예제 #1
1
        private void writeKML(string filename)
        {
            Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };

            Document kml = new Document();

            Tour tour = new Tour();
            tour.Name = "First Person View";
            Playlist tourplaylist = new Playlist();

            AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");

            Style style = new Style();
            style.Id = "yellowLineGreenPoly";
            style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);

            PolygonStyle pstyle = new PolygonStyle();
            pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
            style.Polygon = pstyle;

            kml.AddStyle(style);

            // create sub folders
            Folder planes = new Folder();
            planes.Name = "Planes";
            kml.AddFeature(planes);

            // coords for line string
            CoordinateCollection coords = new CoordinateCollection();

            int a = 1;
            int c = -1;
            DateTime lasttime = DateTime.MaxValue;
            DateTime starttime = DateTime.MinValue;
            Color stylecolor = Color.AliceBlue;
            string mode = "";
            if (flightdata.Count > 0)
            {
                mode = flightdata[0].mode;
            }
            foreach (CurrentState cs in flightdata)
            {
                progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
                progressBar1.Refresh();

                if (starttime == DateTime.MinValue)
                {
                    starttime = cs.datetime;
                    lasttime = cs.datetime;
                }

                if (mode != cs.mode || flightdata.Count == a)
                {
                    c++;

                    LineString ls = new LineString();
                    ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                    ls.Extrude = true;

                    ls.Coordinates = coords;

                    Placemark pm = new Placemark();

                    pm.Name = c + " Flight Path " + mode;
                    pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
                    pm.Geometry = ls;

                    SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
                    ts.Begin = starttime;
                    ts.End = cs.datetime;

                    pm.Time = ts;

                    // setup for next line
                    mode = cs.mode;
                    starttime = cs.datetime;

                    stylecolor = colours[c % (colours.Length - 1)];

                    Style style2 = new Style();
                    style2.Line = new LineStyle(new Color32(stylecolor), 4);

                    pm.StyleSelector = style2;

                    kml.AddFeature(pm);

                    coords = new CoordinateCollection();
                }

                coords.Add(new Vector(cs.lat, cs.lng, cs.alt));

                SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
                tstamp.When = cs.datetime;

                FlyTo flyto = new FlyTo();

                flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;

                flyto.Mode = FlyToMode.Smooth;
                SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
                cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                cam.Latitude = cs.lat;
                cam.Longitude = cs.lng;
                cam.Altitude = cs.alt;
                cam.Heading = cs.yaw;
                cam.Roll = -cs.roll;
                cam.Tilt = (90 - (cs.pitch * -1));

                cam.GXTimePrimitive = tstamp;

                flyto.View = cam;
                //if (Math.Abs(flyto.Duration.Value) > 0.1)
                {
                    tourplaylist.AddTourPrimitive(flyto);
                    lasttime = cs.datetime;
                }

                Placemark pmplane = new Placemark();
                pmplane.Name = "Plane " + a;

                pmplane.Time = tstamp;

                pmplane.Visibility = false;

                SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                loc.Latitude = cs.lat;
                loc.Longitude = cs.lng;
                loc.Altitude = cs.alt;

                SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                ori.Heading = cs.yaw;
                ori.Roll = -cs.roll;
                ori.Tilt = -cs.pitch;

                SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                sca.X = 2;
                sca.Y = 2;
                sca.Z = 2;

                Model model = new Model();
                model.Location = loc;
                model.Orientation = ori;
                model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                model.Scale = sca;

                try
                {
                    Description desc = new Description();
                    desc.Text = @"<![CDATA[
              <table>
                <tr><td>Roll: " + model.Orientation.Roll + @" </td></tr>
                <tr><td>Pitch: " + model.Orientation.Tilt + @" </td></tr>
                <tr><td>Yaw: " + model.Orientation.Heading + @" </td></tr>

              </table>
            ]]>";

                    pmplane.Description = desc;
                }
                catch { }

                Link link = new Link();
                link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                model.Link = link;

                pmplane.Geometry = model;

                planes.AddFeature(pmplane);

                a++;
            }

            tour.Playlist = tourplaylist;

            kml.AddFeature(tour);

            Serializer serializer = new Serializer();
            serializer.Serialize(kml);

            //Console.WriteLine(serializer.Xml);

            StreamWriter sw = new StreamWriter(filename);
            sw.Write(serializer.Xml);
            sw.Close();

            // create kmz - aka zip file

            FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
            ZipOutputStream zipStream = new ZipOutputStream(fs);
            zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
            zipStream.UseZip64 = UseZip64.Off; // older zipfile

            // entry 1
            string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
            ZipEntry newEntry = new ZipEntry(entryName);
            newEntry.DateTime = DateTime.Now;

            zipStream.PutNextEntry(newEntry);

            // Zip the file in buffered chunks
            // the "using" will close the stream even if an exception occurs
            byte[] buffer = new byte[4096];
            using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
            {
                StreamUtils.Copy(streamReader, zipStream, buffer);
            }
            zipStream.CloseEntry();

            filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";

            // entry 2
            entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
            newEntry = new ZipEntry(entryName);
            newEntry.DateTime = DateTime.Now;

            zipStream.PutNextEntry(newEntry);

            // Zip the file in buffered chunks
            // the "using" will close the stream even if an exception occurs
            buffer = new byte[4096];
            using (FileStream streamReader = File.OpenRead(filename))
            {
                StreamUtils.Copy(streamReader, zipStream, buffer);
            }
            zipStream.CloseEntry();

            zipStream.IsStreamOwner = true;	// Makes the Close also Close the underlying stream
            zipStream.Close();

            File.Delete(filename);

            flightdata.Clear();
        }
예제 #2
0
        public void DoAcceptTcpClientCallback(IAsyncResult ar)
        {
            // Get the listener that handles the client request.
            TcpListener listener = (TcpListener)ar.AsyncState;

            // End the operation and display the received data on
            // the console.
            using (
                TcpClient client = listener.EndAcceptTcpClient(ar))
            {
                // Signal the calling thread to continue.
                tcpClientConnected.Set();



                try
                {
                    // Get a stream object for reading and writing
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    NetworkStream stream = client.GetStream();

                    // 3 seconds
                    stream.ReadTimeout = 3000;

again:

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024];

                    int    len  = stream.Read(request, 0, request.Length);
                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
                    if (url.Contains("websocket"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end   = head.IndexOf('\r', start);
                            if (end == -1)
                            {
                                end = head.IndexOf('\n', start);
                            }
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);

                            writer.WriteLine("Server: APM Planner");

                            writer.WriteLine("");

                            writer.Flush();

                            while (client.Connected)
                            {
                                Thread.Sleep(200);
                                log.Debug(stream.DataAvailable + " " + client.Available);

                                while (client.Available > 0)
                                {
                                    Console.Write(stream.ReadByte());
                                }

                                byte[] packet = new byte[256];

                                string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw;

                                packet[0] = 0x81; // fin - binary
                                packet[1] = (byte)sendme.Length;

