public static byte[] PrepareStatement2(MessageType msgType, String session, byte[] message, int packet_count)
{
Object[] ob = { (byte)255, (byte)1, (byte)0, (byte)0, (int)(session != null ? Convert.ToInt32(session.Substring(2), 16) : 0), (int)packet_count, (byte)0, (byte)0, (short)msgType, (int)351 };
byte[] end = { (byte)0 };
return(Concat(Concat(StructConverter.Pack(ob), message), end));
}
/// <summary>
/// Create an ACK packet based on the given header information
/// </summary>
/// <param name="data_type"></param>
/// <param name="buffer_id"></param>
/// <param name="seq_no"></param>
/// <returns></returns>
private byte[] _create_ack_packet(byte data_type, byte buffer_id, byte seq_no)
{
Debug.Assert(data_type == (byte)SumoConstantsCustom.ARNETWORKAL_FRAME_TYPE.ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK);
// The payload of an ACK frame is the sequence no. of the data frame
byte payload = seq_no;
// The buffer id is 128 + base_id
byte[] buffer = StructConverter.Pack("<BBBI", new object[] { (byte)SumoConstantsCustom.ARNETWORKAL_FRAME_TYPE.ARNETWORKAL_FRAME_TYPE_ACK, (byte)buffer_id + 128, (byte)0, (byte)8 }); //"<BBBI"
return(buffer.Concat(new byte[] { payload }).ToArray());
}
/// <summary>
/// Creates a complete frame by prepending a header to the given payload
// Data type: normal data(2)
// Target buffer ID:
// Sequence number
// Frame size
// Payload
/// </summary>
/// <param name="payload"></param>
/// <returns></returns>
public static byte[] _pack_frame(byte[] payload)
{
var data_type = 2;
var buffer_id = 10;
var seq_no = 0;
var frame_size = 7 + payload.Length;
var header = StructConverter.Pack("<BBBI", data_type, buffer_id, seq_no, frame_size);
return(header.Concat(payload).ToArray());
}
/// <summary>
/// Immediately Send Audio Stream
/// </summary>
/// <param name="AudioData"></param>
public void SendAudioFrame(byte[] AudioData)
{
if (isConnected)
{
if (AudioData != null)
{
byte[] AudioHeader = StructConverter.Pack("<QHHI", new Object[] { (UInt64)0, (UInt32)0, (UInt32)0, (UInt16)0 });
byte[] AudioFrame = AudioHeader.Concat(AudioData).ToArray();
this.Send(AudioFrame);
}
}
}
public byte[] Bytes(bool includeLength)
{
var sid = GetRandomBytes(8);
var ts = (int)DateTimeOffset.UtcNow.ToUnixTimeSeconds();
var packet = new List <object>();
packet.Add(1);
packet.Add(ts);
packet.Add((byte)(7 << 3));
foreach (var s in sid)
{
packet.Add(s);
}
packet.Add((byte)0);
packet.Add(0);
using (var h = new HMACSHA1())
{
h.Key = _key.Take(h.HashSize / 8).ToArray();
var data = StructConverter.Pack(packet.ToArray(), false);
var hash = h.ComputeHash(data);
var result = new List <object>();
result.Add((byte)(7 << 3));
foreach (var s in sid)
{
result.Add(s);
}
foreach (var hs in hash)
{
result.Add(hs);
}
result.Add(1);
result.Add(ts);
result.Add((byte)0);
result.Add(0);
var bytes = StructConverter.Pack(result.ToArray(), false);
if (!includeLength)
{
return(bytes);
}
var length = StructConverter.Pack(new object[] { (ushort)bytes.Length }, false);
return(length.Concat(bytes).ToArray());
}
}
/// <summary>
/// RoadPlan_AllScriptsMetadata
///
/// Command to ask device all metadata scripts.
///
/// </summary>
public static byte[] RoadPlan_AllScriptsMetadata_cmd()
{
return(StructConverter.Pack("<BBH", 3, 14, 0));
}
/// <summary>
/// RoadPlan_ScriptUploaded
///
/// Notify device that a new file has been uploaded.
