public async Task Load(string file, ProgressUtility progress)
{
this.file = file;
this.startTime = DateTime.MinValue;
this.duration = TimeSpan.Zero;
bool first = true;
// QT time is milliseconds from the following epoch.
byte[] msgBuf = new byte[256];
GCHandle handle = GCHandle.Alloc(msgBuf, GCHandleType.Pinned);
IntPtr ptr = handle.AddrOfPinnedObject();
DateTime lastTime = DateTime.MinValue;
await Task.Run(() =>
{
long length = 0;
// MAVLINK_MSG_ID
using (Stream s = File.OpenRead(file))
{
length = s.Length;
BinaryReader reader = new BinaryReader(s);
while (s.Position < length)
{
progress.ShowProgress(0, length, s.Position);
try
{
MavLinkMessage header = new MavLinkMessage();
header.ReadHeader(reader);
int read = s.Read(msgBuf, 0, header.Length);
if (read == header.Length)
{
header.Crc = reader.ReadUInt16();
bool checkCrc = true;
if ((int)header.MsgId == MAVLink.mavlink_telemetry.MessageId)
{
if (header.Crc == 0) // telemetry has no crc.
{
checkCrc = false;
continue;
}
}
if (checkCrc && !header.IsValidCrc(msgBuf, read))
{
continue;
}
Type msgType = MavLinkMessage.GetMavlinkType((uint)header.MsgId);
if (msgType != null)
{
// convert to proper mavlink structure.
header.TypedPayload = Marshal.PtrToStructure(ptr, msgType);
}
Message message = AddMessage(header);
if (first)
{
startTime = message.Timestamp;
startTicks = message.Ticks;
first = false;
}
}
}
catch
{
// try and continue...
}
}
}
progress.ShowProgress(0, length, length);
handle.Free();
});
this.duration = lastTime - startTime;
}
internal Message AddMessage(MavLinkMessage e)
{
if (this.data == null)
{
this.data = new List <Message>();
}
DateTime time = epoch.AddMilliseconds((double)e.Time / (double)1000);
Message msg = new Model.MavlinkLog.Message()
{
Msg = e,
Timestamp = time,
Ticks = e.Time
};
if (e.TypedPayload == null)
{
Type msgType = MavLinkMessage.GetMavlinkType((uint)e.MsgId);
if (msgType != null)
{
byte[] msgBuf = new byte[256];
GCHandle handle = GCHandle.Alloc(msgBuf, GCHandleType.Pinned);
IntPtr ptr = handle.AddrOfPinnedObject();
// convert to proper mavlink structure.
msg.TypedValue = Marshal.PtrToStructure(ptr, msgType);
handle.Free();
}
}
else
{
msg.TypedValue = e.TypedPayload;
}
lock (data)
{
this.data.Add(msg);
if (msg.TypedValue is MAVLink.mavlink_param_value_t)
{
MAVLink.mavlink_param_value_t param = (MAVLink.mavlink_param_value_t)msg.TypedValue;
string name = ConvertToString(param.param_id);
parameters[name] = param;
Debug.WriteLine("{0}={1}", name, param.param_value);
}
}
if (msg.TypedValue != null)
{
CreateSchema(msg.TypedValue);
}
lock (queryEnumerators)
{
foreach (var q in queryEnumerators)
{
q.Add(msg);
}
}
return(msg);
}
