public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
try
{
foreach (UAVSingleParameter param in this.uavData)
{
if (param.Value == null) param.Value = "";
UAVSingleParameter newparam = core.uavData.SilentUpdate(param.Name, param.Value, true);
if (newparam != null)
{
if (newparam.Parent is UAVStructure) ((UAVStructure)newparam.Parent).ValueChanged+=new UAVStructure.ValueChangedHandler(core.uavData.Value_ValueChanged);
newparam.Min = param.Min;
newparam.Max = param.Max;
newparam.updateRate = param.updateRate;
newparam.Parent = core.uavData.GetFromPath(param.Name.Substring(0,param.Name.LastIndexOf("\\")));
if (newparam.Parent == null) newparam.Parent = core;
if (newparam.Parent.Name == newparam.Name) newparam.Parent = core;
}
else
{
core.uavData.Add(param.Name, (UAVParameter)param.Clone());
}
}
}
catch (Exception ex)
{
}
core.initialised = true;
}
public virtual void ProcessResults(UAVBase core)
{
if (CommandCompleted != null)
{
CommandCompleted();
}
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
// remoteuavData = core.uavData;
uavData = HierachyItem.NormaliseUavData(core);
Console.WriteLine("Anzahl der Punkte die gesendet werden:" + uavData.Count);
}
public static void AutoSave(object state)
{
Console.WriteLine("Autosaving UAV State to " + filename);
if (uav != null)
{
Console.WriteLine("Events Per Second: Recieved " + uav.RecEventsPerSeond + " Sent " + uav.SendEventsPerSeond);
if (uav != null)
{
try
{
if (File.Exists(filename))
{
File.Delete(filename);
}
using (FileStream stream = File.OpenWrite(filename))
{
UAVBase.SaveValues(stream, uav);
}
}
catch (Exception ex) {
Console.WriteLine("Cannot save UAV State: " + ex.Message + ex.StackTrace.ToString());
}
}
}
else
{
Console.WriteLine("Cannot save UAV");
}
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
// remoteuavData = core.uavData;
uavData = HierachyItem.NormaliseUavData(core);
Console.WriteLine("Anzahl der Punkte die gesendet werden:"+uavData.Count);
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
core.uavData[parameter.Name].Min = parameter.Min;
core.uavData[parameter.Name].Max = parameter.Max;
core.uavData[parameter.Name].updateRate = parameter.updateRate;
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
using (FileStream stream = File.OpenRead(Filename))
{
UAVBase.LoadValues(stream, core);
}
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
core.uavData[parameter.Name].Min = parameter.Min;
core.uavData[parameter.Name].Max = parameter.Max;
core.uavData[parameter.Name].updateRate = parameter.updateRate;
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
using (FileStream stream = File.OpenRead(Filename))
{
UAVBase.LoadValues(stream, core);
}
}
public virtual void Send(UAVBase core)
{
/// Wird vom Kommandogeber (sender) aufgerufen
///
///
SendDate = DateTime.UtcNow;
guid = Guid.NewGuid().ToString();
}
public virtual void Send(UAVBase core)
{
/// Wird vom Kommandogeber (sender) aufgerufen
///
///
SendDate = DateTime.UtcNow;
guid = Guid.NewGuid().ToString();
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
Process p = Process.Start("/bin/kill ");
p.StartInfo.Arguments = Convert.ToString(pid);
p.StartInfo.UseShellExecute = false;
p.StartInfo.RedirectStandardOutput = true;
p.Start();
pid = p.Id;
}
public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
local = core;
Process p = Process.Start("\\FFMpeg\\ffplay"," -i udp://"+targetip+"?localport="+targetPort);
p.StartInfo.UseShellExecute = false;
p.StartInfo.WindowStyle = ProcessWindowStyle.Normal;
p.Exited += new EventHandler(Playerexited);
p.Start();
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
Process p = Process.Start("/bin/kill ");
p.StartInfo.Arguments = Convert.ToString(pid);
p.StartInfo.UseShellExecute = false;
p.StartInfo.RedirectStandardOutput = true;
p.Start();
pid = p.Id;
}
public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
local = core;
