public SettingsChangedEventArgs(Drone drone)
{
if (drone == null)
{
throw new ArgumentNullException(nameof(drone));
}
this.Settings = drone.Settings;
}
/// <summary>
/// Schickt einen Settings-Befehl an die Drohne.
/// </summary>
public void SendConfig(DroneSettings config)
{
if (IsDisposed)
{
throw new ObjectDisposedException(GetType().Name);
}
SendPacket(new PacketSetConfig(config), true);
Settings = config;
}
public SettingsForm(Drone drone)
{
InitializeComponent();
this.drone = drone;
this.info = drone.Info;
this.data = drone.Settings;
Bind(nameTextBox, "data.DroneName");
Bind(saveConfigCheckBox, "data.SaveConfig");
Bind(firmwareVersionTextBox, "info.BuildVersion");
Bind(buildDateTextBox, "info.BuildName");
Bind(modelTextBox, "info.ModelName");
Bind(idTextBox, "info.SerialCode");
Bind(gyroSensorTextBox, "info.GyroSensor");
Bind(magnetometerTextBox, "info.Magnetometer");
Bind(minValueTextBox, "data.ServoMin");
Bind(idleValueTextBox, "data.ServoIdle");
Bind(hoverValueTextBox, "data.ServoHover");
Bind(maxValueTextBox, "data.ServoMax");
Bind(safeMotorValueTextBox, "data.SafeServoValue");
Bind(safeTemperatureTextBox, "data.MaxTemperature");
Bind(safePitchTextBox, "data.SafePitch");
Bind(safeRollTextBox, "data.SafeRoll");
Bind(pitchKpTextBox, "data.PitchPid.Kp");
Bind(pitchKiTextBox, "data.PitchPid.Ki");
Bind(pitchKdTextBox, "data.PitchPid.Kd");
Bind(rollKpTextBox, "data.RollPid.Kp");
Bind(rollKiTextBox, "data.RollPid.Ki");
Bind(rollKdTextBox, "data.RollPid.Kd");
Bind(yawKpTextBox, "data.YawPid.Kp");
Bind(yawKiTextBox, "data.YawPid.Ki");
Bind(yawKdTextBox, "data.YawPid.Kd");
Bind(enableStabilizationCheckBox, "data.EnableStabilization");
Bind(negativeMixingCheckBox, "data.NegativeMixing");
Bind(keepMotorsOnCheckBox, "data.KeepMotorsOn");
Bind(maxThrustForFlyingTextBox, "data.MaxThrustForFlying");
Bind(onlyArmWhenStillCheckBox, "data.OnlyArmWhenStill");
Bind(gyroUseDmpCheckBox, "data.GyroUseDMP");
Bind(gyroUseRawCheckBox, "data.GyroUseRaw");
Bind(engineUseGyroCheckBox, "data.EngineUseGyro");
drone.OnSettingsChange += Drone_OnSettingsChange;
drone.OnInfoChange += Drone_OnInfoChange;
}
public static DroneSettings Read(PacketBuffer packetBuffer)
{
int size = Marshal.SizeOf(typeof(DroneSettings));
byte[] buffer = new byte[size];
packetBuffer.Read(buffer, 0, buffer.Length);
GCHandle handle = GCHandle.Alloc(buffer, GCHandleType.Pinned);
DroneSettings settings = (DroneSettings)Marshal.PtrToStructure(handle.AddrOfPinnedObject(), typeof(DroneSettings));
handle.Free();
return(settings);
}
/// <summary>
/// Schickt einen Settings-Befehl an die Drohne.
