private void tmrStateUpdate_Tick(object sender, EventArgs e)
{
tvInfo.BeginUpdate();
TreeNode node = tvInfo.Nodes.GetOrCreate("ClientActive");
node.Text = string.Format("Client Active: {0}", _droneClient.Active);
node = tvInfo.Nodes.GetOrCreate("Navigation Data");
DumpBranch(node.Nodes, _droneClient.NavigationData);
node = tvInfo.Nodes.GetOrCreate("Configuration");
DumpBranch(node.Nodes, _droneClient.Configuration);
TreeNode vativeNode = tvInfo.Nodes.GetOrCreate("Native");
NavdataBag navdataBag;
if (_navigationPacket.Data != null && NavdataBagParser.TryParse(ref _navigationPacket, out navdataBag))
{
var ctrl_state = (CTRL_STATES)(navdataBag.demo.ctrl_state >> 0x10);
node = vativeNode.Nodes.GetOrCreate("ctrl_state");
node.Text = string.Format("Ctrl State: {0}", ctrl_state);
var flying_state = (FLYING_STATES)(navdataBag.demo.ctrl_state & 0xffff);
node = vativeNode.Nodes.GetOrCreate("flying_state");
node.Text = string.Format("Ctrl State: {0}", flying_state);
DumpBranch(vativeNode.Nodes, navdataBag);
}
tvInfo.EndUpdate();
}
public static bool TryParse(ref NavigationPacket packet, out NavigationData navigationData)
{
navigationData = new NavigationData();
NavdataBag navdataBag;
if (NavdataBagParser.TryParse(ref packet, out navdataBag))
{
navigationData = NavdataConverter.ToNavigationData(navdataBag);
return(true);
}
return(false);
}
/// <summary>
/// 写导航数据文件
/// NavgationBag
/// </summary>
/// <param name="navigationPacket"></param>
/// <returns></returns>
private void Write(NavigationPacket navigationPacket)
{
using (FileStream navFileStream = new FileStream(_navdataDir + @"/" + navigationPacket.Timestamp + ".nav", FileMode.OpenOrCreate))
{
using (StreamWriter navWriter = new StreamWriter(navFileStream))
{
NavdataBag navdataBag;
if (navigationPacket.Data != null && NavdataBagParser.TryParse(ref navigationPacket, out navdataBag))
{
DumpBranch(navWriter, navdataBag);
}
}
}
}
/// <summary>
/// 状态定时器响应
/// 更新Tree view 中的参数
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
/// <returns></returns>
private void tmrStateUpdate_Tick(object sender, EventArgs e)
{
tvInfo.BeginUpdate();
//标签一
TreeNode node = tvInfo.Nodes.GetOrCreate("ClientActive");
node.Text = string.Format("Client Active: {0}", _droneClient.IsActive);
//标签二
node = tvInfo.Nodes.GetOrCreate("Navigation Data");
if (_navigationData != null)
{
DumpBranch(node.Nodes, _navigationData);
}
//标签三
node = tvInfo.Nodes.GetOrCreate("Configuration");
if (_settings != null)
{
DumpBranch(node.Nodes, _settings);
}
//标签四
TreeNode vativeNode = tvInfo.Nodes.GetOrCreate("Native");
NavdataBag navdataBag;
if (_navigationPacket.Data != null && NavdataBagParser.TryParse(ref _navigationPacket, out navdataBag))
{
var ctrl_state = (CTRL_STATES)(navdataBag.demo.ctrl_state >> 0x10);
node = vativeNode.Nodes.GetOrCreate("ctrl_state");
node.Text = string.Format("Ctrl State: {0}", ctrl_state);
var flying_state = (FLYING_STATES)(navdataBag.demo.ctrl_state & 0xffff);
node = vativeNode.Nodes.GetOrCreate("flying_state");
node.Text = string.Format("Ctrl State: {0}", flying_state);
DumpBranch(vativeNode.Nodes, navdataBag);
}
tvInfo.EndUpdate();
if (_autopilot != null && !_autopilot.Active && btnAutopilot.ForeColor != Color.Black)
{
btnAutopilot.ForeColor = Color.Black;
}
}
protected override void Loop(CancellationToken token)
{
_packetQueue.Flush();
//int num = 0;
while (token.IsCancellationRequested == false || !_packetQueue.IsEmpty)
{
object packet = null;
while (_packetQueue.TryDequeue(out packet))
{
if (packet is NavigationPacket)
{
var navigationPacket = (NavigationPacket)packet;
NavdataBagParser.TryParse(ref navigationPacket, out _navdataBag);
var navigationData = NavdataConverter.ToNavigationData(_navdataBag);
Write(navigationPacket, navigationData);
//Write(navigationPacket);
}
else if (packet is VideoPacket)
{
//num++;
var videoPacket = (VideoPacket)packet;
Write(videoPacket);
}
else
{
string message = string.Format("Not supported packet type - {0}.", packet.GetType().Name);
throw new NotSupportedException(message);
}
}
Thread.Sleep(10);
}
//发送写结束事件
if (OnWriteEnd != null)
{
OnWriteEnd();
}
}