                                int i = 2;
                                foreach (char ch in sendme)
                                {
                                    packet[i++] = (byte)ch;
                                }

                                stream.Write(packet, 0, i);

                                //break;
                            }
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("georefnetwork.kml"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + georefkml.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("network.kml"))
                    {
                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                        pmplane.Name = "P/Q " + MainV2.comPort.MAV.cs.altasl;

                        pmplane.Visibility = true;

                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                        loc.Latitude  = MainV2.comPort.MAV.cs.lat;
                        loc.Longitude = MainV2.comPort.MAV.cs.lng;
                        loc.Altitude  = MainV2.comPort.MAV.cs.altasl;

                        if (loc.Altitude < 0)
                        {
                            loc.Altitude = 0.01;
                        }

                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                        ori.Heading = MainV2.comPort.MAV.cs.yaw;
                        ori.Roll    = -MainV2.comPort.MAV.cs.roll;
                        ori.Tilt    = -MainV2.comPort.MAV.cs.pitch;

                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                        sca.X = 2;
                        sca.Y = 2;
                        sca.Z = 2;

                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                        model.Location     = loc;
                        model.Orientation  = ori;
                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                        model.Scale        = sca;

                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                        model.Link = link;

                        pmplane.Geometry = model;

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude     = loc.Altitude.Value,
                            Latitude     = loc.Latitude.Value,
                            Longitude    = loc.Longitude.Value,
                            Tilt         = 80,
                            Heading      = MainV2.comPort.MAV.cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range        = 50
                        };

                        if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
                        {
                            kml.Viewpoint = la;
                            kml.AddFeature(pmplane);
                        }

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        //if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
                        {
                            //foreach (var point in MainV2.comPort.MAV.wps.Values)
                            {
                                //    coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
                            }
                        }
                        //else
                        {
                            PointLatLngAlt home = null;
                            // draw track
                            try
                            {
                                foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
                                {
                                    if (point.Tag.ToLower().Contains("home"))
                                    {
                                        home = point;
                                    }

                                    if (point != null)
                                    {
                                        coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
                                    }
                                }
                            }
                            catch { }

                            foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
                            {
                                if (point == null)
                                {
                                    continue;
                                }

                                SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
                                wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
                                SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
                                var altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                                wppoint.AltitudeMode = altmode;
                                wppoint.Coordinate   = new Vector()
                                {
                                    Latitude = point.Lat, Longitude = point.Lng, Altitude = point.Alt
                                };
                                wp.Geometry = wppoint;
                                kml.AddFeature(wp);
                            }
                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                        ls.Coordinates  = coords;
                        ls.Extrude      = false;
                        ls.Tessellate   = true;

                        Style style = new Style();
                        style.Id   = "yellowLineGreenPoly";
                        style.Line = new LineStyle(new Color32(HexStringToColor("ff00ffff")), 4);

                        Style style2 = new Style();
                        style2.Id   = "yellowLineGreenPoly";
                        style2.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);

                        // above ground
                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
                        {
                            Geometry = ls, Name = "WPs", StyleSelector = style
                        };

                        kml.AddFeature(pm);

                        // on ground
                        SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
                        ls2.Coordinates  = coords;
                        ls2.Extrude      = false;
                        ls2.Tessellate   = true;
                        ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;

                        SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
                        {
                            Geometry = ls2, Name = "onground", StyleSelector = style2
                        };

                        kml.AddFeature(pm2);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + buffer.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("block_plane_0.dae"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file   = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[]       buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("hud.html"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file   = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[]       buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
                    {
                        refreshmap();

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\r\n\r\n--APMPLANNER\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        while (client.Connected)
                        {
                            System.Threading.Thread.Sleep(200); // 5hz
                            byte[] data = null;

                            if (url.ToLower().Contains("hud"))
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                data = GCSViews.FlightData.myhud.streamjpg.ToArray();
                            }
                            else if (url.ToLower().Contains("map"))
                            {
                                data = GetControlJpegRaw(GCSViews.FlightData.mymap);
                            }
                            else
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                Image img1   = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
                                Image img2   = GetControlJpeg(GCSViews.FlightData.mymap);
                                int   bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
                                Image imgout = new Bitmap(img1.Width + img2.Width, bigger);

                                Graphics grap = Graphics.FromImage(imgout);

                                grap.DrawImageUnscaled(img1, 0, 0);
                                grap.DrawImageUnscaled(img2, img1.Width, 0);

                                MemoryStream streamjpg = new MemoryStream();
                                imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
                                data = streamjpg.ToArray();
                            }

                            header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
                            temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Write(data, 0, data.Length);

                            header = "\r\n--APMPLANNER\r\n";
                            temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        GCSViews.FlightData.myhud.streamjpgenable = false;
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("/guided?"))
                    {
                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30

                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(".jpg"))
                    {
                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            using (Image orig = Image.FromFile(georefimagepath + fileurl))
                                using (Image resi = ResizeImage(orig, new Size(640, 480)))
                                    using (MemoryStream memstream = new MemoryStream())
                                    {
                                        resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);

                                        memstream.Position = 0;

                                        string header = "HTTP/1.1 200 OK\r\nContent-Type: image/jpg\r\nContent-Length: " + memstream.Length + "\r\n\r\n";
                                        byte[] temp   = asciiEncoding.GetBytes(header);
                                        stream.Write(temp, 0, temp.Length);

                                        using (BinaryReader file = new BinaryReader(memstream))
                                        {
                                            byte[] buffer = new byte[1024];
                                            while (file.BaseStream.Position < file.BaseStream.Length)
                                            {
                                                int leng = file.Read(buffer, 0, buffer.Length);

                                                stream.Write(buffer, 0, leng);
                                            }
                                        }
                                    }

                            goto again;

                            //stream.Close();
                        }
                        /////////////////////////////////////////////////////////////////
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("post /guide"))
                    {
                        Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)", RegexOptions.IgnoreCase);

                        Match match = rex.Match(head);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch { }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/command_long"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/rcoverride"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/get_mission"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/mavlink/"))
                    {
                        /*
                         * GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
                         * Host: ubuntu:9999
                         * Connection: keep-alive
                         * X-Requested-With: XMLHttpRequest
                         * User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
                         * Accept:
                         * Referer: http://ubuntu:9999/index.html
                         * Accept-Encoding: gzip,deflate,sdch
                         * Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
                         * Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
                         *
                         * HTTP/1.1 200 OK
                         * Content-Type: application/json
                         * Content-Length: 2121
                         * Date: Thu, 29 Nov 2012 12:13:38 GMT
                         * Server: ubuntu
                         *
                         * {
                         * "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
                         * "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
                         * "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
                         * "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
                         * "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
                         * "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
                         * "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
                         * "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
                         * "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
                         */

                        JavaScriptSerializer serializer = new JavaScriptSerializer();

                        object[] data = new object[20];


                        Messagejson message = new Messagejson();


