public void discover()
{
logger.Debug("Starting discovery.");
string[] ports = SerialPort.GetPortNames();
foreach (string portName in ports)
{
logger.Debug("Checking port {0}", portName);
SerialPort port = new SerialPort(portName);
if (!port.IsOpen)
{
logger.Debug("Port {0} is currently closed, attempting new connection.", portName);
MavLinkConnection connection = MavLinkConnection.createConnection(port);
if ((null != connection) && (connection.isOpen()))
{
// TODO: Look up existing record
logger.Debug("Connection established on port {0}", connection.portName());
logger.Debug("Mavlink device on port {0} is new, creating database entry.", connection.portName());
// create new business object around this record and assign it to connection
Drone drone = new Drone(connection);
// add this object to the list of active connections
this.connections.Add(drone);
}
else
{
logger.Debug("Discontinuing connection attempt on port {0}", portName);
}
}
}
}
/// <summary>
/// Constructor, takes a live MavLinkConnection object and begins monitoring device state
/// </summary>
/// <param name="connection">live, connected MavLinkConnection. Call MavLinkConnection.createConnection(port) and check port is open prior to calling this.</param>
public Drone(MavLinkConnection connection)
{
this.id = Guid.NewGuid();
this.connection = connection;
connection.MavLinkMessages += new MavLinkConnection.MavLinkEventHandler(messageRecieved);
}
void messageRecieved(MavLinkConnection connection, MavLinkEventArgs args)
{
logger.Debug("Received message {0} on native event channel", args.message.messid.ToString());
processMessage(args.message);
}
public Commands(Drone droneObj)
{
connection = droneObj.connection;
drone = droneObj;
}
