public static IPv2ServerDevice CreateServerDevice(out int port, IEnumerable <Pv2RttRecordDesc> records,
IEnumerable <Pv2RttFieldDesc> fields, out string rttFolder, uint writeRttTimeMs, byte comId = 1, byte sysId = 1)
{
port = GetAvailablePort();
var serverPort = PortFactory.Create($"tcp://127.0.0.1:{port}?srv=true");
serverPort.Enable();
var serverConnection = new MavlinkV2Connection(serverPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
var config = new InMemoryConfiguration();
var suffix = "PV3";
Pv2DeviceParams.SystemId.WriteToConfigValue(config, suffix, sysId);
Pv2DeviceParams.ComponentId.WriteToConfigValue(config, suffix, comId);
Pv2RttInterface.RecordTickTime.WriteToConfigValue(config, suffix, writeRttTimeMs);
rttFolder = Path.Combine(Path.GetTempPath(), Path.GetRandomFileName());
return(new Pv2ServerDeviceBase(serverConnection, config,
Array.Empty <Pv2ParamType>(), Pv2DeviceClass.PayloadSdr, Array.Empty <IWorkModeFactory>(), new ChunkFileStore(rttFolder), records, fields, suffix));
}
/// <summary>
/// Load an existing serial port configuration from disk.
/// </summary>
/// <param name="name">name of device attached to serial port</param>
/// <param name="config">serial port configuration</param>
public static void Load(string name, out ISerialConfig config)
{
config = null;
using (FileStream stream = ReadStream(name))
{
config = (ISerialConfig)PortFactory.Create(PortType.Serial, stream);
}
}
public void AddPort(string nodeIdentifier, string portType)
{
this._portFactory = new PortFactory();
var port = _portFactory.GetPort(portType);
port.NodeIdentifier = nodeIdentifier;
this._ports.Add(port);
}
/// <summary>
/// Create a new serial port configuration for a given device filled with default values.
/// </summary>
/// <param name="name">name of device attached to serial port</param>
/// <param name="config">serial port configuration</param>
public static void Create(string name, out ISerialConfig config)
{
if (VBHelpers.Match(name.ToLower(), "com?"))
{
throw new ArgumentException("A valid device name must be provided. Devices cannot be named using COM device names (i.e. COM1, COM2, etc)", name);
}
config = (ISerialConfig)PortFactory.Create(PortType.Serial, name);
}
public static PayloadV2Client CreateClient(int port, byte comId = 255, byte sysId = 255, byte targetCompId = 1, byte targetSysId = 1)
{
var clientPort = PortFactory.Create($"tcp://127.0.0.1:{port}");
clientPort.Enable();
var clientConnection = new MavlinkV2Connection(clientPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
var mavlinkClient = new MavlinkClient(clientConnection, new MavlinkClientIdentity
{
ComponentId = 255,
SystemId = 255,
TargetComponentId = 1,
TargetSystemId = 1,
}, new MavlinkClientConfig());
return(new PayloadV2Client(mavlinkClient));
}
public static IPv2ClientDevice CreateClientDevice(int port, byte comId = 255, byte sysId = 255, byte targetCompId = 1, byte targetSysId = 1)
{
var serverPort = PortFactory.Create($"tcp://127.0.0.1:{port}");
serverPort.Enable();
var serverConnection = new MavlinkV2Connection(serverPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
return(new Pv2ClientDeviceBase(serverConnection, new MavlinkClientIdentity
{
ComponentId = comId,
SystemId = sysId,
TargetComponentId = targetCompId,
TargetSystemId = targetSysId,
}, new PacketSequenceCalculator(), new Pv2CfgDescriptionEmptyStore(), new Pv2RttDescriptionEmptyStore(), new Pv2BaseDescriptionEmptyStore(), new Pv2DeviceBaseConfig(), true));
}
public static IPayloadV2Server CreateServer(out int port, byte compId = 1, byte sysId = 1)
{
port = GetAvailablePort();
var serverPort = PortFactory.Create($"tcp://127.0.0.1:{port}?srv=true");
serverPort.Enable();
var serverConnection = new MavlinkV2Connection(serverPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
var mavlinkServer = new MavlinkServerBase(serverConnection,
new MavlinkServerIdentity {
ComponentId = compId, SystemId = sysId
