/// <summary>
/// Handles the audio/video observer event.
/// </summary>
/// <param name="pidType">Type of the pid</param>
protected void OnAudioVideoEvent(PidType pidType)
{
if (AudioVideoEvent != null)
{
AudioVideoEvent(pidType);
}
}
/// <summary>
/// Handles the audio/video observer event.
/// </summary>
/// <param name="pidType">Type of the pid</param>
protected void OnAudioVideoEvent(PidType pidType)
{
if (AudioVideoEvent != null)
{
AudioVideoEvent(pidType);
}
}
public IMessage TryParse(string line)
{
try
{
var elements = line.Split(' ');
if (!elements[0].Equals(MessageHeader))
{
return(null);
}
PidType pidType = elements[1].ToPidType();
float p = float.Parse(elements[2]);
float i = float.Parse(elements[3]);
float d = float.Parse(elements[4]);
float maxI = float.Parse(elements[5]);
return(new ReceivedPidMessage(pidType, p, i, d, maxI));
}
catch (Exception)
{
return(null);
}
}
public static string FormatToString(this PidType pidType)
{
switch (pidType)
{
case PidType.StabilizeRoll:
return("A");
case PidType.StabilizePitch:
return("B");
case PidType.StabilizeYaw:
return("C");
case PidType.RateRoll:
return("D");
case PidType.RatePitch:
return("E");
case PidType.RateYaw:
return("F");
default:
return("?");
}
}
public SavePidMessage(PidType pidType, float p, float i, float d, float maxI)
{
this.pidType = pidType;
this.p = p;
this.i = i;
this.d = d;
this.maxI = maxI;
}
public IPidRegulator Create(string key, PidType type = PidType.Standard)
{
_logger?.LogDebug($"Create new PID Regulator with key:{key}, from type: {type}");
PidRegulatorSetting opt = _setting.GetBinding <PidRegulatorSetting>(key);
return(type switch
{
PidType.Standard => new StandardPidRegulator(opt, key),
PidType.Ideal => new IdealPidRegulator(opt, key),
_ => throw new NotSupportedException($"PID Type {type.ToString()} is unsupported."),
});
/// <summary>
/// Called when tswriter.ax has seen the video / audio data for the first time
/// </summary>
/// <returns></returns>
public int OnNotify(PidType pidType)
{
try
{
Log.Log.WriteFile("PID seen - type = {0}", pidType);
OnAudioVideoEvent(pidType);
}
catch (Exception ex)
{
Log.Log.Write(ex);
}
return(0);
}
public void UpdatePid(PidType type, PidObj pid)
{
byte[] buffer = new byte[1 + 1 + (3 * BinaryHelper.SIZE_FLOAT) + 1];
int i = 0;
buffer[i++] = (byte)'P';
buffer[i++] = PidTypeToCode(type);
BinaryHelper.WriteFloat(pid.P, buffer, ref i);
BinaryHelper.WriteFloat(pid.I, buffer, ref i);
BinaryHelper.WriteFloat(pid.D, buffer, ref i);
buffer[i++] = BinaryHelper.ComputeChecksumCRC8(buffer, 1, buffer.Length - 1);
SendRequest(buffer, i);
}
protected override void AudioVideoEventHandler(PidType pidType)
{
Log.Debug("Recorder audioVideoEventHandler {0}", pidType);
// we are only interested in video and audio PIDs
if (pidType == PidType.Audio)
{
_eventAudio.Set();
}
if (pidType == PidType.Video)
{
_eventVideo.Set();
}
}
protected override void AudioVideoEventHandler(PidType pidType)
{
Log.Debug("Recorder audioVideoEventHandler {0}", pidType);
// we are only interested in video and audio PIDs
if (pidType == PidType.Audio)
{
_eventAudio.Set();
}
if (pidType == PidType.Video)
{
_eventVideo.Set();
}
}
private byte PidTypeToCode(PidType type)
{
switch (type)
{
case PidType.Yaw:
return((byte)'y');
case PidType.Pitch:
return((byte)'p');
case PidType.Roll:
return((byte)'r');
default:
throw new Exception("Unhandled pid type '" + type + "'");
}
}
protected override void AudioVideoEventHandler(PidType pidType)
{
if (_tuneInProgress)
{
Log.Info("audioVideoEventHandler - tune in progress");
return;
}
// we are only interested in video and audio PIDs
if (pidType == PidType.Audio)
{
TimeSpan ts = DateTime.Now - _timeAudioEvent;
if (ts.TotalMilliseconds > 1000)
{
// Avoid repetitive events that are kept for next channel change, so trig only once.
