public SystemStatus(MavLinkMessage message) : base(null)
{
if (message.messid == this.MessageID)
{
MAVLink.mavlink_sys_status_t raw_data = (MAVLink.mavlink_sys_status_t)message.data_struct;
this.voltage_battery = raw_data.voltage_battery;
this.current_battery = raw_data.current_battery;
this.battery_remaining = raw_data.battery_remaining;
this.drop_rate_comm = raw_data.drop_rate_comm;
this.errors_comm = raw_data.errors_comm;
this.errors_count1 = raw_data.errors_count1;
this.errors_count2 = raw_data.errors_count2;
this.errors_count3 = raw_data.errors_count3;
this.errors_count4 = raw_data.errors_count4;
// parse bit masks into lists
IEnumerable <MAVLink.MAV_SYS_STATUS_SENSOR> values = EnumValues.GetValues <MAVLink.MAV_SYS_STATUS_SENSOR>();
foreach (MAVLink.MAV_SYS_STATUS_SENSOR sensor in values)
{
uint sensorMask = (uint)sensor;
if ((sensorMask & raw_data.onboard_control_sensors_enabled) == sensorMask)
{
sensorsEnabled.Add(sensor);
}
if ((sensorMask & raw_data.onboard_control_sensors_health) == sensorMask)
{
sensorsHealth.Add(sensor);
}
if ((sensorMask & raw_data.onboard_control_sensors_present) == sensorMask)
{
sensorsPresent.Add(sensor);
}
}
}
}
void CDroneManager_OnPacket(object packet, int sysId, int compId)
{
if (packet.GetType() == typeof(MAVLink.mavlink_sys_status_t))
{
MAVLink.mavlink_sys_status_t status = (MAVLink.mavlink_sys_status_t)packet;
RefreshInfo(
(double)status.voltage_battery / 1000,
(double)status.current_battery / 100,
status.battery_remaining);
}
}
public void CheckSystemStatusObject()
{
MAVLink.mavlink_sys_status_t statusStruct = new MAVLink.mavlink_sys_status_t();
statusStruct.voltage_battery = 1;
statusStruct.current_battery = 2;
statusStruct.battery_remaining = 3;
statusStruct.drop_rate_comm = 4;
statusStruct.errors_comm = 5;
statusStruct.errors_count1 = 6;
statusStruct.errors_count2 = 7;
statusStruct.errors_count3 = 8;
statusStruct.errors_count4 = 9;
MavLinkMessage message = new MavLinkMessage();
message.compid = 1;
message.messid = MAVLink.MAVLINK_MSG_ID.SYS_STATUS;
message.seq = 1;
message.sysid = 1;
message.data_struct = statusStruct;
SystemStatus systemStatus = new SystemStatus(message);
Assert.AreEqual(statusStruct.voltage_battery, systemStatus.voltage_battery);
Assert.AreEqual(statusStruct.current_battery, systemStatus.current_battery);
Assert.AreEqual(statusStruct.battery_remaining, systemStatus.battery_remaining);
Assert.AreEqual(statusStruct.drop_rate_comm, systemStatus.drop_rate_comm);
Assert.AreEqual(statusStruct.errors_comm, systemStatus.errors_comm);
Assert.AreEqual(statusStruct.errors_count1, systemStatus.errors_count1);
Assert.AreEqual(statusStruct.errors_count2, systemStatus.errors_count2);
Assert.AreEqual(statusStruct.errors_count3, systemStatus.errors_count3);
Assert.AreEqual(statusStruct.errors_count4, systemStatus.errors_count4);
SystemStatusDTO dto = DTOFactory.createSystemStatusDTO(systemStatus);
Assert.AreEqual(dto.voltage_battery, systemStatus.voltage_battery);
Assert.AreEqual(dto.current_battery, systemStatus.current_battery);
Assert.AreEqual(dto.battery_remaining, systemStatus.battery_remaining);
Assert.AreEqual(dto.drop_rate_comm, systemStatus.drop_rate_comm);
Assert.AreEqual(dto.errors_comm, systemStatus.errors_comm);
Assert.AreEqual(dto.errors_count1, systemStatus.errors_count1);
Assert.AreEqual(dto.errors_count2, systemStatus.errors_count2);
Assert.AreEqual(dto.errors_count3, systemStatus.errors_count3);
Assert.AreEqual(dto.errors_count4, systemStatus.errors_count4);
String json = JsonConvert.SerializeObject(dto);
}
private void LogPacket(object packet, bool ingoing, int sysId, int compId)
{
if (threadDone)
{
return;
}
if (listViewMessages.InvokeRequired)
{
try { listViewMessages.Invoke(new Action <object, bool, int, int>(LogPacket), packet, ingoing, sysId, compId); }
catch { };
return;
}
List <string> fields = new List <string>();
fields.Add(sysId.ToString());
fields.Add(compId.ToString());
if ((ingoing && !checkBoxIngoing.Checked) || (!ingoing && !checkBoxOutgoing.Checked))
{
return;
}
