void thr()
{
while (run)
{
int avail;
try
{
avail = serial_port.BytesToRead;
}
catch
{
avail = 0;
}
if (avail > 0)
{
int len = serial_port.BytesToRead;
byte[] b = new byte[len];
serial_port.Read(b, 0, len);
if (mode == COMM_MODE.Serial)
{
AppendToBuffer(b);
}
else
{
mav.ParseBytes(b);
}
}
else
{
Thread.Sleep(1);
}
}
}
public void parseMavlink()
{
try
{
while (_tcpClient.Connected)
{
Byte[] data;
_stream = _tcpClient.GetStream();
data = new Byte[256];
//Read the first batch of the TcpServer response bytes.
if (_tcpClient.Connected)
{
Int32 bytes = _stream.Read(data, 0, data.Length);
if (bytes > 0)
{
//parse mavlink
_mav.ParseBytes(data);
Console.WriteLine("ParseBytes: " + Thread.CurrentThread.ManagedThreadId.ToString());
}
}
}
_stream.Close();
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
void tlog()
{
tlog_mav.PacketReceived += Tlogmav_PacketReceived;
int left = tlog_buf.Length;
int total = left;
int cnt = 20;
int idx = 0;
Console.WriteLine("got {0} .tlog bytes", left);
do
{
if (seek != -1)
{
idx = (seek * total) / 100;
left = total - idx;
seek = -1;
}
int c = Math.Min(left, cnt);
byte[] b = new byte[cnt];
Array.Copy(tlog_buf, idx, b, 0, c);
tlog_mav.ParseBytes(b);
idx += c;
left -= c;
progress = (idx * 100) / total;
if (!tlog_active)
{
break;
}
} while (left > 0);
tlog_mav.PacketReceived -= Tlogmav_PacketReceived;
}
private void Data(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
int x = Serial.BytesToRead;
byte[] b = new byte[x];
for (int i = 0; i < x; i++)
{
b[i] = (byte)Serial.ReadByte();
}
Mv.ParseBytes(b);
}
void SocketReceive()
{
while (true)
{
recvData = new byte[40];
recvLen = socket.ReceiveFrom(recvData, ref serverEnd);
Mv.ParseBytes(recvData);
print(System.BitConverter.ToString(recvData));
}
}
private void DataRecieved(object sender, SerialDataReceivedEventArgs e)
{
int x = serialPort.BytesToRead;
byte[] b = new byte[x];
for (int i = 0; i < x; i++)
{
b[i] = (byte)serialPort.ReadByte();
}
Mv.ParseBytes(b);
}
public void SendTest()
{
Mavlink mavlink = new Mavlink();
Msg_attitude msg_Attitude = new Msg_attitude();
msg_Attitude.roll = 1;
MavlinkPacket packet = new MavlinkPacket(msg_Attitude);
var res = mavlink.Send(packet);
mavlink.PacketReceived += Mavlink_PacketReceived;
mavlink.ParseBytes(res);
Assert.AreNotEqual(mavlink.PacketsReceived, 0);
}
private void serialPort_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
List <byte> bytes = new List <byte>();
while (serialPort.IsOpen && serialPort.BytesToRead > 0)
{
if (serialPort.IsOpen)
{
bytes.Add((byte)serialPort.ReadByte());
}
}
mavlink.ParseBytes(bytes.ToArray());
}
private static void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
byte[] readBytes = new byte[serialPort.BytesToRead];
serialPort.Read(readBytes, 0, readBytes.Length);
mavlink.ParseBytes(readBytes);
}
private void E34_2G4D20D_ReciveEvent(byte[] bytes)
{
Mavlink.ParseBytes(bytes);
}
private async Task loop(string name, int sleepTime, bool readAsCharArray)
{
BluetoothDevice device = null;
BluetoothAdapter adapter = BluetoothAdapter.DefaultAdapter;
//Thread.Sleep(1000);
_ct = new CancellationTokenSource();
while (_ct.IsCancellationRequested == false)
{
try
{
Thread.Sleep(sleepTime);
adapter = BluetoothAdapter.DefaultAdapter;
if (adapter == null)
{
System.Diagnostics.Debug.WriteLine("No Bluetooth adapter found.");
continue;
}
else
{
System.Diagnostics.Debug.WriteLine("Adapter found!!");
}
if (!adapter.IsEnabled)
{
System.Diagnostics.Debug.WriteLine("Bluetooth adapter is not enabled.");
}
else
{
System.Diagnostics.Debug.WriteLine("Adapter enabled!");
}
System.Diagnostics.Debug.WriteLine("Try to connect to " + name);
foreach (var bd in adapter.BondedDevices)
{
System.Diagnostics.Debug.WriteLine("Paired devices found: " + bd.Name.ToUpper());
if (bd.Name.ToUpper().IndexOf(name.ToUpper()) >= 0)
{
System.Diagnostics.Debug.WriteLine("Found " + bd.Name + ". Try to connect with it!");
device = bd;
break;
}
}
if (device == null)
{
System.Diagnostics.Debug.WriteLine("Named device not found.");
}
else
{
UUID uuid = UUID.FromString("00001101-0000-1000-8000-00805f9b34fb"); //SerialPortServiceClass
if ((int)Android.OS.Build.VERSION.SdkInt >= 10) // Gingerbread 2.3.3 2.3.4
{
BthSocket = device.CreateInsecureRfcommSocketToServiceRecord(uuid);
}
else
{
BthSocket = device.CreateRfcommSocketToServiceRecord(uuid);
}
if (BthSocket != null)
{
await BthSocket.ConnectAsync();
if (BthSocket.IsConnected)
{
System.Diagnostics.Debug.WriteLine("Connected!");
while (_ct.IsCancellationRequested == false)
{
using (var ist = BthSocket.InputStream)
{
var base_inp_steream = (ist as InputStreamInvoker).BaseInputStream;
var data_size = 0;
if ((data_size = base_inp_steream.Available()) > 0)
{
byte[] data = new byte[data_size];
var nn = base_inp_steream.Read(data, 0, data_size);
mavlink_obj.ParseBytes(data);
}
}
// A little stop to the uneverending thread...
System.Threading.Thread.Sleep(sleepTime);
if (!BthSocket.IsConnected)
{
System.Diagnostics.Debug.WriteLine("BthSocket.IsConnected = false, Throw exception");
throw new Exception();
}
}
System.Diagnostics.Debug.WriteLine("Exit the inner loop");
}
}
else
{
System.Diagnostics.Debug.WriteLine("BthSocket = null");
}
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine("EXCEPTION: " + ex.Message);
}
finally
{
if (BthSocket != null)
{
BthSocket.Close();
}
device = null;
adapter = null;
}
}
System.Diagnostics.Debug.WriteLine("Exit the external loop");
}
public void SerialPortReceivedHandler(byte[] received_data)
{
mavlink_obj.ParseBytes(received_data);
}
