Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/Tools/ArdupilotMegaPlanner/MAVLink.cs

2644 lines
94 KiB
C#
Raw Blame History

using System;
using System.Collections.Generic;
using System.Text;
using System.IO.Ports;
using System.Runtime.InteropServices;
using System.Collections; // hashs
using System.Diagnostics; // stopwatch
using System.Reflection;
using System.Reflection.Emit;
using System.IO;
namespace ArdupilotMega
{
public partial class MAVLink
{
public ICommsSerial BaseStream = new SerialPort();
/// <summary>
/// used for outbound packet sending
/// </summary>
byte packetcount = 0;
public byte sysid = 0;
public byte compid = 0;
public Hashtable param = new Hashtable();
public byte[][] packets = new byte[256][];
public double[] packetspersecond = new double[256];
DateTime[] packetspersecondbuild = new DateTime[256];
object objlock = new object();
object readlock = new object();
object logwritelock = new object();
public DateTime lastvalidpacket = DateTime.Now;
bool oldlogformat = false;
byte mavlinkversion = 0;
public byte aptype = 0;
byte[] readingpacket = new byte[256];
public PointLatLngAlt[] wps = new PointLatLngAlt[200];
public bool debugmavlink = false;
public bool logreadmode = false;
public DateTime lastlogread = DateTime.MinValue;
public BinaryReader logplaybackfile = null;
public BinaryWriter logfile = null;
public byte[] streams = new byte[256];
int bps1 = 0;
int bps2 = 0;
public int bps = 0;
public DateTime bpstime = DateTime.Now;
int recvpacketcount = 0;
float synclost;
float packetslost = 0;
float packetsnotlost = 0;
DateTime packetlosttimer = DateTime.Now;
//Stopwatch stopwatch = new Stopwatch();
public void Close()
{
BaseStream.Close();
}
public void Open()
{
Open(false);
}
public void Open(bool getparams)
{
if (BaseStream.IsOpen)
return;
System.Windows.Forms.Form frm = Common.LoadingBox("Mavlink Connecting..", "Mavlink Connecting..");
frm.TopMost = true;
// reset
sysid = 0;
compid = 0;
param = new Hashtable();
try
{
MainV2.givecomport = true;
BaseStream.ReadBufferSize = 4 * 1024;
lock (objlock) // so we dont have random traffic
{
BaseStream.Open();
BaseStream.DiscardInBuffer();
BaseStream.toggleDTR();
// allow 2560 connect timeout on usb
System.Threading.Thread.Sleep(1000);
}
byte[] buffer;
byte[] buffer1;
DateTime start = DateTime.Now;
int count = 0;
while (true)
{
System.Windows.Forms.Application.DoEvents();
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
frm.Controls[0].Text = (start.AddSeconds(30) - DateTime.Now).Seconds.ToString("Timeout in 0");
if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock
{
frm.Controls[0].Text = "Waiting for GPS detection..";
start = start.AddSeconds(5); // each round is 1.1 seconds
}
System.Windows.Forms.Application.DoEvents();
if (!(start.AddSeconds(30) > DateTime.Now))
{
/*
System.Windows.Forms.DialogResult dr = System.Windows.Forms.MessageBox.Show("Data recevied but no mavlink packets where read from this port\nWhat do you want to do",
"Read Fail", System.Windows.Forms.MessageBoxButtons.RetryCancel);
if (dr == System.Windows.Forms.DialogResult.Retry)
{
port.toggleDTRnow(); // force reset on usb
start = DateTime.Now;
}
else*/
{
frm.Close();
this.Close();
throw new Exception("No Mavlink Heartbeat Packets where read from this port - Verify Baud Rate and setup\nIt might also be waiting for GPS Lock\nAPM Planner waits for 2 valid heartbeat packets before connecting");
}
}
System.Threading.Thread.Sleep(1);
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
System.Windows.Forms.Application.DoEvents();
buffer = getHeartBeat();
System.Windows.Forms.Application.DoEvents();
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
System.Threading.Thread.Sleep(1);
System.Windows.Forms.Application.DoEvents();
buffer1 = getHeartBeat();
System.Windows.Forms.Application.DoEvents();
try
{
Console.WriteLine("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead);
}
catch { }
count++;
if (buffer.Length > 5 && buffer1.Length > 5 && buffer[3] == buffer1[3] && buffer[4] == buffer1[4])
{
__mavlink_heartbeat_t hb = new __mavlink_heartbeat_t();
object temp = hb;
MAVLink.ByteArrayToStructure(buffer, ref temp, 6);
hb = (MAVLink.__mavlink_heartbeat_t)(temp);
mavlinkversion = hb.mavlink_version;
aptype = hb.type;
sysid = buffer[3];
compid = buffer[4];
recvpacketcount = buffer[2];
Console.WriteLine("ID sys " + sysid + " comp " + compid + " ver" + mavlinkversion);
break;
}
}
frm.Controls[0].Text = "Getting Params.. (sysid " + sysid + " compid " + compid + ") ";
frm.Refresh();
if (getparams == true)
getParamList();
}
catch (Exception e)
{
try
{
BaseStream.Close();
}
catch { }
MainV2.givecomport = false;
frm.Close();
throw e;
}
frm.Close();
MainV2.givecomport = false;
Console.WriteLine("Done open " + sysid + " " + compid);
packetslost = 0;
}
byte[] StructureToByteArrayEndian(params object[] list)
{
// The copy is made becuase SetValue won't work on a struct.