Process p = Process.Start("\\FFMpeg\\ffplay", " -i udp://" + targetip + "?localport=" + targetPort);
p.StartInfo.UseShellExecute = false;
p.StartInfo.WindowStyle = ProcessWindowStyle.Normal;
p.Exited += new EventHandler(Playerexited);
p.Start();
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
///Start Encoder
Console.WriteLine("Execute ffmpeg ");
/// ffmpeg -an -f video4linux2 -s 640x480 -r 15 -i /dev/video0 -vcodec libx264 -preset ultrafast -tune zerolatency -x264opts "vbv-maxrate=2000:vbv-bufsize=200:slice-max-size=1500" -f h264 udp://localhost:1234
Process p = Process.Start("/usr/bin/ffmpeg"," -an -f video4linux2 -s "+width+"x"+height+" -r "+fps+" -i /dev/video0 -vcodec libx264 -preset ultrafast -tune zerolatency -x264opts \"vbv-maxrate=2000:vbv-bufsize=200:slice-max-size=1500\" -f h264 udp://"+targetip+":"+targetPort);
p.StartInfo.UseShellExecute = false;
p.StartInfo.RedirectStandardOutput = true;
p.Exited += new EventHandler(p_Exited);
p.Start();
pid = p.Id;
Console.WriteLine("Video Stream Started");
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
if (filename == null)
{
filename = "rcuav.uav";
}
if (File.Exists(filename))
{
File.Delete(filename);
}
using (FileStream stream = File.OpenWrite(filename)){
UAVBase.SaveValues(stream, core);
Console.WriteLine("Save Command Recieved and Done");
}
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
///Start Encoder
Console.WriteLine("Execute ffmpeg ");
/// ffmpeg -an -f video4linux2 -s 640x480 -r 15 -i /dev/video0 -vcodec libx264 -preset ultrafast -tune zerolatency -x264opts "vbv-maxrate=2000:vbv-bufsize=200:slice-max-size=1500" -f h264 udp://localhost:1234
Process p = Process.Start("/usr/bin/ffmpeg", " -an -f video4linux2 -s " + width + "x" + height + " -r " + fps + " -i /dev/video0 -vcodec libx264 -preset ultrafast -tune zerolatency -x264opts \"vbv-maxrate=2000:vbv-bufsize=200:slice-max-size=1500\" -f h264 udp://" + targetip + ":" + targetPort);
p.StartInfo.UseShellExecute = false;
p.StartInfo.RedirectStandardOutput = true;
p.Exited += new EventHandler(p_Exited);
p.Start();
pid = p.Id;
Console.WriteLine("Video Stream Started");
}
public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
try
{
foreach (UAVSingleParameter param in this.uavData)
{
if (param.Value == null)
{
param.Value = "";
}
UAVSingleParameter newparam = core.uavData.SilentUpdate(param.Name, param.Value, true);
if (newparam != null)
{
if (newparam.Parent is UAVStructure)
{
((UAVStructure)newparam.Parent).ValueChanged += new UAVStructure.ValueChangedHandler(core.uavData.Value_ValueChanged);
}
newparam.Min = param.Min;
newparam.Max = param.Max;
newparam.updateRate = param.updateRate;
newparam.Parent = core.uavData.GetFromPath(param.Name.Substring(0, param.Name.LastIndexOf("\\")));
if (newparam.Parent == null)
{
newparam.Parent = core;
}
if (newparam.Parent.Name == newparam.Name)
{
newparam.Parent = core;
}
}
else
{
core.uavData.Add(param.Name, (UAVParameter)param.Clone());
}
}
}
catch (Exception ex)
{
}
core.initialised = true;
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
files = Directory.GetFiles(Path, Pattern);
}
/// <summary>
/// Endpunkt Abbild einpacken
/// </summary>
/// <param name="core"></param>
public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
}
public override void ProcessResults(UAVBase core)
{
base.ProcessResults(core);
}
public override void Send(UAVBase core)
{
base.Send(core);
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
core.WriteToLog(sourceName, "FlightLog", logLine);
}
/// <summary>
/// Endpunkte Abbild einpacken
/// </summary>
/// <param name="core"></param>
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
knownEndpoints = core.knownEndpoints;
}
/// <summary>
/// EndpunktImage einpacken
/// </summary>
/// <param name="core"></param>
public override void Send(UAVBase core)
{
base.Send(core);
}
public override void Send(UAVBase core)
