public bool connect()
{
client = new TcpClient(APIConstants.DEFAULT_SERVER,APIConstants.DEFAULT_TCP_PORT);
client.NoDelay = true;
start = DateTime.Now;
st = new BufferedStream(client.GetStream(),8000);
Envelope ping = new Envelope() { ping = new PingMsg() { nonce = new Random().Next(int.MaxValue) } , type = Envelope.MsgCode.PingMsgCode };
DateTime deadline = DateTime.Now.AddMilliseconds(3000);
while (DateTime.Now < deadline)
{
send(ping);
System.Threading.Thread.Sleep(500);
var pingresp = receive(0);
if (pingresp != null && pingresp.pingResponse != null)
return true;
}
throw new IOException("No Responce");
}
public bool setVechileId(string guid, int gcsinterface, int sysid, bool canAcceptCommands = true)
{
SenderIdMsg m = new SenderIdMsg() { vehicleUUID = guid, gcsInterface = gcsinterface, sysId = sysid, canAcceptCommands = canAcceptCommands };
Envelope msg = new Envelope() { setSender = m, type = Envelope.MsgCode.SenderIdMsgCode };
send(msg);
return true;
}
public bool startMission()
{
StartMissionMsg m = new StartMissionMsg() { uuid = Guid.NewGuid().ToString(), keep = false };
Envelope msg = new Envelope() { startMission = m, type = Envelope.MsgCode.StartMissionMsgCode };
send(msg);
return true;
}
public bool loginUser(string user, string password)
{
LoginMsg m = new LoginMsg() { username = user, password = password, code = LoginRequestCode.LOGIN };
Envelope msg = new Envelope() { login = m, type = Envelope.MsgCode.LoginMsgCode };
send(msg);
var loginresp = receive(0);
if (loginresp != null && loginresp.loginResponse != null)
{
Console.WriteLine(loginresp.loginResponse.message + " " + loginresp.loginResponse.code);
if (loginresp.loginResponse.code == LoginResponseMsg.ResponseCode.OK)
return true;
throw new Exception("bad auth");
}
throw new IOException("no login responce");
}
public void SendMavlink(byte[] data, int gcsinterface)
{
var mavmsg = new MavlinkMsg();
mavmsg.packet.Add(data);
mavmsg.srcInterface = gcsinterface;
//mavmsg.deltaT = (long)((DateTime.Now - start).TotalMilliseconds * 1000);
Envelope msg = new Envelope() { mavlink = mavmsg, type = Envelope.MsgCode.MavlinkMsgCode };
send(msg);
}
void send(Envelope msg)
{
if (client == null)
return;
// write the data to the stream
Serializer.SerializeWithLengthPrefix<Envelope>(st, msg, PrefixStyle.Base128);
st.Flush();
}