// Start is called before the first frame update
void Start()
{
ConsoleRedirect.Redirect();
RioCommProtocol.startComm(4145, "10.41.45.2");
lastSendingPacket = RioCommProtocol.getSending();
lastSendingPacket.addJoystick(ref joy);
lastRecievingPacket = RioCommProtocol.getRecieving();
}
/// <summary>
/// Отправить пакет по соединению
/// </summary>
/// <param name="p"></param>
/// <returns></returns>
public async Task SendAsync(Packet p)
{
SendingPacket?.Invoke(p);
byte[] data = p.GetBuffer();
Crypt.Encrypt(data);
byte[] lengthBytes = BitConverter.GetBytes((short)(data.Length + 2));
byte[] message = new byte[data.Length + 2];
lengthBytes.CopyTo(message, 0);
data.CopyTo(message, 2);
await networkStream.WriteAsync(message, 0, message.Length);
await networkStream.FlushAsync();
}
private Boolean LbtIsChannelFree(SendingPacket pkt_data, UInt16 tx_start_delay)
{
// Check if TX is allowed
if (this._lbt_enabled == true)
{
// TX allowed for LoRa only
if (pkt_data.modulation != Modulation.Lora)
{
Console.WriteLine("INFO: TX is not allowed for this modulation (" + pkt_data.modulation + ")");
return(false);
}
// Get SX1301 time at last PPS
UInt32 sx1301_time = (UInt32)this.RegisterRead(Registers.TIMESTAMP);
Console.WriteLine("################################");
UInt32 tx_start_time;
switch (pkt_data.tx_mode)
{
case SendingMode.TIMESTAMPED:
Console.WriteLine("tx_mode = TIMESTAMPED");
tx_start_time = pkt_data.count_us & 0x007FF000;
break;
case SendingMode.ON_GPS:
Console.WriteLine("tx_mode = ON_GPS");
tx_start_time = (sx1301_time + tx_start_delay + 1000000) & 0x007FF000;
break;
case SendingMode.IMMEDIATE:
throw new Exception("ERROR: tx_mode IMMEDIATE is not supported when LBT is enabled");
// FALLTHROUGH
default:
throw new Exception("ERROR: Mode is not supported");
}
// Select LBT Channel corresponding to required TX frequency
Int32 lbt_channel_decod_1 = -1;
Int32 lbt_channel_decod_2 = -1;
UInt32 tx_max_time = 0;
if (pkt_data.bandwidth == BW.BW_125KHZ)
{
for (Int32 i = 0; i < this._lbt_nb_active_channel; i++)
{
if (Math.Abs(pkt_data.freq_hz - this._lbt_channel_cfg[i].freq_hz) < 1000)
{
Console.WriteLine("LBT: select channel " + i + " (" + this._lbt_channel_cfg[i].freq_hz + " Hz)");
lbt_channel_decod_1 = i;
lbt_channel_decod_2 = i;
tx_max_time = this._lbt_channel_cfg[i].scan_time_us == 5000 ? 4000000 : (UInt32)400000;
break;
}
}
}
else if (pkt_data.bandwidth == BW.BW_250KHZ)
{
// In case of 250KHz, the TX freq has to be in between 2 consecutive channels of 200KHz BW.
// The TX can only be over 2 channels, not more
for (Int32 i = 0; i < this._lbt_nb_active_channel - 1; i++)
{
if (Math.Abs(pkt_data.freq_hz - (this._lbt_channel_cfg[i].freq_hz + this._lbt_channel_cfg[i + 1].freq_hz) / 2) < 1000 && this._lbt_channel_cfg[i + 1].freq_hz - this._lbt_channel_cfg[i].freq_hz == 200E3)
{
Console.WriteLine("LBT: select channels " + i + "," + (i + 1) + " (" + (this._lbt_channel_cfg[i].freq_hz + this._lbt_channel_cfg[i + 1].freq_hz) / 2 + " Hz)");
lbt_channel_decod_1 = i;
lbt_channel_decod_2 = i + 1;
tx_max_time = this._lbt_channel_cfg[i].scan_time_us == 5000 ? 4000000 : (UInt32)200000;
break;
}
}
}
else
{
// Nothing to do for now
}
// Get last time when selected channel was free
UInt32 lbt_time;
UInt32 lbt_time1 = 0;
UInt32 lbt_time2 = 0;
if (lbt_channel_decod_1 >= 0 && lbt_channel_decod_2 >= 0)
{
this.FpgaRegisterWrite(Registers.FPGA_LBT_TIMESTAMP_SELECT_CH, lbt_channel_decod_1);
lbt_time = lbt_time1 = (UInt32)(this.FpgaRegisterRead(Registers.FPGA_LBT_TIMESTAMP_CH) & 0x0000FFFF) * 256; // 16bits (1LSB = 256µs)
if (lbt_channel_decod_1 != lbt_channel_decod_2)
{
this.FpgaRegisterWrite(Registers.FPGA_LBT_TIMESTAMP_SELECT_CH, lbt_channel_decod_2);
lbt_time2 = (UInt32)(this.FpgaRegisterRead(Registers.FPGA_LBT_TIMESTAMP_CH) & 0x0000FFFF) * 256; // 16bits (1LSB = 256µs)
if (lbt_time2 < lbt_time1)
{
lbt_time = lbt_time2;
}
}
}
else
{
lbt_time = 0;
}
UInt32 packet_duration = (UInt32)(this.TimeOnAir(pkt_data) * 1000UL);
UInt32 tx_end_time = (tx_start_time + packet_duration) & 0x007FF000;
UInt32 delta_time;
if (lbt_time < tx_end_time)
{
delta_time = tx_end_time - lbt_time;
}
else
{
// It means LBT counter has wrapped
Console.WriteLine("LBT: lbt counter has wrapped");
delta_time = 0x007FF000 - lbt_time + tx_end_time;
}
Console.WriteLine("sx1301_time = " + (sx1301_time & 0x007FF000));
Console.WriteLine("tx_freq = " + pkt_data.freq_hz);
Console.WriteLine("------------------------------------------------");
Console.WriteLine("packet_duration = " + packet_duration);
Console.WriteLine("tx_start_time = " + tx_start_time);
Console.WriteLine("lbt_time1 = " + lbt_time1);
Console.WriteLine("lbt_time2 = " + lbt_time2);
Console.WriteLine("lbt_time = " + lbt_time);
Console.WriteLine("delta_time = " + delta_time);
Console.WriteLine("------------------------------------------------");
// send data if allowed
// lbt_time: last time when channel was free
// tx_max_time: maximum time allowed to send packet since last free time
// 2048: some margin
if (delta_time < tx_max_time - 2048 && lbt_time != 0)
{
return(true);
}
else
{
Console.WriteLine("ERROR: TX request rejected (LBT)");
return(false);
}
}
else
{
// Always allow if LBT is disabled
return(true);
}
}
