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(() =>
{
// MAVLINK_MSG_ID
using (Stream s = File.OpenRead(file))
{
BinaryReader reader = new BinaryReader(s);
while (s.Position < s.Length)
{
progress.ShowProgress(0, s.Length, s.Position);
try
{
MavLinkMessage header = new MavLinkMessage();
header.ReadHeader(reader);
while (!header.IsValid())
{
// hmm. looks like a bad record, so now what?
header.ShiftHeader(reader);
}
int read = s.Read(msgBuf, 0, header.Length);
if (read == header.Length)
{
header.Crc = reader.ReadUInt16();
if (!header.IsValidCrc(msgBuf, read))
{
continue;
}
Type msgType = MAVLink.MAVLINK_MESSAGE_INFO[(int)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;
first = false;
}
}
}
catch
{
// try and continue...
}
}
}
handle.Free();
});
this.duration = lastTime - startTime;
}
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;
}
