public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return updated;
}
public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return(updated);
}
public DroneClient(string hostname)
{
_networkConfiguration = new NetworkConfiguration(hostname);
_droneConfiguration = new DroneConfiguration();
_commandQueue = new ConcurrentQueue<ATCommand>();
_commandSender = new CommandSender(_networkConfiguration, _commandQueue);
_navdataAcquisition = new NavdataAcquisition(_networkConfiguration, OnNavdataPacketAcquired, OnNavdataAcquisitionStopped);
_videoAcquisition = new VideoAcquisition(_networkConfiguration, OnVideoPacketAcquired);
_configurationAcquisition = new ConfigurationAcquisition(_networkConfiguration, OnConfigurationPacketAcquired);
_watchdog = new Watchdog(_navdataAcquisition, _commandSender, _videoAcquisition);
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P_SLRS || configuration.Video.MaxBitrate != 100 || configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P_SLRS).ToCommand());
droneClient.Send(configuration.Video.MaxBitrate.Set(100).ToCommand());
droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