///
///
/// args : string string
/// </summary>
public static byte[] RoadPlan_ScriptUploaded_cmd(String uuid, String md5Hash)
{
return(StructConverter.Pack("<BBHss", 3, 14, 1, uuid, md5Hash));
}
/// <summary>
/// Factory_Reset
/// This command will request a factory reset from the prodcut. *The factory reset procedure implies an automatic reboot*, which will be done immediately after receiving this command.
/// The product will reboot, all settings will be reset to their default values. All data on the product will also be erased.
/// </summary>
public static byte[] Factory_Reset_cmd()
{
return(StructConverter.Pack("<BBH", 0, 31, 0));
}
/// <summary>
/// Animations_JumpCancel
///
/// Cancel jump and come back to previous state (if possible).
///
/// </summary>
public static byte[] Animations_JumpCancel_cmd()
{
return(StructConverter.Pack("<BBH", 3, 2, 1));
}
/// <summary>
/// VideoSettings_Autorecord
///
/// Set video automatic recording state.
///
///
/// args : u8
/// </summary>
public static byte[] VideoSettings_Autorecord_cmd(byte enabled)
{
return(StructConverter.Pack("<BBHB", 3, 21, 0, enabled));
}
/// <summary>
/// Common_AllStates
/// Ask for all states.
/// **Please note that you should not send this command if you are using the
/// libARController API as this library is handling the connection process for you.**
/// The product will trigger all states events (such as [FlyingState](#1-4-1) for the Bebop).
/// Then, it will trigger [AllStatesEnd](#0-5-0).
/// </summary>
public static byte[] Common_AllStates_cmd()
{
return(StructConverter.Pack("<BBH", 0, 4, 0));
}
/// <summary>
/// MediaRecord_VideoV2
///
/// Video record
///
///
/// args : enum
/// </summary>
public static byte[] MediaRecord_VideoV2_cmd(SumoEnumGenerated.VideoV2_record record)
{
return(StructConverter.Pack("<BBHI", 3, 6, 3, (UInt16)record));
}
/// <summary>
/// Settings_Country
/// Set the country for Wifi products.
/// This can modify Wifi band and/or channel.
/// **Please note that you might be disconnected from the product after changing the country as it changes Wifi parameters.**
/// The country is set.
/// Then, it will trigger [CountryChanged](#0-3-6).
/// args : string
/// </summary>
public static byte[] Settings_Country_cmd(String code)
{
return(StructConverter.Pack("<BBHs", 0, 2, 3, code));
}
/// <summary>
/// MediaRecord_PictureV2
///
/// Take picture
///
/// </summary>
public static byte[] MediaRecord_PictureV2_cmd()
{
return(StructConverter.Pack("<BBH", 3, 6, 2));
}
/// <summary>
/// Settings_ProductName
/// Set the product name.
/// It also sets the name of the SSID for Wifi products and advertisement name for BLE products (changed after a reboot of the product).
/// Name is changed.
/// Then, it will trigger [NameChanged](#0-3-2).
/// args : string
/// </summary>
public static byte[] Settings_ProductName_cmd(String name)
{
return(StructConverter.Pack("<BBHs", 0, 2, 2, name));
}
/// <summary>
/// Animations_SimpleAnimation
///
/// Play a parameterless animation.
///
///
/// args : enum
/// </summary>
public static byte[] Animations_SimpleAnimation_cmd(SumoEnumGenerated.SimpleAnimation_id id)
{
return(StructConverter.Pack("<BBHI", 3, 2, 4, (UInt16)id));
}
/// <summary>
/// Animations_Jump
///
/// Request a jump
///
///
/// args : enum
/// </summary>
public static byte[] Animations_Jump_cmd(SumoEnumGenerated.Jump_type type)
{
return(StructConverter.Pack("<BBHI", 3, 2, 3, (UInt16)type));
}
/// <summary>
/// Animations_JumpLoad
///
/// Request jump loading
///
/// </summary>
public static byte[] Animations_JumpLoad_cmd()
{
return(StructConverter.Pack("<BBH", 3, 2, 2));
}
/// <summary>
/// RoadPlan_ScriptDelete
///
/// Ask the device to delete a script.
