public void Stop(byte sysid, byte compid)
{
if (port == null)
{
throw new ArgumentNullException(nameof(port));
}
var stoppacket = new MAVLink.mavlink_remote_log_block_status_t(
(uint)MAVLink.MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS.MAV_REMOTE_LOG_DATA_BLOCK_STOP, sysid, compid,
(byte)MAVLink.MAV_REMOTE_LOG_DATA_BLOCK_STATUSES.MAV_REMOTE_LOG_DATA_BLOCK_ACK);
port.sendPacket(stoppacket, sysid, compid);
port.OnPacketReceived -= Port_OnPacketReceived;
try
{
if (logfilestream != null)
{
logfilestream.Close();
}
}
catch
{
}
running = false;
}
public void Start(MAVLinkInterface port, byte sysid, byte compid)
{
if (port == null)
{
throw new ArgumentNullException(nameof(port));
}
if (running)
{
Stop(sysid, compid);
}
this.port = port;
var dt = DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss");
logfilename = Settings.GetDefaultLogDir() + Path.DirectorySeparatorChar + dt + ".bin";
logfilestream =
new BufferedStream(new FileStream(logfilename, FileMode.Create, FileAccess.ReadWrite, FileShare.Read));
port.OnPacketReceived += Port_OnPacketReceived;
var startpacket = new MAVLink.mavlink_remote_log_block_status_t(
(uint)MAVLink.MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS.MAV_REMOTE_LOG_DATA_BLOCK_START, sysid, compid,
(byte)MAVLink.MAV_REMOTE_LOG_DATA_BLOCK_STATUSES.MAV_REMOTE_LOG_DATA_BLOCK_ACK);
port.sendPacket(startpacket, sysid, compid);
running = true;
}
private void Port_OnPacketReceived(object sender, MAVLink.MAVLinkMessage message)
{
if (message.msgid == (uint)MAVLink.MAVLINK_MSG_ID.REMOTE_LOG_DATA_BLOCK)
{
var data = (MAVLink.mavlink_remote_log_data_block_t)message.data;
seq = data.seqno;
if (logfilestream.Position != data.seqno * 200)
{
logfilestream.Seek(data.seqno * 200, SeekOrigin.Begin);
}
logfilestream.Write(data.data, 0, data.data.Length);
var resp = new MAVLink.mavlink_remote_log_block_status_t(data.seqno, message.sysid, message.compid,
(byte)MAVLink.MAV_REMOTE_LOG_DATA_BLOCK_STATUSES.MAV_REMOTE_LOG_DATA_BLOCK_ACK);
port.sendPacket(resp, message.sysid, message.compid);
}
}
