public UAVCANFileUI(uavcan can, byte nodeid)
{
_can = can;
_nodeid = nodeid;
/*_mavftp = new MAVFtp(_mav, (byte) _mav.sysidcurrent, (byte) mav.compidcurrent);
* _mavftp.Progress += (percent) =>
* {
* if (toolStripProgressBar1.Value == percent)
* return;
*
* if (this.IsDisposed)
* {
* _mavftp = null;
* return;
* }
*
* this.BeginInvokeIfRequired(() => {
* toolStripProgressBar1.Value = percent;
* statusStrip1.Refresh();
* });
* };*/
InitializeComponent();
ThemeManager.ApplyThemeTo(this);
treeView1.PathSeparator = "/";
}
private void but_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "gpsbase file|*.gpsbase";
if (ofd.ShowDialog() == DialogResult.OK)
{
SaveFileDialog sfd = new SaveFileDialog();
sfd.DefaultExt = "rtcm";
sfd.Filter = "RTCM|*.rtcm";
sfd.FileName = Path.GetFileNameWithoutExtension(ofd.FileName) + ".rtcm";
sfd.InitialDirectory = Path.GetDirectoryName(ofd.FileName);
if (sfd.ShowDialog() == DialogResult.OK)
{
UAVCAN.uavcan can = new uavcan();
using (var stream = sfd.OpenFile())
{
var data = File.ReadAllBytes(ofd.FileName);
can.MessageReceived += (frame, msg, id) =>
{
if (frame.MsgTypeID == (ushort)uavcan.UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID)
{
var rtcm = (uavcan.uavcan_equipment_gnss_RTCMStream)msg;
stream.Write(rtcm.data, 0, rtcm.data_len);
}
};
data.ForEach(b =>
{
try
{
can.Read((byte)b);
} catch {}
});
}
}
}
}
public void startslcan(byte canport)
{
but_slcanmode1.Enabled = false;
but_slcanmode2.Enabled = false;
try
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
if (CustomMessageBox.Show(
"You are not currently connected via mavlink. Please make sure the device is already in slcan mode or this is the slcan serialport.",
"SLCAN", CustomMessageBox.MessageBoxButtons.OKCancel) != CustomMessageBox.DialogResult.OK)
{
return;
}
}
if (MainV2.comPort.BaseStream.IsOpen)
{
var cport = MainV2.comPort.MAV.param["CAN_SLCAN_CPORT"].Value;
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_SLCAN_CPORT", canport, true);
if (cport == 0)
{
CustomMessageBox.Show("Reboot required" + " after setting CPORT. Please reboot!",
Strings.ERROR);
return;
}
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_SLCAN_TIMOUT", 2, true);
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_P" + canport + "_DRIVER", 1);
//MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent, "CAN_SLCAN_SERNUM", 0, true); // usb
// blind send
var paramname = "CAN_SLCAN_SERNUM";
var req = new MAVLink.mavlink_param_set_t
{
target_system = (byte)MainV2.comPort.sysidcurrent,
target_component = (byte)MainV2.comPort.compidcurrent,
param_type = (byte)MainV2.comPort
.MAVlist[(byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent]
.param_types[paramname],
param_id = paramname.MakeBytesSize(16)
};
MainV2.comPort.sendPacket(req, (byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent);
MainV2.comPort.sendPacket(req, (byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent);
}
}
catch
{
}
{
// grab the connected port
var port = MainV2.comPort.BaseStream;
// place an invalid port in its place
if (port != null)
{
MainV2.comPort.BaseStream = new Comms.SerialPort()
{
PortName = port.PortName, BaudRate = port.BaudRate
}
}
;
//check if we started from within mavlink - if not get settings from menu and create port
if (port == null || !port.IsOpen)
{
port = new Comms.SerialPort()
{
PortName = MainV2._connectionControl.CMB_serialport.Text,
BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text)
};
}
if (can == null)
{
can = new uavcan();
}
can.SourceNode = 127;
can.NodeAdded += (id, msg) =>
{
this.BeginInvoke((Action) delegate
{
allnodes.Add(new UAVCANModel()
{
ID = id,
Name = "?",
Health = msg.health.ToString(),
Mode = msg.mode.ToString(),
Uptime = TimeSpan.FromSeconds(msg.uptime_sec),
VSC = msg.vendor_specific_status_code
});
});
};
if (!port.IsOpen)
{
try
{
port.Open();
}
catch (Exception e)
{
CustomMessageBox.Show(Strings.CheckPortSettingsOr);
return;
}
}
if (chk_log.Checked)
{
can.LogFile = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".can";
}
var prd = new ProgressReporterDialogue();
prd.UpdateProgressAndStatus(-1, "Trying to connect");
prd.DoWork += sender => can.StartSLCAN(port.BaseStream);
prd.btnCancel.Click += (sender, args) =>
{
prd.doWorkArgs.CancelAcknowledged = true;
port.Close();
};
prd.RunBackgroundOperationAsync();
if (prd.doWorkArgs.CancelRequested || prd.doWorkArgs.ErrorMessage != null)
{
return;
}
can.SetupFileServer();
can.SetupDynamicNodeAllocator();
can.MessageReceived += (frame, msg, transferID) =>
{
if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_NodeStatus))
{
var ns = msg as UAVCAN.uavcan.uavcan_protocol_NodeStatus;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
if (nodes.Count() > 0 && nodes.First().Name == "?")