Log.Info("audioVideoEventHandler {0}", pidType);
_eventAudio.Set();
}
else
{
Log.Info("audio last seen at {0}", _timeAudioEvent);
}
_timeAudioEvent = DateTime.Now;
}
if (pidType == PidType.Video)
{
TimeSpan ts = DateTime.Now - _timeVideoEvent;
if (ts.TotalMilliseconds > 1000)
{
// Avoid repetitive events that are kept for next channel change, so trig only once.
Log.Info("audioVideoEventHandler {0}", pidType);
_eventVideo.Set();
}
else
{
Log.Info("video last seen at {0}", _timeVideoEvent);
}
_timeVideoEvent = DateTime.Now;
}
}
protected abstract void AudioVideoEventHandler(PidType pidType);
private byte PidTypeToCode(PidType type)
{
switch (type)
{
case PidType.Yaw:
return (byte)'y';
case PidType.Pitch:
return (byte)'p';
case PidType.Roll:
return (byte)'r';
default:
throw new Exception("Unhandled pid type '" + type + "'");
}
}
public void UpdatePid(PidType type, PidObj pid)
{
byte[] buffer = new byte[1 + 1 + (3 * BinaryHelper.SIZE_FLOAT) + 1];
int i = 0;
buffer[i++] = (byte)'P';
buffer[i++] = PidTypeToCode(type);
BinaryHelper.WriteFloat(pid.P, buffer, ref i);
BinaryHelper.WriteFloat(pid.I, buffer, ref i);
BinaryHelper.WriteFloat(pid.D, buffer, ref i);
buffer[i++] = BinaryHelper.ComputeChecksumCRC8(buffer, 1, buffer.Length - 1);
SendRequest(buffer, i);
}
public PidController(PidType type)
{
_type = type;
_max = type == PidType.Gyro ? GyroClampMax : ThrusterClampMax;
_min = type == PidType.Gyro ? GyroClampMin : ThrusterClampMin;
}
protected override void AudioVideoEventHandler(PidType pidType)
{
if (_tuneInProgress)
{
Log.Info("audioVideoEventHandler - tune in progress");
return;
}
// we are only interested in video and audio PIDs
if (pidType == PidType.Audio)
{
TimeSpan ts = DateTime.Now - _timeAudioEvent;
if (ts.TotalMilliseconds > 1000)
{
// Avoid repetitive events that are kept for next channel change, so trig only once.
Log.Info("audioVideoEventHandler {0}", pidType);
_eventAudio.Set();
}
else
{
Log.Info("audio last seen at {0}", _timeAudioEvent);
}
_timeAudioEvent = DateTime.Now;
}
if (pidType == PidType.Video)
{
TimeSpan ts = DateTime.Now - _timeVideoEvent;
if (ts.TotalMilliseconds > 1000)
{
// Avoid repetitive events that are kept for next channel change, so trig only once.
Log.Info("audioVideoEventHandler {0}", pidType);
_eventVideo.Set();
}
else
{
Log.Info("video last seen at {0}", _timeVideoEvent);
}
_timeVideoEvent = DateTime.Now;
}
}
/// <summary>
/// Called when tswriter.ax has seen the video / audio data for the first time
/// </summary>
/// <returns></returns>
public int OnNotify(PidType pidType)
{
try
{
Log.Log.WriteFile("PID seen - type = {0}", pidType);
OnAudioVideoEvent(pidType);
}
catch (Exception ex)
{
Log.Log.Write(ex);
}
return 0;
}
protected abstract void AudioVideoEventHandler(PidType pidType);