// Boxing was used because SetValue works on classes/objects.
// Unfortunately, it results in 2 copy operations.
object thisBoxed = list[0]; // Why make a copy?
Type test = thisBoxed.GetType();
int offset = 0;
byte[] data = new byte[Marshal.SizeOf(thisBoxed)];
// System.Net.IPAddress.NetworkToHostOrder is used to perform byte swapping.
// To convert unsigned to signed, 'unchecked()' was used.
// See http://stackoverflow.com/questions/1131843/how-do-i-convert-uint-to-int-in-c
object fieldValue;
TypeCode typeCode;
byte[] temp;
// Enumerate each structure field using reflection.
foreach (var field in test.GetFields())
{
// field.Name has the field's name.
fieldValue = field.GetValue(thisBoxed); // Get value
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
typeCode = Type.GetTypeCode(fieldValue.GetType());
switch (typeCode)
{
case TypeCode.Single: // float
{
temp = BitConverter.GetBytes((Single)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(Single));
break;
}
case TypeCode.Int32:
{
temp = BitConverter.GetBytes((Int32)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(Int32));
break;
}
case TypeCode.UInt32:
{
temp = BitConverter.GetBytes((UInt32)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(UInt32));
break;
}
case TypeCode.Int16:
{
temp = BitConverter.GetBytes((Int16)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(Int16));
break;
}
case TypeCode.UInt16:
{
temp = BitConverter.GetBytes((UInt16)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(UInt16));
break;
}
case TypeCode.Int64:
{
temp = BitConverter.GetBytes((Int64)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(Int64));
break;
}
case TypeCode.UInt64:
{
temp = BitConverter.GetBytes((UInt64)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(UInt64));
break;
}
case TypeCode.Double:
{
temp = BitConverter.GetBytes((Double)fieldValue);
Array.Reverse(temp);
Array.Copy(temp, 0, data, offset, sizeof(Double));
break;
}
case TypeCode.Byte:
{
data[offset] = (Byte)fieldValue;
break;
}
default:
{
//System.Diagnostics.Debug.Fail("No conversion provided for this type : " + typeCode.ToString());
break;
}
}; // switch
if (typeCode == TypeCode.Object)
{
int length = ((byte[])fieldValue).Length;
Array.Copy(((byte[])fieldValue), 0, data, offset, length);
offset += length;
}
else
{
offset += Marshal.SizeOf(fieldValue);
}
} // foreach
return data;
} // Swap
byte[] getHeartBeat()
{
DateTime start = DateTime.Now;
while (true)
{
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_HEARTBEAT)
{
return buffer;
}
}
if (DateTime.Now > start.AddMilliseconds(2200)) // was 1200 , now 2.2 sec
return new byte[0];
}
}
public void sendPacket(object indata)
{
bool run = false;
byte a = 0;
foreach (Type ty in mavstructs)
{
if (ty == indata.GetType())
{
run = true;
generatePacket(a, indata);
return;
}
a++;
}
if (!run)
{
Console.WriteLine("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString());
}
}
/// <summary>
/// Generate a Mavlink Packet and write to serial
/// </summary>
/// <param name="messageType">type number</param>
/// <param name="indata">struct of data</param>
void generatePacket(byte messageType, object indata)
{
byte[] data;
if (mavlinkversion == 3)
{
data = StructureToByteArray(indata);
}
else
{
data = StructureToByteArrayEndian(indata);
}
//Console.WriteLine(DateTime.Now + " PC Doing req "+ messageType + " " + this.BytesToRead);
byte[] packet = new byte[data.Length + 6 + 2];
if (mavlinkversion == 3)
{
packet[0] = 254;
}
else if (mavlinkversion == 2)
{
packet[0] = (byte)'U';
}
packet[1] = (byte)data.Length;
packet[2] = packetcount;
packet[3] = 255; // this is always 255 - MYGCS
#if MAVLINK10
packet[4] = (byte)MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
#else
packet[4] = (byte)MAV_COMPONENT.MAV_COMP_ID_WAYPOINTPLANNER;
#endif
packet[5] = messageType;
int i = 6;
foreach (byte b in data)
{
packet[i] = b;
i++;
}
ushort checksum = crc_calculate(packet, packet[1] + 6);
if (mavlinkversion == 3)
{