{
base.Send(core);
sourceName = "UAV";
}
/// <summary>
/// Endpunktimage anwenden
/// </summary>
/// <param name="core"></param>
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
}
/// <summary>
/// Endpunktimage anwenden
/// </summary>
/// <param name="core"></param>
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
}
// Wird automatisch vom Kommandoempfänger aufgerufen
public virtual void RemoteExecute(UAVBase core)
{
SendDate = DateTime.UtcNow;
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
// ((FlightControlCommons.components.WaypointMissionControl)core.uavData[MissionControlName]).Waypoints = waypoints;
}
static void Main(string[] args)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
Double i = -49;
object test = i;
Console.Write("Running on " + Convert.ToDouble(test));
if (FlightControlCommons.UsbHelper.IsLinux)
{
Console.WriteLine("Linux");
}
else
{
Console.WriteLine("Windows");
}
Console.WriteLine("Flight Control Service");
Console.WriteLine("Controls the UAV");
Console.WriteLine("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse(autosavetimestr, out autoSaveTime))
{
autoSaveTimer = new Timer(new TimerCallback(Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean(ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV();
Console.WriteLine("Connecting to GroundControl..");
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add(controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["VPN"]))
{
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add(recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add(sendConnection1);
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add(recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add(sendConnection);
}
if (loadFromFile)
{
if (File.Exists(filename))
{
try
{
Console.WriteLine("Load Values from File");
using (FileStream stream = File.OpenRead(filename))
{
UAVBase.LoadValues(stream, uav);
}
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Einlesen der Config Datei " + filename);
File.Delete(filename);
throw ex;
}
}
}
uav.OnLoad(); //Load all non serialised objects from uav and connect to hardware
uav.run();
}
public virtual void RemoteExecute(UAVBase core) // Wird automatisch vom Kommandoempfänger aufgerufen
{
SendDate = DateTime.UtcNow;
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
files = Directory.GetFiles(Path, Pattern);
}
public virtual void ProcessResults(UAVBase core)
{
if (CommandCompleted != null) CommandCompleted();
}
/// <summary>
/// Endpunkte Abbild einpacken
/// </summary>
/// <param name="core"></param>
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
knownEndpoints = core.knownEndpoints;
}
public _3DViewer(UAVCommons.UAVBase uAVBase)
{
this.mycore = uAVBase;
InitializeComponent();
}
static void Main(string[] args)
{
// PWM test = new PWM("",0,"",0);
// return;
Console.Write("Running on ");
if (FlightControlCommons.UsbHelper.IsLinux)
{
Console.WriteLine("Linux");
}
else
{
Console.WriteLine("Windows");
}
Console.WriteLine("Flight Control Service");
Console.WriteLine("Controls the UAV");
Console.WriteLine("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse(autosavetimestr, out autoSaveTime))
{
autoSaveTimer = new Timer(new TimerCallback(Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean(ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV();
Console.WriteLine("Connecting to GroundControl..");
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add(controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["VPN"]))
{
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add(recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add(sendConnection1);
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add(recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add(sendConnection);
}
uav.OnLoad(); //Load all non serialised objects from uav and connect to hardware
uav.run();
}