                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE] != null)
                        {
                            message.ATTITUDE = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE].ByteArrayToStructure <MAVLink.mavlink_attitude_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD] != null)
                        {
                            message.VFR_HUD = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD].ByteArrayToStructure <MAVLink.mavlink_vfr_hud_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT] != null)
                        {
                            message.NAV_CONTROLLER_OUTPUT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT].ByteArrayToStructure <MAVLink.mavlink_nav_controller_output_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT] != null)
                        {
                            message.GPS_RAW_INT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT].ByteArrayToStructure <MAVLink.mavlink_gps_raw_int_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT] != null)
                        {
                            message.HEARTBEAT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT].ByteArrayToStructure <MAVLink.mavlink_heartbeat_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS] != null)
                        {
                            message.GPS_STATUS = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS].ByteArrayToStructure <MAVLink.mavlink_gps_status_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT] != null)
                        {
                            message.STATUSTEXT = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT].ByteArrayToStructure <MAVLink.mavlink_statustext_t>(6)
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS] != null)
                        {
                            message.SYS_STATUS = new Message2()
                            {
                                index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS].ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6)
                            }
                        }
                        ;

                        message.META_LINKQUALITY = message.SYS_STATUS = new Message2()
                        {
                            index = packetindex, time_usec = 0, msg = new META_LINKQUALITY()
                            {
                                master_in = (int)MainV2.comPort.packetsnotlost, mavpackettype = "META_LINKQUALITY", master_out = MainV2.comPort.packetcount, packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs, mav_loss = 0
                            }
                        };

                        packetindex++;

                        string output = serializer.Serialize(message);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " + output.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        temp = asciiEncoding.GetBytes(output);
                        stream.Write(temp, 0, temp.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/mav/"))
                    {
                        //C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web


                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            fileurl = fileurl.Replace("/mav/", "");

                            if (fileurl == "" || fileurl == "/")
                            {
                                fileurl = "index.html";
                            }

                            string header = "HTTP/1.1 200 OK\r\n";
                            if (fileurl.Contains(".html"))
                            {
                                header += "Content-Type: text/html\r\n\r\n";
                            }
                            else if (fileurl.Contains(".js"))
                            {
                                header += "Content-Type: application/x-javascript\r\n\r\n";
                            }
                            else if (fileurl.Contains(".css"))
                            {
                                header += "Content-Type: text/css\r\n\r\n";
                            }
                            else
                            {
                                header += "Content-Type: text/plain\r\n\r\n";
                            }
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);


                            BinaryReader file   = new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read, FileShare.Read));
                            byte[]       buffer = new byte[1024];
                            while (file.BaseStream.Position < file.BaseStream.Length)
                            {
                                int leng = file.Read(buffer, 0, buffer.Length);

                                stream.Write(buffer, 0, leng);
                            }
                            file.Close();
                            stream.Close();
                        }
                        /////////////////////////////////////////////////////////////////
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Close();
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else
                    {
                        Console.WriteLine(url);
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        string content = @"
                <a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>

";
                        temp = asciiEncoding.GetBytes(content);
                        stream.Write(temp, 0, temp.Length);
                    }

                    stream.Close();
                }
                catch (Exception ee)
                {
                    log.Error("Failed http ", ee);
                }
            }
        }
예제 #3
0
        private void writeKML(string filename)
        {
            SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;

            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
            {
                altmode = SharpKml.Dom.AltitudeMode.Absolute;
            }
            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
            {
                altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
            }

            Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };

            Document kml = new Document();

            Tour tour = new Tour()
            {
                Name = "First Person View"
            };
            Playlist tourplaylist = new Playlist();

            AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");

            Style style = new Style();

            style.Id   = "yellowLineGreenPoly";
            style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);



            PolygonStyle pstyle = new PolygonStyle();

            pstyle.Color  = new Color32(HexStringToColor("7f00ff00"));
            style.Polygon = pstyle;

            kml.AddStyle(style);

            Style stylet = new Style();

            stylet.Id = "track";
            SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
            LabelStyle             lst = new LabelStyle();

            lst.Scale         = 0;
            stylet.Icon       = ico;
            ico.Icon          = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
            stylet.Icon.Scale = 0.5;
            stylet.Label      = lst;

            kml.AddStyle(stylet);

            // create sub folders
            Folder planes = new Folder();

            planes.Name = "Planes";
            kml.AddFeature(planes);

            Folder points = new Folder();

            points.Name = "Points";
            kml.AddFeature(points);


            // coords for line string
            CoordinateCollection coords = new CoordinateCollection();

            int      a          = 1;
            int      c          = -1;
            DateTime lasttime   = DateTime.MaxValue;
            DateTime starttime  = DateTime.MinValue;
            Color    stylecolor = Color.AliceBlue;
            string   mode       = "";

            if (flightdata.Count > 0)
            {
                mode = flightdata[0].mode;
            }
            foreach (CurrentState cs in flightdata)
            {
                progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
                progressBar1.Refresh();

                if (starttime == DateTime.MinValue)
                {
                    starttime = cs.datetime;
                    lasttime  = cs.datetime;
                }

                if (mode != cs.mode || flightdata.Count == a)
                {
                    c++;

                    LineString ls = new LineString();
                    ls.AltitudeMode = altmode;
                    ls.Extrude      = true;

                    ls.Coordinates = coords;

                    Placemark pm = new Placemark();

                    pm.Name     = c + " Flight Path " + mode;
                    pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
                    pm.Geometry = ls;

                    SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
                    ts.Begin = starttime;
                    ts.End   = cs.datetime;

                    pm.Time = ts;

                    // setup for next line
                    mode      = cs.mode;
                    starttime = cs.datetime;

                    stylecolor = colours[c % (colours.Length - 1)];

                    Style style2 = new Style();
                    style2.Line = new LineStyle(new Color32(stylecolor), 4);

                    pm.StyleSelector = style2;

                    kml.AddFeature(pm);

                    coords = new CoordinateCollection();
                }

                coords.Add(new Vector(cs.lat, cs.lng, cs.alt));

                SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
                tstamp.When = cs.datetime;

                FlyTo flyto = new FlyTo();

                flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;

                flyto.Mode = FlyToMode.Smooth;
                SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
                cam.AltitudeMode = altmode;
                cam.Latitude     = cs.lat;
                cam.Longitude    = cs.lng;
                cam.Altitude     = cs.alt;
                cam.Heading      = cs.yaw;
                cam.Roll         = -cs.roll;
                cam.Tilt         = (90 - (cs.pitch * -1));

                cam.GXTimePrimitive = tstamp;

                flyto.View = cam;
                //if (Math.Abs(flyto.Duration.Value) > 0.1)
                {
                    tourplaylist.AddTourPrimitive(flyto);
                    lasttime = cs.datetime;
                }


                Placemark pmplane = new Placemark();
                pmplane.Name = "Point " + a;



                pmplane.Time = tstamp;

                pmplane.Visibility = false;

                SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                loc.Latitude  = cs.lat;
                loc.Longitude = cs.lng;
                loc.Altitude  = cs.alt;

                if (loc.Altitude < 0)
                {
                    loc.Altitude = 0.01;
                }

                SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                ori.Heading = cs.yaw;
                ori.Roll    = -cs.roll;
                ori.Tilt    = -cs.pitch;

                SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                sca.X = 2;
                sca.Y = 2;
                sca.Z = 2;

                Model model = new Model();
                model.Location     = loc;
                model.Orientation  = ori;
                model.AltitudeMode = altmode;
                model.Scale        = sca;

                try
                {
                    Description desc = new Description();
                    desc.Text = @"<![CDATA[
              <table>
                <tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
                <tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
                <tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
                <tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </td></tr>
              </table> ";
//            ]]>";

                    pmplane.Description = desc;
                }
                catch { }

                Link link = new Link();
                link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                model.Link = link;

                pmplane.Geometry = model;

                planes.AddFeature(pmplane);

                ///

                Placemark pmt = new Placemark();

                SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
                pnt.AltitudeMode = altmode;
                pnt.Coordinate   = new Vector(cs.lat, cs.lng, cs.alt);

                pmt.Name = "" + a;

                pmt.Description = pmplane.Description;

                pmt.Time = tstamp;

                pmt.Geometry = pnt;
                pmt.StyleUrl = new Uri("#track", UriKind.Relative);

                points.AddFeature(pmt);

                a++;
            }

            tour.Playlist = tourplaylist;

            kml.AddFeature(tour);

            Serializer serializer = new Serializer();

            serializer.Serialize(kml);


            //Console.WriteLine(serializer.Xml);

            StreamWriter sw = new StreamWriter(filename);

            sw.Write(serializer.Xml);
            sw.Close();

            // create kmz - aka zip file

            FileStream      fs        = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
            ZipOutputStream zipStream = new ZipOutputStream(fs);

            zipStream.SetLevel(9);             //0-9, 9 being the highest level of compression
            zipStream.UseZip64 = UseZip64.Off; // older zipfile

            // entry 1
            string   entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
            ZipEntry newEntry  = new ZipEntry(entryName);

            newEntry.DateTime = DateTime.Now;

            zipStream.PutNextEntry(newEntry);

            // Zip the file in buffered chunks
            // the "using" will close the stream even if an exception occurs
            byte[] buffer = new byte[4096];
            using (FileStream streamReader = File.Open(filename, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
            {
                StreamUtils.Copy(streamReader, zipStream, buffer);
            }
            zipStream.CloseEntry();

            filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";

            // entry 2
            entryName         = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
            newEntry          = new ZipEntry(entryName);
            newEntry.DateTime = DateTime.Now;

            zipStream.PutNextEntry(newEntry);

            // Zip the file in buffered chunks
            // the "using" will close the stream even if an exception occurs
            buffer = new byte[4096];
            using (FileStream streamReader = File.OpenRead(filename))
            {
                StreamUtils.Copy(streamReader, zipStream, buffer);
            }
            zipStream.CloseEntry();


            zipStream.IsStreamOwner = true;     // Makes the Close also Close the underlying stream
            zipStream.Close();

            flightdata.Clear();
        }
예제 #4
0
        public void DoAcceptTcpClientCallback(IAsyncResult ar)
        {
            // Get the listener that handles the client request.
            TcpListener listener = (TcpListener) ar.AsyncState;

            // End the operation and display the received data on  
            // the console.
            using (
                TcpClient client = listener.EndAcceptTcpClient(ar))
            {
                // Signal the calling thread to continue.
                tcpClientConnected.Set();


                try
                {
                    // Get a stream object for reading and writing          
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    NetworkStream stream = client.GetStream();

                    // 5 seconds - default for httpd 2.2+
                    stream.ReadTimeout = 5000;

                    goto skipagain;

                    again:
                    log.Info("doing Again");

                    skipagain:

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024*4];
                    int len = 0;

                    // handle header
                    try
                    {
                        len = stream.Read(request, 0, request.Length);
                    }
                    catch
                    {
                        return;
                    }

                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
                    if (url.Contains("websocket"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end = head.IndexOf('\r', start);
                            if (end == -1)
                                end = head.IndexOf('\n', start);
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);

                            writer.WriteLine("Server: Mission Planner");

                            writer.WriteLine("");

                            writer.Flush();

                            while (client.Connected)
                            {
                                Thread.Sleep(200);
                                log.Debug(stream.DataAvailable + " " + client.Available);

                                while (client.Available > 0)
                                {
                                    Console.Write(stream.ReadByte());
                                }

                                byte[] packet = new byte[1024];

                                string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw
                                                + "," + MainV2.comPort.MAV.cs.lat + "," + MainV2.comPort.MAV.cs.lng + "," + MainV2.comPort.MAV.cs.alt;

                                packet[0] = 0x81; // fin - binary
                                packet[1] = (byte) sendme.Length;

                                int i = 2;
                                foreach (char ch in sendme)
                                {
                                    packet[i++] = (byte) ch;
                                }

                                stream.Write(packet, 0, i);

                                //break;
                            }
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("georefnetwork.kml"))
                    {
                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        string header =
                            "HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nCache-Control: no-cache\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("network.kml"))
                    {
                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                        pmplane.Name = "P/Q " + MainV2.comPort.MAV.cs.altasl;

                        pmplane.Visibility = true;

                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                        loc.Latitude = MainV2.comPort.MAV.cs.lat;
                        loc.Longitude = MainV2.comPort.MAV.cs.lng;
                        loc.Altitude = MainV2.comPort.MAV.cs.altasl;

                        if (loc.Altitude < 0)
                            loc.Altitude = 0.01;

                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                        ori.Heading = MainV2.comPort.MAV.cs.yaw;
                        ori.Roll = -MainV2.comPort.MAV.cs.roll;
                        ori.Tilt = -MainV2.comPort.MAV.cs.pitch;

                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                        sca.X = 2;
                        sca.Y = 2;
                        sca.Z = 2;

                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                        model.Location = loc;
                        model.Orientation = ori;
                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                        model.Scale = sca;

                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                        model.Link = link;

                        pmplane.Geometry = model;

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude = loc.Altitude.Value,
                            Latitude = loc.Latitude.Value,
                            Longitude = loc.Longitude.Value,
                            Tilt = 80,
                            Heading = MainV2.comPort.MAV.cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range = 50
                        };

                        if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
                        {
                            kml.Viewpoint = la;
                            kml.AddFeature(pmplane);
                        }

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        //if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
                        {
                            //foreach (var point in MainV2.comPort.MAV.wps.Values)
                            {
                                //    coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
                            }
                        }
                        //else
                        {
                            PointLatLngAlt home = null;
                            // draw track
                            try
                            {
                                foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
                                {
                                    if (point.Tag.ToLower().Contains("home"))
                                        home = point;

                                    if (point != null)
                                        coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
                                }
                            }
                            catch
                            {
                            }

                            foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
                            {
                                if (point == null)
                                    continue;