string messageName = packet.ToString().Replace("MAVLink+mavlink_", "");
if (IsMessageFilteredOut(messageName))
{
return;
}
if (listViewMessages.IsDisposed)
{
return;
}
if (packet.GetType() == typeof(MAVLink.mavlink_gps_raw_int_t))
{
MAVLink.mavlink_gps_raw_int_t gps = (MAVLink.mavlink_gps_raw_int_t)packet;
fields.Add("GPS Raw Int");
fields.Add(((double)gps.lat / 10000000).ToString());
fields.Add(((double)gps.lon / 10000000).ToString());
fields.Add(gps.alt.ToString());
fields.Add(gps.vel.ToString());
fields.Add(gps.satellites_visible.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_global_position_int_t))
{
MAVLink.mavlink_global_position_int_t gps = (MAVLink.mavlink_global_position_int_t)packet;
fields.Add("GPS Global Position Int");
fields.Add(((double)gps.lat / 10000000).ToString());
fields.Add(((double)gps.lon / 10000000).ToString());
fields.Add(gps.alt.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_attitude_t))
{
MAVLink.mavlink_attitude_t att = (MAVLink.mavlink_attitude_t)packet;
fields.Add("Attitude");
fields.Add((att.pitch * 180.0 / Math.PI).ToString());
fields.Add((att.roll * 180.0 / Math.PI).ToString());
fields.Add((att.yaw * 180.0 / Math.PI).ToString());
fields.Add((att.pitchspeed * 180.0 / Math.PI).ToString());
fields.Add((att.rollspeed * 180.0 / Math.PI).ToString());
fields.Add((att.yawspeed * 180.0 / Math.PI).ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu_t))
{
MAVLink.mavlink_scaled_imu_t imu = (MAVLink.mavlink_scaled_imu_t)packet;
fields.Add("Scaled IMU");
fields.Add(imu.xmag.ToString());
fields.Add(imu.ymag.ToString());
fields.Add(imu.zmag.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu3_t))
{
MAVLink.mavlink_scaled_imu3_t imu = (MAVLink.mavlink_scaled_imu3_t)packet;
fields.Add("Scaled IMU3");
fields.Add(imu.xmag.ToString());
fields.Add(imu.ymag.ToString());
fields.Add(imu.zmag.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu2_t))
{
MAVLink.mavlink_scaled_imu2_t imu = (MAVLink.mavlink_scaled_imu2_t)packet;
fields.Add("Scaled IMU2");
fields.Add(imu.xmag.ToString());
fields.Add(imu.ymag.ToString());
fields.Add(imu.zmag.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_sys_status_t))
{
MAVLink.mavlink_sys_status_t status = (MAVLink.mavlink_sys_status_t)packet;
fields.Add("System Status");
fields.Add(status.voltage_battery.ToString());
}
// else if (packet.GetType() == typeof(MAVLink.mavlink_autopilot_version_t))
// {
// MAVLink.mavlink_autopilot_version_t ver = (MAVLink.mavlink_autopilot_version_t)packet;
// listViewMessages.Items.Add(new ListViewItem(new string[] {
// "Autopilot Version",
// ver.version.ToString(),
// ver.custom_version.ToString(),
// ver.capabilities.ToString()}));
// }
else if (packet.GetType() == typeof(MAVLink.mavlink_heartbeat_t))
{
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)packet;
fields.Add("Heartbeat");
fields.Add(hb.autopilot.ToString());
fields.Add(hb.system_status.ToString());
fields.Add(hb.mavlink_version.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_statustext_t))
{
MAVLink.mavlink_statustext_t status = (MAVLink.mavlink_statustext_t)packet;
fields.Add("Status Text");
fields.Add(ASCIIEncoding.ASCII.GetString(status.text));
fields.Add(status.severity.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_param_value_t))
{
MAVLink.mavlink_param_value_t paramValue = (MAVLink.mavlink_param_value_t)packet;
fields.Add("Param Value");
fields.Add(ASCIIEncoding.ASCII.GetString(paramValue.param_id));
fields.Add(paramValue.param_value.ToString());
fields.Add(paramValue.param_count.ToString());
fields.Add(paramValue.param_index.ToString());
fields.Add(paramValue.param_type.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_param_request_read_t))
{
MAVLink.mavlink_param_request_read_t paramReq = (MAVLink.mavlink_param_request_read_t)packet;
fields.Add("Param Request Read");
fields.Add(ASCIIEncoding.ASCII.GetString(paramReq.param_id));
}
else if (packet.GetType() == typeof(MAVLink.mavlink_param_set_t))
{
MAVLink.mavlink_param_set_t paramSet = (MAVLink.mavlink_param_set_t)packet;
