Пример #1
0
 string GetLabel(MessageField field, double y)
 {
     if (this.format.name == "vehicle_status")
     {
         if (field.name == "nav_state")
         {
             NavStates s = (NavStates)y;
             return(s.ToString());
         }
         else if (field.name == "arming_state")
         {
             ArmingStates s = (ArmingStates)y;
             return(s.ToString());
         }
         else if (field.name == "failure_detector_status")
         {
             FailureDetectorFlags s = (FailureDetectorFlags)y;
             return(s.ToString());
         }
     }
     return(null);
 }
Пример #2
0
        internal DataValue GetValue(MessageField field)
        {
            if (values == null)
            {
                ParseValues();
            }

            double x = GetTimestamp();
            double y = 0;

            object o = null;

            if (values.TryGetValue(field.name, out o))
            {
                y = Convert.ToDouble(o);
            }
            return(new DataValue()
            {
                X = x,
                Y = y,
                UserData = this,
                Label = GetLabel(field, y)
            });
        }
Пример #3
0
        private object ReadField(BinaryReader reader, MessageField field)
        {
            object o = null;

            switch (field.type)
            {
            case FieldType.Float:
                o = reader.ReadSingle();
                break;

            case FieldType.Double:
                o = reader.ReadDouble();
                break;

            case FieldType.Int8:
                o = reader.ReadSByte();
                break;

            case FieldType.Bool:
                o = (reader.ReadByte() == 0) ? false : true;
                break;

            case FieldType.UInt8:
                o = reader.ReadByte();
                break;

            case FieldType.Int16:
                o = reader.ReadInt16();
                break;

            case FieldType.UInt16:
                o = reader.ReadUInt16();
                break;

            case FieldType.Int32:
                o = reader.ReadInt32();
                break;

            case FieldType.UInt32:
                o = reader.ReadUInt32();
                break;

            case FieldType.Int64:
                o = reader.ReadInt64();
                break;

            case FieldType.UInt64:
                o = reader.ReadUInt64();
                break;

            case FieldType.Char:
                o = (char)reader.ReadByte();
                break;

            case FieldType.Struct:
            {
                MessageFormat f = field.structType;
                if (f == null)
                {
                    throw new Exception(string.Format("Unexpected FieldType.Struct in field {0}", field.name));
                }
                MessageData s = new MessageData(this.msgId, null, this.subscription);
                s.format = f;
                s.ReadValues(reader);
                o = s;
            }
            break;
            }
            return(o);
        }
Пример #4
0
        public IEnumerable <Flight> GetFlights()
        {
            MessageField  field         = new MessageField("uint8_t arming_state");
            List <Flight> actualFlights = new List <Flight>();
            Flight        current       = null;
            bool          flying        = false;
            Px4ULog       log           = null;
            int           length        = this.msgs.Count;

            for (int i = 0; i < length; i++)
            {
                var  msg         = this.msgs[i];
                bool lastMessage = (i == length - 1);
                if (msg is MessageData md)
                {
                    if (md.format.name == "vehicle_status")
                    {
                        var data = md.GetValue(field);
                        if (data != null)
                        {
                            var s = (MessageData.ArmingStates)data.Y;
                            if (s == MessageData.ArmingStates.ARMING_STATE_ARMED)
                            {
                                flying = true;
                            }
                            else
                            {
                                flying = false;
                            }
                        }
                    }
                }
                if (flying)
                {
                    if (current == null)
                    {
                        log = new Px4ULog()
                        {
                            file              = this.file,
                            formats           = this.formats,
                            logStartTimestamp = (long)msg.GetTimestamp(),
                            msgs              = new List <Message>(),
                            schema            = this.schema,
                            startTime         = GetTime(msg.GetTimestamp()),
                            subscriptions     = this.subscriptions,
                            version           = this.version
                        };
                        current = new Flight()
                        {
                            Name = string.Format("Flight {0}", actualFlights.Count + 1), StartTime = log.startTime, Log = log
                        };
                    }
                    log.msgs.Add(msg);
                }

                if ((!flying || lastMessage) && current != null)
                {
                    var now = GetTime(msg.GetTimestamp());
                    current.Duration = now - current.StartTime;
                    actualFlights.Add(current);
                    log     = null;
                    current = null;
                }
            }

            return(actualFlights);
        }
Пример #5
0
        internal MessageData GetNestedData(string fieldName)
        {
            if (values == null)
            {
                ParseValues();
            }

            foreach (var field in format.fields)
            {
                if (field.name == fieldName)
                {
                    object value = values[fieldName];
                    if (field.arraySize > 0)
                    {
                        if (nestedFormats == null)
                        {
                            nestedFormats = new Dictionary <string, MessageFormat>();
                        }

                        MessageFormat format = null;
                        if (!nestedFormats.TryGetValue(fieldName, out format))
                        {
                            List <MessageField> fields = new List <MessageField>();

                            object tv;
                            // we need to copy the timestamp down so the data renders with time sync.
                            if (this.values.TryGetValue("timestamp", out tv))
                            {
                                fields.Add(new MessageField("double timestamp"));
                            }

                            for (int i = 0; i < field.arraySize; i++)
                            {
                                var name = i.ToString();
                                fields.Add(new MessageField(MessageField.GetFieldTypeName(field.type) + " " + name));
                            }

                            format = new MessageFormat(fieldName, fields);
                            nestedFormats[fieldName] = format;
                        }

                        MessageData array = new MessageData(this.msgId, null, this.subscription);
                        array.format = format;
                        var    values = new Dictionary <string, object>();
                        object ts     = null;
                        int    offset = 0;
                        // we need to copy the timestamp down so the data renders with time sync.
                        if (this.values.TryGetValue("timestamp", out ts))
                        {
                            values["timestamp"] = ts;
                            offset++;
                        }

                        Array data = (Array)value;
                        for (int i = 0; i < field.arraySize; i++)
                        {
                            string name = format.fields[i + offset].name;
                            values[name] = data.GetValue(i);
                        }

                        array.values = values;
                        return(array);
                    }
                    else if (value is MessageData)
                    {
                        return((MessageData)value);
                    }
                    else
                    {
                        throw new Exception(string.Format("Field {0} is not a struct", fieldName));
                    }
                }
            }
            return(null);
        }