                                SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
                                wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
                                SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
                                var altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                                wppoint.AltitudeMode = altmode;
                                wppoint.Coordinate = new Vector()
                                {
                                    Latitude = point.Lat,
                                    Longitude = point.Lng,
                                    Altitude = point.Alt
                                };
                                wp.Geometry = wppoint;
                                kml.AddFeature(wp);
                            }
                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
                        ls.Coordinates = coords;
                        ls.Extrude = false;
                        ls.Tessellate = true;

                        Style style = new Style();
                        style.Id = "yellowLineGreenPoly";
                        style.Line = new LineStyle(new Color32(HexStringToColor("ff00ffff")), 4);

                        Style style2 = new Style();
                        style2.Id = "yellowLineGreenPoly";
                        style2.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);

                        // above ground
                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
                        {
                            Geometry = ls,
                            Name = "WPs",
                            StyleSelector = style
                        };

                        kml.AddFeature(pm);

                        // on ground
                        SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
                        ls2.Coordinates = coords;
                        ls2.Extrude = false;
                        ls2.Tessellate = true;
                        ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;

                        SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
                        {
                            Geometry = ls2,
                            Name = "onground",
                            StyleSelector = style2
                        };

                        kml.AddFeature(pm2);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header =
                            "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("block_plane_0.dae"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file =
                            new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read,
                                FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("hud.html"))
                    {
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        BinaryReader file =
                            new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                        byte[] buffer = new byte[1024];
                        while (file.PeekChar() != -1)
                        {
                            int leng = file.Read(buffer, 0, buffer.Length);

                            stream.Write(buffer, 0, leng);
                        }
                        file.Close();
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") ||
                             url.ToLower().Contains("both.jpg"))
                    {
                        refreshmap();

                        string header =
                            "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=PLANNER\r\n\r\n--PLANNER\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        while (client.Connected)
                        {
                            System.Threading.Thread.Sleep(200); // 5hz
                            byte[] data = null;

                            if (url.ToLower().Contains("hud"))
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                data = GCSViews.FlightData.myhud.streamjpg.ToArray();
                            }
                            else if (url.ToLower().Contains("map"))
                            {
                                data = GetControlJpegRaw(GCSViews.FlightData.mymap);
                            }
                            else
                            {
                                GCSViews.FlightData.myhud.streamjpgenable = true;
                                Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
                                Image img2 = GetControlJpeg(GCSViews.FlightData.mymap);
                                int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
                                Image imgout = new Bitmap(img1.Width + img2.Width, bigger);

                                Graphics grap = Graphics.FromImage(imgout);

                                grap.DrawImageUnscaled(img1, 0, 0);
                                grap.DrawImageUnscaled(img2, img1.Width, 0);

                                MemoryStream streamjpg = new MemoryStream();
                                imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
                                data = streamjpg.ToArray();
                            }

                            header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Write(data, 0, data.Length);

                            header = "\r\n--PLANNER\r\n";
                            temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        GCSViews.FlightData.myhud.streamjpgenable = false;
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains("/guided?"))
                    {
                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30

                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)",
                            RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch
                            {
                            }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(".jpg"))
                    {
                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            using (Image orig = Image.FromFile(georefimagepath + fileurl))
                            using (Image resi = ResizeImage(orig, new Size(640, 480)))
                            using (MemoryStream memstream = new MemoryStream())
                            {
                                resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);

                                memstream.Position = 0;
                                string header =
                                    "HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nContent-Type: image/jpg\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
                                    memstream.Length + "\r\n\r\n";
                                byte[] temp = asciiEncoding.GetBytes(header);
                                stream.Write(temp, 0, temp.Length);

                                using (BinaryReader file = new BinaryReader(memstream))
                                {
                                    byte[] buffer = new byte[1024];
                                    while (file.BaseStream.Position < file.BaseStream.Length)
                                    {
                                        int leng = file.Read(buffer, 0, buffer.Length);

                                        stream.Write(buffer, 0, leng);
                                    }
                                }
                            }

                            goto again;

                            //stream.Close();
                        }
                        /////////////////////////////////////////////////////////////////
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("post /guide"))
                    {
                        Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)",
                            RegexOptions.IgnoreCase);

                        Match match = rex.Match(head);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch
                            {
                            }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/command_long"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/rcoverride"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/get_mission"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/mavlink/"))
                    {
                        /*
        GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
        Host: ubuntu:9999
        Connection: keep-alive
        X-Requested-With: XMLHttpRequest
        User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
        Accept: 
        Referer: http://ubuntu:9999/index.html
        Accept-Encoding: gzip,deflate,sdch
        Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
        Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3

        HTTP/1.1 200 OK
        Content-Type: application/json
        Content-Length: 2121
        Date: Thu, 29 Nov 2012 12:13:38 GMT
        Server: ubuntu

        {
        "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
        "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0}, 
        "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0}, 
        "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
        "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0}, 
        "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0}, 
        "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
        "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0}, 
        "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
                      */

                        JavaScriptSerializer serializer = new JavaScriptSerializer();

                        object[] data = new object[20];


                        Messagejson message = new Messagejson();

                        if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
                            message.ATTITUDE = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
                                        .ToStructure<MAVLink.mavlink_attitude_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD) != null)
                            message.VFR_HUD = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD)
                                        .ToStructure<MAVLink.mavlink_vfr_hud_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT) != null)
                            message.NAV_CONTROLLER_OUTPUT = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT)
                                        .ToStructure<MAVLink.mavlink_nav_controller_output_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT) != null)
                            message.GPS_RAW_INT = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT)
                                        .ToStructure<MAVLink.mavlink_gps_raw_int_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.HEARTBEAT) != null)
                            message.HEARTBEAT = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
                                        .ToStructure<MAVLink.mavlink_heartbeat_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.GPS_STATUS) != null)
                            message.GPS_STATUS = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.GPS_STATUS)
                                        .ToStructure<MAVLink.mavlink_gps_status_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.STATUSTEXT) != null)
                            message.STATUSTEXT = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
                                        .ToStructure<MAVLink.mavlink_statustext_t>()
                            };
                        if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.SYS_STATUS) != null)
                            message.SYS_STATUS = new Message2()
                            {
                                index = 1,
                                msg =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS)
                                        .ToStructure<MAVLink.mavlink_sys_status_t>()
                            };

                        message.META_LINKQUALITY =
                            message.SYS_STATUS =
                                new Message2()
                                {
                                    index = packetindex,
                                    time_usec = 0,
                                    msg =
                                        new META_LINKQUALITY()
                                        {
                                            master_in = (int) MainV2.comPort.MAV.packetsnotlost,
                                            mavpackettype = "META_LINKQUALITY",
                                            master_out = MainV2.comPort.packetcount,
                                            packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs,
                                            mav_loss = 0
                                        }
                                };

                        packetindex++;

                        string output = serializer.Serialize(message);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " +
                                        output.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        temp = asciiEncoding.GetBytes(output);
                        stream.Write(temp, 0, temp.Length);

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("/mav/"))
                    {
                        //C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web


                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = match.Groups[2].Value;

                            fileurl = fileurl.Replace("/mav/", "");

