string GetLabel(MessageField field, double y)
{
if (this.format.name == "vehicle_status")
{
if (field.name == "nav_state")
{
NavStates s = (NavStates)y;
return(s.ToString());
}
else if (field.name == "arming_state")
{
ArmingStates s = (ArmingStates)y;
return(s.ToString());
}
else if (field.name == "failure_detector_status")
{
FailureDetectorFlags s = (FailureDetectorFlags)y;
return(s.ToString());
}
}
return(null);
}
internal DataValue GetValue(MessageField field)
{
if (values == null)
{
ParseValues();
}
double x = GetTimestamp();
double y = 0;
object o = null;
if (values.TryGetValue(field.name, out o))
{
y = Convert.ToDouble(o);
}
return(new DataValue()
{
X = x,
Y = y,
UserData = this,
Label = GetLabel(field, y)
});
}
private object ReadField(BinaryReader reader, MessageField field)
{
object o = null;
switch (field.type)
{
case FieldType.Float:
o = reader.ReadSingle();
break;
case FieldType.Double:
o = reader.ReadDouble();
break;
case FieldType.Int8:
o = reader.ReadSByte();
break;
case FieldType.Bool:
o = (reader.ReadByte() == 0) ? false : true;
break;
case FieldType.UInt8:
o = reader.ReadByte();
break;
case FieldType.Int16:
o = reader.ReadInt16();
break;
case FieldType.UInt16:
o = reader.ReadUInt16();
break;
case FieldType.Int32:
o = reader.ReadInt32();
break;
case FieldType.UInt32:
o = reader.ReadUInt32();
break;
case FieldType.Int64:
o = reader.ReadInt64();
break;
case FieldType.UInt64:
o = reader.ReadUInt64();
break;
case FieldType.Char:
o = (char)reader.ReadByte();
break;
case FieldType.Struct:
{
MessageFormat f = field.structType;
if (f == null)
{
throw new Exception(string.Format("Unexpected FieldType.Struct in field {0}", field.name));
}
MessageData s = new MessageData(this.msgId, null, this.subscription);
s.format = f;
s.ReadValues(reader);
o = s;
}
break;
}
return(o);
}
public IEnumerable <Flight> GetFlights()
{
MessageField field = new MessageField("uint8_t arming_state");
List <Flight> actualFlights = new List <Flight>();
Flight current = null;
bool flying = false;
Px4ULog log = null;
int length = this.msgs.Count;
for (int i = 0; i < length; i++)
{
var msg = this.msgs[i];
bool lastMessage = (i == length - 1);
if (msg is MessageData md)
{
if (md.format.name == "vehicle_status")
{
var data = md.GetValue(field);
if (data != null)
{
var s = (MessageData.ArmingStates)data.Y;
if (s == MessageData.ArmingStates.ARMING_STATE_ARMED)
{
flying = true;
}
else
{
flying = false;
}
}
}
}
if (flying)
{
if (current == null)
{
log = new Px4ULog()
{
file = this.file,
formats = this.formats,
logStartTimestamp = (long)msg.GetTimestamp(),
msgs = new List <Message>(),
schema = this.schema,
startTime = GetTime(msg.GetTimestamp()),
subscriptions = this.subscriptions,
version = this.version
};
current = new Flight()
{
Name = string.Format("Flight {0}", actualFlights.Count + 1), StartTime = log.startTime, Log = log
};
}
log.msgs.Add(msg);
}
if ((!flying || lastMessage) && current != null)
{
var now = GetTime(msg.GetTimestamp());
current.Duration = now - current.StartTime;
actualFlights.Add(current);
log = null;
current = null;
}
}
return(actualFlights);
}
internal MessageData GetNestedData(string fieldName)
{
if (values == null)
{
ParseValues();
}
foreach (var field in format.fields)
{
if (field.name == fieldName)
{
object value = values[fieldName];
if (field.arraySize > 0)
{
if (nestedFormats == null)
{
nestedFormats = new Dictionary <string, MessageFormat>();
}
MessageFormat format = null;
if (!nestedFormats.TryGetValue(fieldName, out format))
{
List <MessageField> fields = new List <MessageField>();
object tv;
// we need to copy the timestamp down so the data renders with time sync.
if (this.values.TryGetValue("timestamp", out tv))
{
fields.Add(new MessageField("double timestamp"));
}
for (int i = 0; i < field.arraySize; i++)
{
var name = i.ToString();
fields.Add(new MessageField(MessageField.GetFieldTypeName(field.type) + " " + name));
}
format = new MessageFormat(fieldName, fields);
nestedFormats[fieldName] = format;
}
MessageData array = new MessageData(this.msgId, null, this.subscription);
array.format = format;
var values = new Dictionary <string, object>();
object ts = null;
int offset = 0;
// we need to copy the timestamp down so the data renders with time sync.
if (this.values.TryGetValue("timestamp", out ts))
{
values["timestamp"] = ts;
offset++;
}
Array data = (Array)value;
for (int i = 0; i < field.arraySize; i++)
{
string name = format.fields[i + offset].name;
values[name] = data.GetValue(i);
}
array.values = values;
return(array);
}
else if (value is MessageData)
{
return((MessageData)value);
}
else
{
throw new Exception(string.Format("Field {0} is not a struct", fieldName));
}
}
}
return(null);
}
