public SystemTime(MavLinkMessage message) : base(null)
{
if (message.messid == this.MessageID)
{
MAVLink.mavlink_system_time_t data = (MAVLink.mavlink_system_time_t)message.data_struct;
this.time_boot_ms = data.time_boot_ms;
this.time_unix_sec = data.time_unix_usec;
}
}
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 void CheckSystemTimeObject()
{
MAVLink.mavlink_system_time_t timeStruct = new MAVLink.mavlink_system_time_t();
timeStruct.time_boot_ms = 1;
timeStruct.time_unix_usec = 2;
MavLinkMessage message = createSampleMessage(MAVLink.MAVLINK_MSG_ID.SYSTEM_TIME, timeStruct);
SystemTime systemTime = new SystemTime(message);
Assert.AreEqual(timeStruct.time_boot_ms, systemTime.time_boot_ms);
Assert.AreEqual(timeStruct.time_unix_usec, systemTime.time_unix_sec);
SystemTimeDTO dto = DTOFactory.createSystemTimeDTO(systemTime);
Assert.AreEqual(dto.time_boot_ms, systemTime.time_boot_ms);
Assert.AreEqual(dto.time_unix_sec, systemTime.time_unix_sec);
String json = JsonConvert.SerializeObject(dto);
}
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();
}