checksum = crc_accumulate(MAVLINK_MESSAGE_CRCS[messageType], checksum);
}
byte ck_a = (byte)(checksum & 0xFF); ///< High byte
byte ck_b = (byte)(checksum >> 8); ///< Low byte
packet[i] = ck_a;
i += 1;
packet[i] = ck_b;
i += 1;
if (BaseStream.IsOpen)
{
lock (objlock)
{
BaseStream.Write(packet, 0, i);
}
}
try
{
if (logfile != null)
{
lock (logwritelock)
{
byte[] datearray = BitConverter.GetBytes((UInt64)((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000)); //ASCIIEncoding.ASCII.GetBytes(DateTime.Now.ToBinary() + ":");
Array.Reverse(datearray);
logfile.Write(datearray, 0, datearray.Length);
logfile.Write(packet, 0, i);
logfile.Flush();
}
}
}
catch { }
if (messageType == ArdupilotMega.MAVLink.MAVLINK_MSG_ID_REQUEST_DATA_STREAM)
{
try
{
BinaryWriter bw = new BinaryWriter(File.OpenWrite("serialsent.raw"));
bw.Seek(0, SeekOrigin.End);
bw.Write(packet, 0, i);
bw.Write((byte)'\n');
bw.Close();
}
catch { } // been getting errors from this. people must have it open twice.
}
packetcount++;
//System.Threading.Thread.Sleep(1);
}
public bool Write(string line)
{
lock (objlock)
{
BaseStream.Write(line);
}
return true;
}
/// <summary>
/// Set parameter on apm
/// </summary>
/// <param name="paramname">name as a string</param>
/// <param name="value"></param>
public bool setParam(string paramname, float value)
{
if (!param.ContainsKey(paramname))
{
Console.WriteLine("Param doesnt exist " + paramname);
return false;
}
MainV2.givecomport = true;
__mavlink_param_set_t req = new __mavlink_param_set_t();
req.target_system = sysid;
req.target_component = compid;
byte[] temp = ASCIIEncoding.ASCII.GetBytes(paramname);
modifyParamForDisplay(false, paramname, ref value);
#if MAVLINK10
Array.Resize(ref temp, 16);
#else
Array.Resize(ref temp, 15);
#endif
req.param_id = temp;
req.param_value = (value);
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
Console.WriteLine("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, req.param_value, sysid, compid);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setParam Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setParam " + paramname);
}
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
{
__mavlink_param_value_t par = new __mavlink_param_value_t();
object tempobj = par;
ByteArrayToStructure(buffer, ref tempobj, 6);
par = (__mavlink_param_value_t)tempobj;
string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
int pos = st.IndexOf('\0');
if (pos != -1)
{
st = st.Substring(0, pos);
}
if (st != paramname)
{
Console.WriteLine("MAVLINK bad param responce - {0} vs {1}", paramname, st);
continue;
}
modifyParamForDisplay(true, st, ref par.param_value);
param[st] = (par.param_value);
MainV2.givecomport = false;
//System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte
return true;
}
}
}
}
/// <summary>
/// Get param list from apm
/// </summary>
/// <returns></returns>
public Hashtable getParamList()
{
MainV2.givecomport = true;
List<int> missed = new List<int>();
// ryan - re start
__mavlink_param_request_read_t rereq = new __mavlink_param_request_read_t();
rereq.target_system = sysid;
rereq.target_component = compid;
__mavlink_param_request_list_t req = new __mavlink_param_request_list_t();
req.target_system = sysid;
req.target_component = compid;
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
DateTime start = DateTime.Now;
DateTime restart = DateTime.Now;
int retrys = 3;
int nextid = 0;
int param_count = 0;
int param_total = 5;
while (param_count < param_total)
{
if (!(start.AddMilliseconds(5000) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("getParamList Retry " + retrys + " sys " + sysid + " comp " + compid);
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList");
}
if (!(restart.AddMilliseconds(1000) > DateTime.Now))
{
rereq.param_id = new byte[] { 0x0, 0x0 };
rereq.param_index = (short)nextid;
sendPacket(rereq);
restart = DateTime.Now;
}
System.Windows.Forms.Application.DoEvents();
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
