet.OnFrameReady += new NatNetML.FrameReadyEventHandler(fetchFrameData);
Console.WriteLine("Success: Data Port Connected \n");
Console.WriteLine("======================== STREAMING IN (PRESS ESC TO EXIT) =====================\n");
}
while (!(Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Escape))
{
// Continuously listening for Frame data
// Enter ESC to exit
// Exception handler for updated assets list.
if (mAssetChanged == true)
{
Console.WriteLine("\n===============================================================================\n");
Console.WriteLine("Change in the list of the assets. Refetching the descriptions");
/* Clear out existing lists */
mDataDescriptor.Clear();
mHtSkelRBs.Clear();
mRigidBodies.Clear();
mSkeletons.Clear();
mForcePlates.Clear();
/* [NatNet] Re-fetch the updated list of descriptors */
fetchDataDescriptor();
Console.WriteLine("===============================================================================\n");
mAssetChanged = false;
}
}
/* [NatNet] Disabling data handling function */
mNatNet.OnFrameReady -= fetchFrameData;
mavSock.Close();
stopwatch.Stop();
/* Clearing Saved Descriptions */
mRigidBodies.Clear();
mSkeletons.Clear();
mHtSkelRBs.Clear();
mForcePlates.Clear();
mNatNet.Disconnect();
}