// __ Serialization ___________________________________________________
public static MavLinkPacket GetPacketForMessage(
UasMessage msg, byte systemId, byte componentId, byte sequenceNumber)
{
MavLinkPacket result = new MavLinkPacket()
{
SystemId = systemId,
ComponentId = componentId,
PacketSequenceNumber = sequenceNumber,
MessageId = msg.MessageId,
Message = msg
};
using (MemoryStream ms = new MemoryStream())
{
using (BinaryWriter bw = new BinaryWriter(ms))
{
msg.SerializeBody(bw);
}
result.Payload = ms.ToArray();
result.PayLoadLength = (byte)result.Payload.Length;
result.UpdateCrc();
}
return(result);
}
public static byte[] GetBytesForMessage(
UasMessage msg, byte systemId, byte componentId, byte sequenceNumber, byte signalMark)
{
MavLinkPacket p = MavLinkPacket.GetPacketForMessage(
msg, systemId, componentId, sequenceNumber);
int bufferSize = p.GetPacketSize();
if (signalMark != 0)
{
bufferSize++;
}
byte[] result = new byte[bufferSize];
using (MemoryStream s = new MemoryStream(result))
{
using (BinaryWriter w = new BinaryWriter(s))
{
if (signalMark != 0)
{
w.Write(signalMark);
}
p.Serialize(w);
}
}
return(result);
}
private void DeserializeMessage()
{
UasMessage result = UasSummary.CreateFromId(MessageId);
if (result == null)
{
return; // Unknown type
}
using (MemoryStream ms = new MemoryStream(Payload))
{
using (BinaryReader br = GetBinaryReader(ms))
{
result.DeserializeBody(br);
}
}
Message = result;
IsValid = true;
}