});
mavlinkServer.Heartbeat.Set(_ => _.Autopilot = MavAutopilot.MavAutopilotGeneric);
mavlinkServer.Heartbeat.Start();
return(new PayloadV2Server(mavlinkServer));
}
public void LoadConfig(string path)
{
StreamReader sr = new StreamReader(path);
var config = (JObject)JsonConvert.DeserializeObject(sr.ReadToEnd());
sr.Close();
JToken token;
if (config.TryGetValue("AGVConfig", out token))
{
ISerialize serialize = new ProtoClass();
foreach (JObject t in token.Values())
{
try
{
IPort port = new TcpPort(t.Value <string>("port"));
//var test = $"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}AGV<TState, TPosition>";
Type type = Type.GetType($"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}AGV`2");
type = type.MakeGenericType(typeof(eHuiJinYunAGVState), typeof(eHuiJinYunStagePosition));
object[] @params = new object[] { port, serialize };
@params = @params.Concat(buildParams(type, t.Value <JObject>("options"))).ToArray <object>();
var agv = (IAGV <eHuiJinYunAGVState, eHuiJinYunStagePosition>)Activator.CreateInstance(type, @params);
AGVs.Add(agv);
}
catch
{
continue;
}
}
}
if (config.TryGetValue("DeviceConfig", out token))
{
ISerialize serialize = new ProtoClass();
foreach (JObject t in token.Values())
{
try
{
var port = PortFactory.NewPort(t.Value <string>("port"));
Type type = Type.GetType($"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}Device");
var device = (PlcDeviceBase)Activator.CreateInstance(type, port, serialize);
Devices.Add(((JProperty)t.Parent).Name, device);
}
catch (Exception ex)
{
continue;
}
}
}
if (config.TryGetValue("StageConfig", out token))
{
foreach (var t in token.Values())
{
try
{
List <IDevice> deviceList = new List <IDevice>();
foreach (var d in t["Device"].Values <string>())
{
deviceList.Add(Devices[d]);
}
Type type = Type.GetType($"HuiJinYun.Domain.Entity.{((JProperty)t.Parent).Name}Stage");
var stage = (IProductionStage)Activator.CreateInstance(type, deviceList.ToArray());
Stages.Add(stage);
}
catch (Exception ex)
{
continue;
}
}
}
object[] buildParams(Type type, JObject joParams)
{
if (null == joParams)
{
return(new object[0]);
}
else
{
object[] @params = new object[joParams.Count];
List <JProperty> jpParams = new List <JProperty>(joParams.Properties());
for (var i = 0; i < jpParams.Count; i++)
{
@params[i] = jpParams[i].Value.Value <string>();
}
return(@params);
}
}
}
/// <summary>
/// Create a new GPIB port configuration for a given device filled with default values.
/// </summary>
/// <param name="name">name of device attached to GPIB port</param>
/// <param name="config">GPIB port configuration</param>
public static void Create(string name, out IGpibConfig config)
{
config = (IGpibConfig)PortFactory.Create(PortType.Gpib, name);
}
/// <summary>
/// Create a new telnet port configuration for a given device filled with default values.
/// </summary>
/// <param name="name">name of device attached to telnet port</param>
/// <param name="config">telnet port configuration</param>
public static void Create(string name, out ITelnetConfig config)
{
config = (ITelnetConfig)PortFactory.Create(PortType.Telnet, name);
}
/// <summary>
/// Creates an ActivePort within the TQF of the given PortType and configuration provided by the given stream
/// </summary>
/// <param name="type">Type of ActivePort to create</param>
/// <param name="stream">Configuration stream compatible with the underlying PortType</param>
public static void Create(PortType type, Stream stream)
{
Create(PortFactory.Create(type, stream));
}
/// <summary>
/// Creates an ActivePort within the TQF of the given PortType with the given name and default settings (9600 8N1)
/// </summary>
/// <param name="type">Type of underlying Port to associate with the ActivePort</param>
/// <param name="name">Unique name for the ActivePort</param>
public static void Create(PortType type, string name)
{
Create(PortFactory.Create(type, name));
}