fields.Add("Param Set");
fields.Add(ASCIIEncoding.ASCII.GetString(paramSet.param_id));
fields.Add(paramSet.param_value.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_mission_count_t))
{
MAVLink.mavlink_mission_count_t paramValue = (MAVLink.mavlink_mission_count_t)packet;
fields.Add("Mission Count");
fields.Add(paramValue.count.ToString());
fields.Add(paramValue.target_component.ToString());
fields.Add(paramValue.target_system.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_mission_item_t))
{
MAVLink.mavlink_mission_item_t item = (MAVLink.mavlink_mission_item_t)packet;
fields.Add("Mission Item");
fields.Add(item.seq.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_mission_request_t))
{
MAVLink.mavlink_mission_request_t item = (MAVLink.mavlink_mission_request_t)packet;
fields.Add("Mission Request Item");
fields.Add(item.seq.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_command_ack_t))
{
MAVLink.mavlink_command_ack_t paramValue = (MAVLink.mavlink_command_ack_t)packet;
fields.Add("Ack");
fields.Add(((MAVLink.MAV_CMD)paramValue.command).ToString());
fields.Add(((MAVLink.MAV_RESULT)paramValue.result).ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_mission_ack_t))
{
MAVLink.mavlink_mission_ack_t paramValue = (MAVLink.mavlink_mission_ack_t)packet;
fields.Add("Mission Ack");
fields.Add(paramValue.type.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_radio_status_t))
{
MAVLink.mavlink_radio_status_t radio = (MAVLink.mavlink_radio_status_t)packet;
fields.Add("Radio Status");
fields.Add(radio.rssi.ToString());
fields.Add(radio.remrssi.ToString());
}
else if (packet.GetType() == typeof(MAVLink.mavlink_ekf_status_report_t))
{
MAVLink.mavlink_ekf_status_report_t ekf = (MAVLink.mavlink_ekf_status_report_t)packet;
fields.Add("EKF Status");
fields.Add(ekf.flags.ToString());
fields.Add(ekf.velocity_variance.ToString());
fields.Add(ekf.pos_horiz_variance.ToString());
fields.Add(ekf.pos_vert_variance.ToString());
fields.Add(ekf.compass_variance.ToString());
fields.Add(ekf.terrain_alt_variance.ToString());
}
else
{
fields.Add(messageName);
//Log(packet.ToString());
}
if (ingoing)
{
listViewMessages.Items.Add(INGOING(new ListViewItem(fields.ToArray())));
}
else
{
listViewMessages.Items.Add(OUTGOING(new ListViewItem(fields.ToArray())));
}
}
public void SetAttitude(MAVLink.mavlink_sys_status_t sysstatus)
{
mission_sysstatus = sysstatus;
time = DateTime.Now;
}
public sysstatus(MAVLink.mavlink_sys_status_t sysstatus)
{
mission_sysstatus = sysstatus;
time = DateTime.Now;
}
private int updatedata(int timeout = 5000)
{
if (ReadHeartBeat())
{
DateTime deadline = DateTime.Now.AddMilliseconds(timeout);
while (DateTime.Now < deadline)
{
try
{
var data = _mavlinkparse.ReadPacket(_datastream);
if (data == null)
{
continue;
}
switch (data.GetType().ToString())
{
case "MAVLink+mavlink_attitude_t":
MAVLink.mavlink_attitude_t pack0 = (MAVLink.mavlink_attitude_t)data;
Vehicle.Roll = pack0.roll;
Vehicle.RollSpeed = pack0.rollspeed;
Vehicle.Pitch = pack0.pitch;
Vehicle.PitchSpeed = pack0.pitchspeed;
Vehicle.Yaw = pack0.yaw;
Vehicle.YawSpeed = pack0.yawspeed;
Vehicle.BootTime = pack0.time_boot_ms;
break;
case "MAVLink+_global_position_int_t":
MAVLink.mavlink_global_position_int_t pack1 = (MAVLink.mavlink_global_position_int_t)data;
Vehicle.Attitude = pack1.alt;
Vehicle.Latitude = pack1.lat;
Vehicle.Longtitude = pack1.lon;
break;
case "MAVLink+mavlink_sys_status_t":
MAVLink.mavlink_sys_status_t pack2 = (MAVLink.mavlink_sys_status_t)data;
Vehicle.BatteryVoltage = pack2.voltage_battery;
Vehicle.BatteryCurrent = pack2.current_battery;
Vehicle.BatteryRemaining = pack2.battery_remaining;
break;
case "MAVLink+mavlink_vfr_hud_t":
MAVLink.mavlink_vfr_hud_t pack3 = (MAVLink.mavlink_vfr_hud_t)data;
Vehicle.AirSpeed = pack3.airspeed;
Vehicle.GroungSpeed = pack3.groundspeed;
break;
case "MAVLink+mavlink_heartbeat_t":
ReadHeartBeat();
Vehicle.HeartBeating = true;
deadline = DateTime.Now.AddMilliseconds(timeout);
break;
default:
break;
}
}
catch
{
Vehicle.Connected = false;
}
}
}
return(0);
}
