public BusMonitorControl(UavcanInstance uavcan)
{
_serializer = uavcan.Serializer;
InitializeComponent();
var filter = TableFilterSet.ViewModel;
ViewModel = new BusMonitorViewModel(uavcan, filter);
this.WhenActivated(disposableRegistration =>
{
this.OneWayBind(ViewModel,
vm => vm.Items,
v => v.dgFrames.ItemsSource)
.DisposeWith(disposableRegistration);
this.BindCommand(ViewModel,
vm => vm.AddFilter,
v => v.AddFilterButton)
.DisposeWith(disposableRegistration);
this.BindCommand(ViewModel,
vm => vm.ClearItems,
v => v.ClearButton)
.DisposeWith(disposableRegistration);
this.Bind(ViewModel,
vm => vm.Enabled,
v => v.EnabledButton.IsChecked)
.DisposeWith(disposableRegistration);
});
}
internal LogViewerViewModel(UavcanInstance uavcan, TableFilterSetViewModel filter)
{
_serializer = uavcan.Serializer;
ResolveTypes(uavcan.TypeResolver);
var messageReceived = Observable.FromEventPattern <EventHandler <TransferReceivedArgs>, TransferReceivedArgs>(
handler => uavcan.MessageReceived += handler,
handler => uavcan.MessageReceived -= handler);
var logItemsFiller = messageReceived
.Select(x => GetLogMessage(x))
.Where(x => x != null)
.Subscribe(m => _logItemsSource.Add(m));
var filterObservable = filter.WhenValueChanged(t => t.Filter)
.Select(BuildFilter);
var sourceBuilder = _logItemsSource
.Connect()
.Filter(filterObservable)
.ObserveOn(RxApp.MainThreadScheduler)
.Bind(out _logItems)
.Subscribe();
AddFilter = ReactiveCommand.Create(() => filter.AddFilter());
_cleanUp = new CompositeDisposable(logItemsFiller, sourceBuilder, filter);
}
public static byte[] Serialize <T>(this DsdlSerializer serializer, T data)
{
var buffer = new byte[serializer.GetMaxBufferLength <T>()];
serializer.Serialize <T>(data, buffer);
return(buffer);
}
public static void Test(object data, string expectedSerializedContent, bool doRoundtripTest)
{
var expectedBytes = Hex.Decode(expectedSerializedContent);
var serializer = new DsdlSerializer(_uavcanTypeResolver);
var bufferLength = serializer.GetMaxBufferLength(data.GetType());
var buffer = new byte[bufferLength];
var size = serializer.Serialize(data, buffer);
buffer = buffer.Take(size).ToArray();
Assert.True(expectedBytes.SequenceEqual(buffer), "Serialized payload mismatch.");
var deserialized = serializer.Deserialize(data.GetType(), buffer);
if (doRoundtripTest)
{
var comparisonResult = _compareLogic.Compare(data, deserialized);
if (!comparisonResult.AreEqual)
{
bool ignoreInequality = true;
foreach (var diff in comparisonResult.Differences)
{
if (!ignoreInequality)
{
break;
}
if (diff.Object1 is float f1 && diff.Object2 is float f2)
{
var fdiff = Math.Abs(f1 - f2);
if (fdiff > 0.0001)
{
ignoreInequality = false;
}
}
else
{
ignoreInequality = false;
}
}
Assert.True(ignoreInequality, comparisonResult.DifferencesString);
}
public UavcanInstance(IUavcanTypeResolver typeResolver)
{
TypeResolver = typeResolver;
Serializer = new DsdlSerializer(typeResolver);
_framesProcessor = new CanFramesProcessor(ShouldAcceptTransfer);
}