                            if (fileurl == "" || fileurl == "/")
                                fileurl = "index.html";

                            string header = "HTTP/1.1 200 OK\r\n";
                            if (fileurl.Contains(".html"))
                                header += "Content-Type: text/html\r\n\r\n";
                            else if (fileurl.Contains(".js"))
                                header += "Content-Type: application/x-javascript\r\n\r\n";
                            else if (fileurl.Contains(".css"))
                                header += "Content-Type: text/css\r\n\r\n";
                            else
                                header += "Content-Type: text/plain\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);


                            BinaryReader file =
                                new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read,
                                    FileShare.Read));
                            byte[] buffer = new byte[1024];
                            while (file.BaseStream.Position < file.BaseStream.Length)
                            {
                                int leng = file.Read(buffer, 0, buffer.Length);

                                stream.Write(buffer, 0, leng);
                            }
                            file.Close();
                            stream.Close();
                        }
                        /////////////////////////////////////////////////////////////////
                        else
                        {
                            string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                            byte[] temp = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Close();
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else
                    {
                        Console.WriteLine(url);
                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        string content = @"
                <a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>
<a href=/georefnetwork.kml>georef kml</a>

";
                        temp = asciiEncoding.GetBytes(content);
                        stream.Write(temp, 0, temp.Length);
                    }

                    stream.Close();
                    log.Info("Close http " + url);
                }
                catch (Exception ee)
                {
                    log.Error("Failed http ", ee);
                }
            }
        }
예제 #5
0
        public void ProcessClient(object clientobj)
        {
            var client = clientobj as TcpClient;

            using (client)
            {
                try
                {
                    // Get a stream object for reading and writing
                    log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
                    //client.SendBufferSize = 100 * 1024; // 100kb
                    //client.LingerState.Enabled = true;
                    //client.NoDelay = true;

                    // makesure we have valid image
                    GCSViews.FlightData.myhud.streamjpgenable = true;

                    NetworkStream stream = client.GetStream();

                    // 5 seconds - default for httpd 2.2+
                    stream.ReadTimeout = 5000;

                    goto skipagain;

again:
                    log.Info("doing Again");

skipagain:

                    var asciiEncoding = new ASCIIEncoding();

                    var request = new byte[1024 * 4];
                    int len     = 0;

                    // handle header
                    try
                    {
                        len = stream.Read(request, 0, request.Length);
                    }
                    catch
                    {
                        return;
                    }

                    string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
                    log.Info(head);

                    int index = head.IndexOf('\n');

                    if (index == -1)
                    {
                        return;
                    }

                    string url = head.Substring(0, index - 1);
                    //url = url.Replace("\r", "");
                    //url = url.Replace("GET ","");
                    //url = url.Replace(" HTTP/1.0", "");
                    //url = url.Replace(" HTTP/1.1", "");

                    //Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
                    if (url.Contains(" /websocket/server"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            //writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end   = head.IndexOf('\r', start);
                            if (end == -1)
                            {
                                end = head.IndexOf('\n', start);
                            }
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);
                            writer.WriteLine("Server: Mission Planner");
                            writer.WriteLine("");
                            writer.Flush();

                            while (client.Connected)
                            {
                                while (client.Available > 0)
                                {
                                    var bydata = stream.ReadByte();
                                    Console.Write(bydata.ToString("X2"));

                                    if (bydata == 0x88)
                                    {
                                        return;
                                    }
                                }

                                byte[] packet = new byte[1024 * 32];

                                var cs  = JsonConvert.SerializeObject(MainV2.comPort.MAV.cs);
                                var wps = JsonConvert.SerializeObject(MainV2.comPort.MAV.wps);

                                foreach (var sendme in new[] { cs, wps })
                                {
                                    int i      = 0;
                                    var tosend = sendme.Length;
                                    packet[i++] = 0x81; // fin - utf

                                    if (tosend <= 125)
                                    {
                                        packet[i++] = (byte)(tosend);
                                    }
                                    else
                                    {
                                        packet[i++] = 126; // nomask -  2 byte length
                                        packet[i++] = (byte)(tosend >> 8);
                                        packet[i++] = (byte)(tosend & 0xff);
                                    }

                                    foreach (char ch in sendme)
                                    {
                                        packet[i++] = (byte)ch;
                                    }

                                    stream.Write(packet, 0, i);
                                    stream.Flush();
                                }

                                Thread.Sleep(200);
                            }
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains(" /websocket/raw"))
                    {
                        using (var writer = new StreamWriter(stream, Encoding.Default))
                        {
                            writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
                            writer.WriteLine("Upgrade: WebSocket");
                            writer.WriteLine("Connection: Upgrade");
                            writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/raw");

                            int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
                            int end   = head.IndexOf('\r', start);
                            if (end == -1)
                            {
                                end = head.IndexOf('\n', start);
                            }
                            string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));

                            writer.WriteLine("Sec-WebSocket-Accept: " + accept);
                            if (head.Contains("Sec-WebSocket-Protocol:"))
                            {
                                writer.WriteLine("Sec-WebSocket-Protocol: binary");
                            }
                            writer.WriteLine("Server: Mission Planner");
                            writer.WriteLine("");
                            writer.Flush();

                            EventHandler <MAVLink.MAVLinkMessage> action = null;
                            action = (sender, message) =>
                            {
                                var sendme = message.buffer;
                                try
                                {
                                    byte[] packet = new byte[1024 * 32];

                                    int i      = 0;
                                    var tosend = sendme.Length;
                                    packet[i++] = 0x82; // fin - data

                                    if (tosend <= 125)
                                    {
                                        packet[i++] = (byte)(tosend);
                                    }
                                    else
                                    {
                                        packet[i++] = 126; // nomask -  2 byte length
                                        packet[i++] = (byte)(tosend >> 8);
                                        packet[i++] = (byte)(tosend & 0xff);
                                    }

                                    foreach (char ch in sendme)
                                    {
                                        packet[i++] = (byte)ch;
                                    }

                                    stream.WriteAsync(packet, 0, i);
                                    stream.FlushAsync();
                                }
                                catch
                                {
                                    ((MAVLinkInterface)sender).OnPacketReceived -= action;
                                    stream.Close();
                                    client.Close();
                                }
                            };

                            MainV2.comPort.OnPacketReceived += action;

                            while (client.Connected)
                            {
                                while (client.Available > 0)
                                {
                                    var bydata = stream.ReadByte();
                                    Console.Write(bydata.ToString("X2"));

                                    if (bydata == 0x88)
                                    {
                                        return;
                                    }
                                }

                                Thread.Sleep(200);
                            }

                            MainV2.comPort.OnPacketReceived -= action;
                        }
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains(" /georefnetwork.kml"))
                    {
                        byte[] buffer = Encoding.ASCII.GetBytes(georefkml);

                        string header =
                            "HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nCache-Control: no-cache\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        stream.Flush();