//stopwatch.Reset();
//stopwatch.Start();
if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
{
restart = DateTime.Now;
start = DateTime.Now;
__mavlink_param_value_t par = new __mavlink_param_value_t();
object temp = par;
ByteArrayToStructure(buffer, ref temp, 6);
par = (__mavlink_param_value_t)temp;
param_total = (par.param_count);
// for out of order udp packets
if (BaseStream.GetType() != typeof(UdpSerial))
{
if (nextid == (par.param_index))
{
nextid++;
}
else
{
if (retrys > 0)
{
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
param_count = 0;
nextid = 0;
retrys--;
continue;
}
missed.Add(nextid); // for later devel
MainV2.givecomport = false;
throw new Exception("Missed ID expecting " + nextid + " got " + (par.param_index) + "\nPlease try loading again");
}
}
string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
int pos = st.IndexOf('\0');
if (pos != -1)
{
st = st.Substring(0, pos);
}
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + st);
modifyParamForDisplay(true, st, ref par.param_value);
param[st] = (par.param_value);
param_count++;
}
else
{
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " " + this.BytesToRead);
}
//stopwatch.Stop();
//Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
}
}
MainV2.givecomport = false;
return param;
}
public static void modifyParamForDisplay(bool fromapm, string paramname, ref float value)
{
if (paramname.ToUpper().EndsWith("_IMAX") || paramname.ToUpper().EndsWith("ALT_HOLD_RTL") || paramname.ToUpper().EndsWith("TRIM_ARSPD_CM")
|| paramname.ToUpper().EndsWith("XTRK_ANGLE_CD") || paramname.ToUpper().EndsWith("LIM_PITCH_MAX") || paramname.ToUpper().EndsWith("LIM_PITCH_MIN")
|| paramname.ToUpper().EndsWith("LIM_ROLL_CD") || paramname.ToUpper().EndsWith("PITCH_MAX") || paramname.ToUpper().EndsWith("WP_SPEED_MAX"))
{
if (paramname.ToUpper().EndsWith("THR_HOLD_IMAX"))
{
return;
}
if (fromapm)
{
value /= 100.0f;
}
else
{
value *= 100.0f;
}
}
}
/// <summary>
/// Stops all requested data packets.
/// </summary>
public void stopall(bool forget)
{
__mavlink_request_data_stream_t req = new __mavlink_request_data_stream_t();
req.target_system = sysid;
req.target_component = compid;
req.req_message_rate = 10;
req.start_stop = 0; // stop
req.req_stream_id = 0; // all
// reset all
if (forget)
{
streams = new byte[streams.Length];
}
// no error on bad
try
{
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
Console.WriteLine("Stopall Done");
}
catch { }
}
public void setWPACK()
{
#if MAVLINK10
MAVLink.__mavlink_mission_ack_t req = new MAVLink.__mavlink_mission_ack_t();
req.target_system = sysid;
req.target_component = compid;
req.type = 0;
generatePacket(MAVLINK_MSG_ID_MISSION_ACK, req);
#else
MAVLink.__mavlink_waypoint_ack_t req = new MAVLink.__mavlink_waypoint_ack_t();
req.target_system = sysid;
req.target_component = compid;
req.type = 0;
generatePacket(MAVLINK_MSG_ID_WAYPOINT_ACK, req);
#endif
}
public bool setWPCurrent(ushort index)
{
#if MAVLINK10
MainV2.givecomport = true;
byte[] buffer;
__mavlink_mission_set_current_t req = new __mavlink_mission_set_current_t();
req.target_system = sysid;
req.target_component = compid;
req.seq = index;
generatePacket(MAVLINK_MSG_ID_MISSION_SET_CURRENT, req);
DateTime start = DateTime.Now;
int retrys = 5;
while (true)
{
if (!(start.AddMilliseconds(2000) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_SET_CURRENT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setWPCurrent");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_CURRENT)
{
MainV2.givecomport = false;
return true;
}
}
}
}
public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
MainV2.givecomport = true;
byte[] buffer;
__mavlink_command_long_t req = new __mavlink_command_long_t();
req.target_system = sysid;
req.target_component = compid;
req.command = (ushort)actionid;
req.param1 = p1;
req.param2 = p2;
req.param3 = p3;
req.param4 = p4;
req.param5 = p5;
req.param6 = p6;
req.param7 = p7;
generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