/// </summary>
public void SendConfig(DroneSettings config)
{
if (IsDisposed)
throw new ObjectDisposedException(GetType().Name);
SendPacket(new PacketSetConfig(config), true);
Settings = config;
}
private void UpdateSettings(DroneSettings settings)
{
servoGraph.BaseLine = settings.ServoHover;
servoGraph.ValueMin = 0;
servoGraph.ValueMax = settings.ServoMax;
}
private void HandlePacket(byte[] packet)
{
// jedes Drohnen Paket ist mindestens HeaderSize Bytes lang und fangen mit "FLY" an
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < HeaderSize || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
bool isGuaranteed = buffer.ReadByte() > 0;
PacketType type = (PacketType)buffer.ReadByte();
if (Config.VerbosePacketReceive &&
type != PacketType.Ack &&
(type != PacketType.Ping || Config.LogPingPacket))
{
Log.Verbose("[{0}] Received: [{1}] {2}, size: {3} bytes", Address.ToString(), revision, type, packet.Length);
}
switch (type)
{
case PacketType.Ping:
if (packet.Length < HeaderSize + sizeof(long))
{
throw new InvalidDataException("Packet is not long enough.");
}
bool wasNotConnected = !CheckConnection();
lastPing = Environment.TickCount;
long time = buffer.ReadLong(); // time ist der Wert von stopwatch zum Zeitpunkt des Absenden des Pakets
Ping = (int)(stopwatch.ElapsedMilliseconds - time);
if (wasNotConnected)
{
OnConnected?.Invoke(this, EventArgs.Empty);
}
RemovePacketToAcknowlegde(revision);
break;
case PacketType.Ack:
IPacket acknowlegdedPacket;
if (!packetsToAcknowledge.TryGetValue(revision, out acknowlegdedPacket))
{
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Unknown acknowlegde: [{1}]", Address.ToString(), revision);
}
break;
}
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Acknowlegde: [{1}] {2}", Address.ToString(), revision, acknowlegdedPacket.Type);
}
RemovePacketToAcknowlegde(revision);
break;
case PacketType.Info:
Info = new DroneInfo(buffer);
Settings = DroneSettings.Read(buffer);
RemovePacketToAcknowlegde(revision);
break;
default:
throw new InvalidDataException("Invalid packet type to get sent by cluster.");
}
}
}
private void UpdateValueBounds(DroneSettings settings)
{
changingValues = true;
valueTrackBar.Minimum = settings.ServoMin;
valueTrackBar.Maximum = settings.ServoMax;
valueTrackBar.Value = settings.ServoMin;
servoValueNumericUpDown.Value = settings.ServoMin;
SetServoValueToAll();
changingValues = false;
}
public SettingsChangedEventArgs(Drone drone)
{
this.Settings = drone.Settings;
}
private void UpdateSettings(DroneSettings settings)
{
droneSettingsPropertyGrid.SelectedObject = settings;
}
private void Drone_OnSettingsChange(object sender, SettingsChangedEventArgs e)
{
data = e.Settings;
UpdateValues();
}
private void HandlePacket(byte[] packet)
{
// jedes Drohnen Paket ist mindestens HeaderSize Bytes lang und fangen mit "FLY" an
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < HeaderSize || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
bool isGuaranteed = buffer.ReadByte() > 0;
PacketType type = (PacketType)buffer.ReadByte();
if (Config.VerbosePacketReceive &&
type != PacketType.Ack &&
(Config.LogPingPacket || type != PacketType.Ping) &&
(Config.LogNoisyPackets || !type.IsNosiy()))
{
Log.Verbose("[{0}] Received: [{1}] {2}, size: {3} bytes", Address.ToString(), revision, type, packet.Length);
}
switch (type)
{
case PacketType.Ping:
bool wasNotConnected = !CheckConnection();
lastPing = Environment.TickCount;
long time = 0;
if (packet.Length >= HeaderSize + sizeof(long))
{
time = buffer.ReadLong(); // time ist der Wert von stopwatch zum Zeitpunkt des Absenden des Pakets
}
else
{
Log.Error("Invalid ping packet received with length: {0}", packet.Length);
}
int ping = (int)(stopwatch.ElapsedMilliseconds - time);
if (ping < 0)
{
Log.Warning("Invalid ping value received: {0}", ping);
ping = 0;
}
Ping = ping;
if (wasNotConnected)
{
OnConnected?.Invoke(this, EventArgs.Empty);
}
RemovePacketToAcknowledge(revision);
break;
case PacketType.Ack:
IPacket acknowlegdedPacket;
if (!packetsToAcknowledge.TryGetValue(revision, out acknowlegdedPacket))
{
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Unknown acknowledge: [{1}]", Address.ToString(), revision);
}
break;
}
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Acknowledge: [{1}] {2}", Address.ToString(), revision, acknowlegdedPacket.Type);
}
RemovePacketToAcknowledge(revision);
break;
case PacketType.Info:
Info = new DroneInfo(buffer);
Settings = DroneSettings.Read(buffer);
if (firstInfo)
{
Log.Info("Received drone info for first time...");
Log.WriteProperties(LogLevel.Info, Info);
firstInfo = false;
}
RemovePacketToAcknowledge(revision);
break;
default:
throw new InvalidDataException("Invalid packet type received.");
}
}
}
/// <summary>
/// Schickt einen Settings-Befehl an die Drohne.
/// </summary>
public void SendConfig(DroneSettings config)
{
SendPacket(new PacketSetConfig(config), true);
Settings = config;
}