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains(" /location.kml"))
                    {
                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        foreach (var mavLinkInterface in MainV2.Comports)
                        {
                            foreach (var MAV in mavLinkInterface.MAVlist)
                            {
                                SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
                                pmplane.Name = "P/Q " + MAV.cs.altasl;

                                pmplane.Visibility = true;

                                SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
                                loc.Latitude  = MAV.cs.lat;
                                loc.Longitude = MAV.cs.lng;
                                loc.Altitude  = MAV.cs.altasl;

                                if (loc.Altitude < 0)
                                {
                                    loc.Altitude = 0.01;
                                }

                                SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
                                ori.Heading = MAV.cs.yaw;
                                ori.Roll    = -MAV.cs.roll;
                                ori.Tilt    = -MAV.cs.pitch;

                                SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();

                                sca.X = 2;
                                sca.Y = 2;
                                sca.Z = 2;

                                SharpKml.Dom.Model model = new SharpKml.Dom.Model();
                                model.Location     = loc;
                                model.Orientation  = ori;
                                model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
                                model.Scale        = sca;

                                SharpKml.Dom.Link link = new SharpKml.Dom.Link();
                                link.Href = new Uri("block_plane_0.dae", UriKind.Relative);

                                model.Link = link;

                                pmplane.Geometry = model;

                                kml.AddFeature(pmplane);
                            }
                        }

                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
                        {
                            Altitude     = MainV2.comPort.MAV.cs.altasl,
                            Latitude     = MainV2.comPort.MAV.cs.lat,
                            Longitude    = MainV2.comPort.MAV.cs.lng,
                            Tilt         = 80,
                            Heading      = MainV2.comPort.MAV.cs.yaw,
                            AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                            Range        = 50
                        };

                        if (la.Latitude.Value != 0 && la.Longitude.Value != 0)
                        {
                            kml.Viewpoint = la;
                        }

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header =
                            "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        goto again;
                    }
                    else if (url.Contains(" /network.kml"))
                    {
                        byte[] buffer = Encoding.ASCII.GetBytes(@"<?xml version=""1.0"" encoding=""UTF-8""?>
<kml xmlns=""http://www.opengis.net/kml/2.2"" xmlns:gx=""http://www.google.com/kml/ext/2.2"" xmlns:kml=""http://www.opengis.net/kml/2.2"" xmlns:atom=""http://www.w3.org/2005/Atom"">
    <Folder>
        <name> Network Links </name>
        <open> 1 </open>
        <NetworkLink>
            <name> View Centered Placemark</name> 
            <open> 1 </open>
            <refreshVisibility> 0 </refreshVisibility>
            <flyToView> 1 </flyToView>
            <Link>
                <href> http://127.0.0.1:56781/location.kml</href>
                <refreshMode> onInterval </refreshMode>
                <refreshInterval> 1 </refreshInterval>
                <viewRefreshTime> 1 </viewRefreshTime>
            </Link>
        </NetworkLink>
        <NetworkLink>
            <name> View Centered Placemark</name> 
            <open> 1 </open>
            <refreshVisibility> 0 </refreshVisibility>
            <flyToView> 0 </flyToView>
            <Link>
                <href> http://127.0.0.1:56781/wps.kml</href>
            </Link>
        </NetworkLink>
    </Folder>
</kml>");

                        string header =
                            "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        stream.Flush();

                        goto again;
                    }
                    else if (url.Contains(" /wps.kml"))
                    {
                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();

                        SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();

                        PointLatLngAlt home = null;
                        // draw track
                        try
                        {
                            foreach (var point in GCSViews.FlightPlanner.instance.pointlist)
                            {
                                if (point == null)
                                {
                                    continue;
                                }

                                if (point.Tag.ToLower().Contains("home"))
                                {
                                    home = point;
                                }

                                coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
                            }
                        }
                        catch
                        {
                        }

                        var altmode = SharpKml.Dom.AltitudeMode.Absolute;

                        foreach (var point in GCSViews.FlightPlanner.instance.pointlist)
                        {
                            if (point == null)
                            {
                                continue;
                            }

                            SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
                            wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
                            SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
                            wppoint.AltitudeMode = altmode;
                            wppoint.Coordinate   = new Vector()
                            {
                                Latitude  = point.Lat,
                                Longitude = point.Lng,
                                Altitude  = point.Alt
                            };
                            wp.Geometry = wppoint;
                            kml.AddFeature(wp);
                        }

                        SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
                        ls.AltitudeMode = altmode;
                        ls.Coordinates  = coords;
                        ls.Extrude      = false;
                        ls.Tessellate   = true;

                        Style style = new Style();
                        style.Id = "yellowLineGreenPoly";
                        unchecked {
                            style.Line = new LineStyle(new Color32((int)0xff00ffff), 4);
                        }
                        Style style2 = new Style();
                        style2.Id   = "yellowLineGreenPoly";
                        style2.Line = new LineStyle(new Color32((int)0x7f00ffff), 4);

                        // above ground
                        SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
                        {
                            Geometry      = ls,
                            Name          = "WPs",
                            StyleSelector = style
                        };

                        kml.AddFeature(pm);

                        // on ground
                        SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
                        ls2.Coordinates  = coords;
                        ls2.Extrude      = false;
                        ls2.Tessellate   = true;
                        ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;

                        SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
                        {
                            Geometry      = ls2,
                            Name          = "onground",
                            StyleSelector = style2
                        };

                        kml.AddFeature(pm2);

                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
                        serializer.Serialize(kml);

                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);

                        string header =
                            "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
                            buffer.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Write(buffer, 0, buffer.Length);

                        stream.Flush();

                        goto again;

                        //stream.Close();
                    }

                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains(" /hud.html"))
                    {
                        var    file   = Xamarin.Properties.Resources.hud;
                        string header = "HTTP/1.1 200 OK\r\nConnection: close\r\nContent-Type: text/html\r\nContent-Length: " + file.Length + "\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        byte[] buffer = ASCIIEncoding.ASCII.GetBytes(file);

                        stream.Write(buffer, 0, buffer.Length);
                        stream.Close();
                    }

                    /////////////////////////////////////////////////////////////////
                    else if (url.Contains(" /guided?"))
                    {
                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30

                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)",
                                              RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch
                            {
                            }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains("post /guide"))
                    {
                        Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)",
                                              RegexOptions.IgnoreCase);

                        Match match = rex.Match(head);

                        if (match.Success)
                        {
                            Locationwp gwp = new Locationwp()
                            {
                                lat = double.Parse(match.Groups[1].Value),
                                lng = double.Parse(match.Groups[2].Value),
                                alt = float.Parse(match.Groups[3].Value)
                            };
                            try
                            {
                                MainV2.comPort.setGuidedModeWP(gwp);
                            }
                            catch
                            {
                            }

