static void Main(string[] args)
{
// PWM test = new PWM("",0,"",0);
// return;
Console.Write("Running on ");
if (FlightControlCommons.UsbHelper.IsLinux)
{
Console.WriteLine("Linux");
}
else
{
Console.WriteLine("Windows");
}
Console.WriteLine("Flight Control Service");
Console.WriteLine("Controls the UAV");
Console.WriteLine("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse(autosavetimestr, out autoSaveTime))
{
autoSaveTimer = new Timer(new TimerCallback(Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean(ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV();
Console.WriteLine("Connecting to GroundControl..");
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add(controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["VPN"]))
{
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add(recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add(sendConnection1);
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add(recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add(sendConnection);
}
uav.OnLoad(); //Load all non serialised objects from uav and connect to hardware
uav.run();
}
static void Main(string[] args)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
Double i = -49;
object test = i;
Console.Write("Running on " + Convert.ToDouble(test));
if (FlightControlCommons.UsbHelper.IsLinux)
{
Console.WriteLine("Linux");
}
else
{
Console.WriteLine("Windows");
}
Console.WriteLine("Flight Control Service");
Console.WriteLine("Controls the UAV");
Console.WriteLine("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse(autosavetimestr, out autoSaveTime))
{
autoSaveTimer = new Timer(new TimerCallback(Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean(ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV();
Console.WriteLine("Connecting to GroundControl..");
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add(controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["VPN"]))
{
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add(recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add(sendConnection1);
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings ["WLAN"]))
{
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add(recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add(sendConnection);
}
if (loadFromFile)
{
if (File.Exists(filename))
{
try
{
Console.WriteLine("Load Values from File");
using (FileStream stream = File.OpenRead(filename))
{
UAVBase.LoadValues(stream, uav);
}
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Einlesen der Config Datei " + filename);
File.Delete(filename);
throw ex;
}
}
}
uav.OnLoad(); //Load all non serialised objects from uav and connect to hardware
uav.run();
}
/// <summary>
/// Initialise Object
/// </summary>
public UAV()
{
if (Convert.ToBoolean(ConfigurationSettings.AppSettings["WLAN"]))
{
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings["GroundIP"];
controlconnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings["GroundCommandPort"]);
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
controlconnection.listen = true;
controlconnection.cmdHandler = this;
this.knownEndpoints.Add(controlconnection);
if (NewGroundLogMessage != null)
{
NewGroundLogMessage("GroundCommandEndpoint: " + controlconnection.endpointAdress + ":" + controlconnection.endpointPort);
}
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings["VPN"]))
{
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings["VPNGroundIP"];
recieveConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings["VPNGroundSendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection.listen = true;
if (NewGroundLogMessage != null)
{
NewGroundLogMessage("VPNCommandEndpoint: " + recieveConnection.endpointAdress + ":" + recieveConnection.endpointPort);
}
this.knownEndpoints.Add(recieveConnection);
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings["VPNGroundRecievePort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = true;
if (NewGroundLogMessage != null)
{
NewGroundLogMessage("VPNGroundRecievePort: " + recieveConnection1.endpointAdress + ":" + recieveConnection1.endpointPort);
}
this.knownEndpoints.Add(recieveConnection1);
}
if (Convert.ToBoolean(ConfigurationSettings.AppSettings["WLAN"]))
{
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings["GroundIP"];
sendConnection1.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings["GroundSendPort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection1.listen = true;
if (NewGroundLogMessage != null)
{
NewGroundLogMessage("GroundSend: " + sendConnection1.endpointAdress + ":" + sendConnection1.endpointPort);
}
this.knownEndpoints.Add(sendConnection1);
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32(ConfigurationSettings.AppSettings["GroundRecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = true;
if (NewGroundLogMessage != null)
{
NewGroundLogMessage("GroundRecieve: " + sendConnection.endpointAdress + ":" + sendConnection.endpointPort);
}
this.knownEndpoints.Add(sendConnection);
}
NewGroundLogMessage += new NewGroundLogMessageHandler(UAV_NewGroundLogMessage);
}