mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.4 KiB
C#
119 lines
3.4 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Reactive.Subjects;
|
|
using System.Text;
|
|
using System.Runtime.InteropServices;
|
|
using System.Collections; // hashs
|
|
using System.Diagnostics; // stopwatch
|
|
using System.Reflection;
|
|
using System.Reflection.Emit;
|
|
using System.IO;
|
|
using System.Drawing;
|
|
using System.Threading;
|
|
using ArdupilotMega.Controls;
|
|
using System.ComponentModel;
|
|
using log4net;
|
|
using ArdupilotMega.Comms;
|
|
using ArdupilotMega.Utilities;
|
|
namespace ArdupilotMega
|
|
{
|
|
public interface IMAVLink
|
|
{
|
|
// there is too much message intergration in the main code, so i dont think i will pursue this any further
|
|
// if it an't broke dont fix it - mav09 and mav10 are compile time defined
|
|
// i will probly revert this change at some point, unless someone else has a good idea.
|
|
|
|
// Fields
|
|
|
|
byte[][] packets { get; set; }
|
|
|
|
|
|
double[] packetspersecond { get; set; }
|
|
|
|
Hashtable param { get; set; }
|
|
|
|
BinaryWriter rawlogfile { get; set; }
|
|
|
|
|
|
|
|
byte sysid { get; set; }
|
|
Subject<int> WhenPacketLost { get; set; }
|
|
Subject<int> WhenPacketReceived { get; set; }
|
|
PointLatLngAlt[] wps { get; set; }
|
|
|
|
|
|
ArdupilotMega.MAVLink.MAV_TYPE aptype { get; set; }
|
|
ICommsSerial BaseStream { get; set; }
|
|
int bps { get; set; }
|
|
|
|
|
|
DateTime bpstime { get; set; }
|
|
byte compid { get; set; }
|
|
|
|
bool debugmavlink { get; set; }
|
|
|
|
|
|
DateTime lastlogread { get; set; }
|
|
DateTime lastvalidpacket { get; set; }
|
|
|
|
BinaryWriter logfile { get; set; }
|
|
BinaryReader logplaybackfile { get; set; }
|
|
bool logreadmode { get; set; }
|
|
|
|
// Events
|
|
|
|
event EventHandler ParamListChanged;
|
|
|
|
// Methods
|
|
|
|
|
|
void Close();
|
|
object DebugPacket(byte[] datin);
|
|
object DebugPacket(byte[] datin, bool PrintToConsole);
|
|
object DebugPacket(byte[] datin, ref string text);
|
|
object DebugPacket(byte[] datin, ref string text, bool PrintToConsole, string delimeter);
|
|
|
|
// mav 09
|
|
bool doAction(object actionid);
|
|
// mac 10
|
|
bool doCommand(ArdupilotMega.MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7);
|
|
|
|
void setAPType();
|
|
|
|
|
|
PointLatLngAlt getFencePoint(int no, ref int total);
|
|
|
|
void getParamList();
|
|
|
|
Locationwp getWP(ushort index);
|
|
byte getWPCount();
|
|
|
|
|
|
// static void modifyParamForDisplay(bool fromapm, string paramname, ref float value);
|
|
void Open();
|
|
void Open(bool getparams);
|
|
|
|
|
|
|
|
byte[] readPacket();
|
|
void requestDatastream(byte id, byte hzrate);
|
|
void sendPacket(object indata);
|
|
bool setFencePoint(byte index, PointLatLngAlt plla, byte fencepointcount);
|
|
void setMode(string modein);
|
|
void setMountConfigure(ArdupilotMega.MAVLink.MAV_MOUNT_MODE mountmode, bool stabroll, bool stabpitch, bool stabyaw);
|
|
void setMountControl(double pa, double pb, double pc, bool islatlng);
|
|
bool setParam(string paramname, float value);
|
|
void setWP(Locationwp loc, ushort index, ArdupilotMega.MAVLink.MAV_FRAME frame, byte current);
|
|
void setWPACK();
|
|
bool setWPCurrent(ushort index);
|
|
void setWPTotal(ushort wp_total);
|
|
void stopall(bool forget);
|
|
bool Write(string line);
|
|
|
|
// Properties
|
|
|
|
IObservable<int> BytesReceived { get; }
|
|
IObservable<int> BytesSent { get; }
|
|
|
|
}
|
|
} |