                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        else
                        {
                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);
                        }
                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" /command_long"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" /rcoverride"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" /get_mission"))
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" /mavlink/"))
                    {
                        /*
                         * GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
                         * Host: ubuntu:9999
                         * Connection: keep-alive
                         * X-Requested-With: XMLHttpRequest
                         * User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
                         * Accept:
                         * Referer: http://ubuntu:9999/index.html
                         * Accept-Encoding: gzip,deflate,sdch
                         * Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
                         * Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
                         *
                         * HTTP/1.1 200 OK
                         * Content-Type: application/json
                         * Content-Length: 2121
                         * Date: Thu, 29 Nov 2012 12:13:38 GMT
                         * Server: ubuntu
                         *
                         * {
                         * "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
                         * "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
                         * "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
                         * "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
                         * "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
                         * "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
                         * "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
                         * "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
                         * "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
                         */

                        object[] data = new object[20];

                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
                        {
                            var tmsg = MainV2.comPort.MAV.getPacket((uint)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
                                       .ToStructure <MAVLink.mavlink_attitude_t>();

                            var json = JsonConvert.SerializeObject(tmsg);

                            var name = MAVLink.MAVLINK_MESSAGE_INFOS.GetMessageInfo((uint)MAVLink.MAVLINK_MSG_ID.ATTITUDE).name;
                        }

                        Messagejson message = new Messagejson();

                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
                        {
                            message.ATTITUDE = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
                                    .ToStructure <MAVLink.mavlink_attitude_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD) != null)
                        {
                            message.VFR_HUD = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD)
                                    .ToStructure <MAVLink.mavlink_vfr_hud_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT) != null)
                        {
                            message.NAV_CONTROLLER_OUTPUT = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT)
                                    .ToStructure <MAVLink.mavlink_nav_controller_output_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT) != null)
                        {
                            message.GPS_RAW_INT = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT)
                                    .ToStructure <MAVLink.mavlink_gps_raw_int_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT) != null)
                        {
                            message.HEARTBEAT = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
                                    .ToStructure <MAVLink.mavlink_heartbeat_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS) != null)
                        {
                            message.GPS_STATUS = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS)
                                    .ToStructure <MAVLink.mavlink_gps_status_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT) != null)
                        {
                            message.STATUSTEXT = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
                                    .ToStructure <MAVLink.mavlink_statustext_t>()
                            }
                        }
                        ;
                        if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS) != null)
                        {
                            message.SYS_STATUS = new Message2()
                            {
                                index = 1,
                                msg   =
                                    MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS)
                                    .ToStructure <MAVLink.mavlink_sys_status_t>()
                            }
                        }
                        ;

                        message.META_LINKQUALITY =
                            message.SYS_STATUS   =
                                new Message2()
                        {
                            index     = packetindex,
                            time_usec = 0,
                            msg       =
                                new META_LINKQUALITY()
                            {
                                master_in     = (int)MainV2.comPort.MAV.packetsnotlost,
                                mavpackettype = "META_LINKQUALITY",
                                master_out    = MainV2.comPort.packetcount,
                                packet_loss   = 100 - MainV2.comPort.MAV.cs.linkqualitygcs,
                                mav_loss      = 0
                            }
                        };

                        packetindex++;

                        string output = JsonConvert.SerializeObject(message);

                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " +
                                        output.Length + "\r\n\r\n";
                        byte[] temp = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        temp = asciiEncoding.GetBytes(output);
                        stream.Write(temp, 0, temp.Length);

                        stream.Flush();

                        goto again;

                        //stream.Close();
                    }
                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" /mav/"))
                    {
                        //C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web


                        Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);

                        Match match = rex.Match(url);

                        if (match.Success)
                        {
                            string fileurl = WebUtility.UrlDecode(match.Groups[2].Value);

                            fileurl = fileurl.Replace("/mav/", "");

                            if (fileurl == "" || fileurl == "/")
                            {
                                fileurl = "index.html";
                            }

                            if (File.Exists(mavelous_web + fileurl))
                            {
                                string header = "HTTP/1.1 200 OK\r\n";
                                if (fileurl.Contains(".htm"))
                                {
                                    header += "Content-Type: text/html\r\n";
                                }
                                else if (fileurl.Contains(".js"))
                                {
                                    header += "Content-Type: application/x-javascript\r\n";
                                }
                                else if (fileurl.Contains(".css"))
                                {
                                    header += "Content-Type: text/css\r\n";
                                }
                                else
                                {
                                    header += "Content-Type: text/plain\r\n";
                                }

                                var fileinfo = new FileInfo(mavelous_web + fileurl);

                                var filetime = fileinfo.LastWriteTimeUtc.ToString("ddd, dd MMM yyyy HH:mm:ss") + " GMT";
                                var modified = Regex.Match(head, "If-Modified-Since:(.*)", RegexOptions.IgnoreCase);
                                if (modified.Success && modified.Groups[1].Value.Trim().ToLower() == filetime.ToLower())
                                {
                                    string header2 = "HTTP/1.1 304 not modified\r\nConnection: Keep-Alive\r\n\r\n";
                                    byte[] temp2   = asciiEncoding.GetBytes(header2);
                                    stream.Write(temp2, 0, temp2.Length);

                                    stream.Flush();

                                    goto again;
                                }

                                header += "Connection: keep-alive\r\nLast-Modified: " + filetime + "\r\nContent-Length: " + fileinfo.Length + "\r\n\r\n";


                                byte[] temp = asciiEncoding.GetBytes(header);
                                stream.Write(temp, 0, temp.Length);

                                BinaryReader file =
                                    new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read,
                                                               FileShare.Read));
                                byte[] buffer = new byte[1024];
                                while (file.BaseStream.Position < file.BaseStream.Length)
                                {
                                    int leng = file.Read(buffer, 0, buffer.Length);

                                    stream.Write(buffer, 0, leng);
                                }
                                file.Close();

                                stream.Flush();

                                goto again;
                            }
                        }

                        /////////////////////////////////////////////////////////////////
                        {
                            string header = "HTTP/1.1 404 not found\r\nConnection: Keep-Alive\r\nContent-Length: 0\r\nContent -Type: text/plain\r\n\r\n";
                            byte[] temp   = asciiEncoding.GetBytes(header);
                            stream.Write(temp, 0, temp.Length);

                            stream.Flush();

                            goto again;
                        }
                    }

                    /////////////////////////////////////////////////////////////////
                    else if (url.ToLower().Contains(" / "))
                    {
                        Console.WriteLine(url);
                        string header = "HTTP/1.1 200 OK\r\nConnection: close\r\nContent-Type: text/html\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);

                        string content = @"
                <a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>
<a href=/georefnetwork.kml>georef kml</a>

";
                        temp = asciiEncoding.GetBytes(content);
                        stream.Write(temp, 0, temp.Length);
                    }
                    /////////////////////////////////////////////////////////////////
                    else
                    {
                        string header = "HTTP/1.1 404 not found\r\nContent-Type: text/plain\r\n\r\n";
                        byte[] temp   = asciiEncoding.GetBytes(header);
                        stream.Write(temp, 0, temp.Length);
                    }

                    stream.Close();
                    log.Info("Close http " + url);
                    client.Close();
                }
                catch (Exception ee)
                {
                    log.Error("Failed http ", ee);
                }
            }
        }