{
var statetracking = new UAVCAN.uavcan.statetracking();
// get node info
UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_req gnireq = new UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_req()
{
};
gnireq.encode(UAVCAN.uavcan.uavcan_transmit_chunk_handler, statetracking);
var slcan = can.PackageMessage(frame.SourceNode, 30, 0, gnireq);
can.WriteToStream(slcan);
}
foreach (var item in nodes)
{
switch (ns.health)
{
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK:
item.Health = "OK";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_WARNING:
item.Health = "WARNING";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_ERROR:
item.Health = "ERROR";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_CRITICAL:
item.Health = "CRITICAL";
break;
}
switch (ns.mode)
{
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL:
item.Mode = "OPERATIONAL";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION:
item.Mode = "INITIALIZATION";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE:
item.Mode = "MAINTENANCE";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:
item.Mode = "SOFTWARE_UPDATE";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_OFFLINE:
item.Mode = "OFFLINE";
break;
}
item.Uptime = TimeSpan.FromSeconds(ns.uptime_sec);
}
_updatePending = true;
this.BeginInvoke((Action) delegate
{
if (_updatePending)
{
_updatePending = false;
uAVCANModelBindingSource.ResetBindings(false);
}
});
}
else if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_res))
{
var gnires = msg as UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_res;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
foreach (var item in nodes)
{
item.Name = ASCIIEncoding.ASCII.GetString(gnires.name, 0, gnires.name_len);
item.HardwareVersion = gnires.hardware_version.major + "." + gnires.hardware_version.minor;
item.SoftwareVersion = gnires.software_version.major + "." + gnires.software_version.minor + "." + gnires.software_version.vcs_commit.ToString("X");
item.SoftwareCRC = gnires.software_version.image_crc;
item.HardwareUID = gnires.hardware_version.unique_id.Select(a => a.ToString("X2")).Aggregate((a, b) =>
{
return(a + " " + b);
});
item.RawMsg = gnires;
item.VSC = gnires.status.vendor_specific_status_code;
}
_updatePending = true;
this.BeginInvoke((Action) delegate
{
if (_updatePending)
{
_updatePending = false;
uAVCANModelBindingSource.ResetBindings(false);
}
});
}
else if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_debug_LogMessage))
{
var debug = msg as UAVCAN.uavcan.uavcan_protocol_debug_LogMessage;
this.BeginInvoke((Action) delegate()
{
DGDebug.Rows.Insert(0, new object[]
{
frame.SourceNode, debug.level.value,
ASCIIEncoding.ASCII.GetString(debug.source, 0, debug.source_len),
ASCIIEncoding.ASCII.GetString(debug.text, 0, debug.text_len)
});
if (DGDebug.Rows.Count > 100)
{
DGDebug.Rows.RemoveAt(DGDebug.Rows.Count - 1);
}
});
}
};
}
}
UAVCAN.uavcan can = new UAVCAN.uavcan();
private void but_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "can file|*.can";
if (ofd.ShowDialog() == DialogResult.OK)
{
SaveFileDialog sfd = new SaveFileDialog();
sfd.DefaultExt = "txt";
sfd.Filter = "txt|*.txt";
sfd.FileName = Path.GetFileNameWithoutExtension(ofd.FileName) + ".txt";
sfd.InitialDirectory = Path.GetDirectoryName(ofd.FileName);
if (sfd.ShowDialog() == DialogResult.OK)
{
UAVCAN.uavcan can = new uavcan();
using (var stream = sfd.OpenFile())
{
var data = File.ReadAllBytes(ofd.FileName);
can.MessageReceived += (frame, msg, id) =>
{
var str = ASCIIEncoding.ASCII.GetBytes("\n" + msg.GetType().Name + "=" + msg.ToJSON());
stream
.Write(str, 0, str.Length);
};
can.FrameReceived += (frame, payload) =>
{
var str = ASCIIEncoding.ASCII.GetBytes("\nFrame " + frame.ToJSON(Formatting.None) + payload.ToJSON(Formatting.None));
stream
.Write(str, 0, str.Length);
};
can.FrameError += (frame, payload) =>
{
var str = ASCIIEncoding.ASCII.GetBytes("\nError");
stream
.Write(str, 0, str.Length);
};
data.ForEach(b =>
{
try
{
can.Read((byte)b);
stream.WriteByte((byte)b);
}
catch (Exception ex)
{
var str = ASCIIEncoding.ASCII.GetBytes(ex.ToString());
stream
.Write(str, 0, str.Length);
}
});
}
}
}
}
public DirectoryInfo(string dir, uavcan can, byte nodeid)
{
_can = can;
_nodeid = nodeid;
FullPath = dir;
}
public UAVCANSubscriber(UAVCAN.uavcan can, string selectedmsgid)
{
this.selectedmsgid = selectedmsgid;
this.can = can;
InitializeComponent();
}
