public DroneInfo(PacketBuffer buffer)
{
Name = buffer.ReadString();
ModelName = buffer.ReadString();
SerialCode = buffer.ReadString();
BuildName = buffer.ReadString().Trim().Replace(' ', '_');
BuildVersion = buffer.ReadByte();
ResetReason = (ResetReason)buffer.ReadByte();
ResetException = (ResetException)buffer.ReadByte();
ResetEpc = buffer.ReadUInt();
ResetExcvaddr = buffer.ReadUInt();
if (ResetReason != ResetReason.Exception)
{
ResetException = ResetException.None;
}
StopReason = (StopReason)buffer.ReadByte();
GyroSensor = buffer.ReadString();
Magnetometer = buffer.ReadString();
BaroSensor = buffer.ReadString();
}
private void HandlePacket(byte[] packet, IPEndPoint sender)
{
try
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
Log.Debug("DroneList: Invalid magic value!");
return;
}
if (buffer.ReadByte() != (byte)HelloPacketType.Answer)
{
return;
}
DroneEntry entry = new DroneEntry();
entry.Address = sender.Address;
entry.LastFound = DateTime.Now;
entry.Name = buffer.ReadString();
entry.Model = buffer.ReadString();
entry.SerialCode = buffer.ReadString();
entry.FirmwareVersion = buffer.ReadByte();
AddDrone(entry);
}
}
catch (Exception e)
{
Log.Error("Error while searching for drones:");
Log.Error(e);
}
}
private void HandleDataPacket(byte[] packet)
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (buffer.Size < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
return;
int revision = buffer.ReadInt();
DataPacketType type = (DataPacketType)buffer.ReadByte();
lastDataTime = Environment.TickCount;
switch (type)
{
case DataPacketType.Drone:
if (!CheckRevision(lastDataDroneRevision, revision))
return;
DroneState state = (DroneState)buffer.ReadByte();
QuadMotorValues motorValues = new QuadMotorValues(buffer);
GyroData gyro = new GyroData(buffer);
float batteryVoltage = buffer.ReadFloat();
int wifiRssi = buffer.ReadInt();
Data = new DroneData(state, motorValues, gyro, batteryVoltage, wifiRssi);
lastDataDroneRevision = revision;
break;
case DataPacketType.Log:
if (!CheckRevision(lastDataLogRevision, revision))
return;
int lines = buffer.ReadInt();
for (int i = 0; i < lines; i++)
{
string msg = buffer.ReadString();
if (OnLogMessage == null)
Log.Info("[Drone] " + msg);
else
OnLogMessage(msg + Environment.NewLine);
}
lastDataLogRevision = revision;
break;
case DataPacketType.Debug:
if (!CheckRevision(lastDataDebugRevision, revision))
return;
DebugData = new DebugData(buffer);
lastDataDebugRevision = revision;
break;
}
}
}
public Entry(PacketBuffer buffer)
{
Name = buffer.ReadString();
TimeMicros = buffer.ReadUInt();
TimeMaxMicros = buffer.ReadUInt();
}
private void HandleDataPacket(byte[] packet)
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (buffer.Size < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
DataPacketType type = (DataPacketType)buffer.ReadByte();
lastDataTime = Environment.TickCount;
switch (type)
{
case DataPacketType.Drone:
if (!CheckRevision(lastDataDroneRevision, revision))
{
return;
}
DroneState state = (DroneState)buffer.ReadByte();
QuadMotorValues motorValues = new QuadMotorValues(buffer);
GyroData gyro = new GyroData(buffer);
float batteryVoltage = buffer.ReadFloat();
int wifiRssi = buffer.ReadInt();
Data = new DroneData(state, motorValues, gyro, batteryVoltage, wifiRssi);
lastDataDroneRevision = revision;
break;
case DataPacketType.Log:
if (!CheckRevision(lastDataLogRevision, revision))
{
return;
}
int lines = buffer.ReadInt();
for (int i = 0; i < lines; i++)
{
string msg = buffer.ReadString();
if (OnLogMessage == null)
{
Log.Info("[Drone] " + msg);
}
else
{
OnLogMessage(msg + Environment.NewLine);
}
}
lastDataLogRevision = revision;
break;
case DataPacketType.Debug:
if (!CheckRevision(lastDataDebugRevision, revision))
{
return;
}
DebugData = new DebugData(buffer);
lastDataDebugRevision = revision;
break;
}
}
}
public Entry(PacketBuffer buffer)
{
Name = buffer.ReadString();
TimeMicros = buffer.ReadUInt();
TimeMaxMicros = buffer.ReadUInt();
}
private void HandlePacket(byte[] packet, IPEndPoint sender)
{
try
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
Log.Debug("Hello: Invalid magic value!");
return;
}
if (buffer.ReadByte() != (byte)HelloPacketType.Answer)
return;
DroneEntry entry = new DroneEntry();
entry.Address = sender.Address;
entry.LastFound = DateTime.Now;
entry.Name = buffer.ReadString();
entry.Model = buffer.ReadString();
entry.SerialCode = buffer.ReadString();
entry.FirmwareVersion = buffer.ReadByte();
AddDrone(entry);
}
}
catch (Exception e)
{
Log.Error(e.ToString());
}
}
private void HandleDataPacket(byte[] packet)
{
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (buffer.Size < 3 || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
DataPacketType type = (DataPacketType)buffer.ReadByte();
lastDataTime = Environment.TickCount;
switch (type)
{
case DataPacketType.Drone:
if (!CheckRevision(lastDataDroneRevision, revision))
{
return;
}
DroneState state = (DroneState)buffer.ReadByte();
QuadMotorValues motorValues = new QuadMotorValues(buffer);
SensorData sensor = new SensorData(buffer);
float batteryVoltage = buffer.ReadFloat();
int wifiRssi = buffer.ReadInt();
Data = new DroneData(state, motorValues, sensor, batteryVoltage, wifiRssi);
lastDataDroneRevision = revision;
break;
case DataPacketType.Log:
if (!CheckRevision(lastDataLogRevision, revision))
{
return;
}
int lines = buffer.ReadInt();
for (int i = 0; i < lines; i++)
{
string msg = buffer.ReadString();
DroneLog.AddLine(msg);
}
lastDataLogRevision = revision;
break;
case DataPacketType.DebugOutput:
if (!CheckRevision(lastDataOutputRevision, revision))
{
return;
}
DebugOutputData = new OutputData(buffer);
lastDataOutputRevision = revision;
NotifyDebugDataChanged();
break;
case DataPacketType.DebugProfiler:
if (!CheckRevision(lastDataProfilerRevision, revision))
{
return;
}
DebugProfilerData = new ProfilerData(buffer);
lastDataProfilerRevision = revision;
NotifyDebugDataChanged();
break;
}
}
}