///
///
/// args : string
/// </summary>
public static byte[] RoadPlan_ScriptDelete_cmd(String uuid)
{
return(StructConverter.Pack("<BBHs", 3, 14, 2, uuid));
}
/// <summary>
/// NetworkSettings_WifiSelection
///
/// Auto-select channel of choosen band
///
///
/// args : enum enum u8
/// </summary>
public static byte[] NetworkSettings_WifiSelection_cmd(SumoEnumGenerated.WifiSelection_type type, SumoEnumGenerated.WifiSelection_band band, byte channel)
{
return(StructConverter.Pack("<BBHIIB", 3, 8, 0, (UInt16)type, (UInt16)band, channel));
}
/// <summary>
/// RoadPlan_PlayScript
///
/// Ask the device to play a script.
///
///
/// args : string
/// </summary>
public static byte[] RoadPlan_PlayScript_cmd(String uuid)
{
return(StructConverter.Pack("<BBHs", 3, 14, 3, uuid));
}
/// <summary>
/// Network_WifiScan
///
/// Launches wifi network scan
///
///
/// args : enum
/// </summary>
public static byte[] Network_WifiScan_cmd(SumoEnumGenerated.WifiScan_band band)
{
return(StructConverter.Pack("<BBHI", 3, 10, 0, (UInt16)band));
}
/// <summary>
/// MediaStreaming_VideoEnable
///
/// Enable/disable video streaming.
///
///
/// args : u8
/// </summary>
public static byte[] MediaStreaming_VideoEnable_cmd(byte enable)
{
return(StructConverter.Pack("<BBHB", 3, 18, 0, enable));
}
/// <summary>
/// Piloting_Posture
///
/// Request a posture
///
///
/// args : enum
/// </summary>
public static byte[] Piloting_Posture_cmd(SumoEnumGenerated.Posture_type type)
{
return(StructConverter.Pack("<BBHI", 3, 0, 1, (UInt16)type));
}
/// <summary>
/// Settings_AutoCountry
/// Enable auto-country.
/// If auto-country is set, the drone will guess its Wifi country by itself by checking other Wifi country around it.
/// **Please note that you might be disconnected from the product after changing the country as it changes Wifi parameters.**
/// The auto-country of the product is changed.
/// Then, it will trigger [AutoCountryChanged](#0-3-7) and [CountryChanged](#0-3-6).
/// args : u8
/// </summary>
public static byte[] Settings_AutoCountry_cmd(byte automatic)
{
return(StructConverter.Pack("<BBHB", 0, 2, 4, automatic));
}
/// <summary>
/// AudioSettings_MasterVolume
///
/// Master volume control.
///
///
/// args : u8
/// </summary>
public static byte[] AudioSettings_MasterVolume_cmd(byte volume)
{
return(StructConverter.Pack("<BBHB", 3, 12, 0, volume));
}
/// <summary>
/// Piloting_PCMD
///
/// Ask the JS speed and turn ratio.
///
///
/// args : u8 i8 i8
/// </summary>
public static byte[] Piloting_PCMD_cmd(byte flag, sbyte speed, sbyte turn)
{
return(StructConverter.Pack("<BBHBbb", 3, 0, 0, flag, speed, turn));
}
/// <summary>
/// AudioSettings_Theme
///
/// Audio Theme.
///
///
/// args : enum
/// </summary>
public static byte[] AudioSettings_Theme_cmd(SumoEnumGenerated.Theme_theme theme)
{
return(StructConverter.Pack("<BBHI", 3, 12, 1, (UInt16)theme));
}
/// <summary>
/// Network_WifiAuthChannel
///
/// Controller inquire the list of authorized wifi channels.
///
/// </summary>
public static byte[] Network_WifiAuthChannel_cmd()
{
return(StructConverter.Pack("<BBH", 3, 10, 1));
}
/// <summary>
/// Piloting_addCapOffset
///
/// Add the specified offset to the current cap.
///
///
/// args : float
/// </summary>
public static byte[] Piloting_addCapOffset_cmd(float offset)
{
return(StructConverter.Pack("<BBHd", 3, 0, 2, offset));
}