DateTime start = DateTime.Now;
int retrys = 3;
int timeout = 2000;
// imu calib take a little while
if (actionid == MAV_CMD.PREFLIGHT_CALIBRATION)
{
retrys = 1;
timeout = 6000;
}
while (true)
{
if (!(start.AddMilliseconds(timeout) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - doAction");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_COMMAND_ACK)
{
__mavlink_command_ack_t ack = new __mavlink_command_ack_t();
object temp = (object)ack;
ByteArrayToStructure(buffer, ref temp, 6);
ack = (__mavlink_command_ack_t)(temp);
if (ack.result == (byte)MAV_RESULT.MAV_RESULT_ACCEPTED)
{
MainV2.givecomport = false;
return true;
}
else
{
MainV2.givecomport = false;
return false;
}
}
}
}
#else
MainV2.givecomport = true;
byte[] buffer;
__mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t();
req.target_system = sysid;
req.target_component = compid;
req.seq = index;
generatePacket(MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, req);
DateTime start = DateTime.Now;
int retrys = 5;
while (true)
{
if (!(start.AddMilliseconds(2000) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setWPCurrent");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT)
{
MainV2.givecomport = false;
return true;
}
}
}
}
public bool doAction(MAV_ACTION actionid)
{
MainV2.givecomport = true;
byte[] buffer;
__mavlink_action_t req = new __mavlink_action_t();
req.target = sysid;
req.target_component = compid;
req.action = (byte)actionid;
generatePacket(MAVLINK_MSG_ID_ACTION, req);
DateTime start = DateTime.Now;
int retrys = 3;
int timeout = 2000;
// imu calib take a little while
if (actionid == MAV_ACTION.MAV_ACTION_CALIBRATE_ACC ||
actionid == MAV_ACTION.MAV_ACTION_CALIBRATE_GYRO ||
actionid == MAV_ACTION.MAV_ACTION_CALIBRATE_MAG ||
actionid == MAV_ACTION.MAV_ACTION_CALIBRATE_PRESSURE ||
actionid == MAV_ACTION.MAV_ACTION_REBOOT)
{
retrys = 1;
timeout = 6000;
}
while (true)
{
if (!(start.AddMilliseconds(timeout) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_ACTION, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - doAction");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_ACTION_ACK)
{
if (buffer[7] == 1)
{
MainV2.givecomport = false;
return true;
}
else
{
MainV2.givecomport = false;
return false;
}
}
}
}
#endif
}
public void requestDatastream(byte id, byte hzrate)
{
streams[id] = hzrate;
double pps = 0;
switch (id)
{
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL:
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS:
if (packetspersecondbuild[MAVLINK_MSG_ID_SYS_STATUS] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_SYS_STATUS];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1:
if (packetspersecondbuild[MAVLINK_MSG_ID_ATTITUDE] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_ATTITUDE];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2:
if (packetspersecondbuild[MAVLINK_MSG_ID_VFR_HUD] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_VFR_HUD];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_SCALED] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RAW_IMU] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RAW_IMU];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_RAW] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_RAW];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
}
//packetspersecond[temp[5]];
if (pps == 0 && hzrate == 0)
{
return;
}
Console.WriteLine("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps);
getDatastream(id, hzrate);
}
// returns true for ok
bool hzratecheck(double pps, int hzrate)
{
if (hzrate == 0 && pps == 0)
{
return true;
}
else if (hzrate == 1 && pps >= 0.5 && pps <= 2)
{
return true;
}
else if (hzrate == 3 && pps >= 2 && hzrate < 5)
{
return true;
}
else if (hzrate == 10 && pps > 5 && hzrate < 15)
{
return true;
}
else if (hzrate > 15 && pps > 15)
{
return true;
}
return false;
}
void getDatastream(byte id, byte hzrate)
{
__mavlink_request_data_stream_t req = new __mavlink_request_data_stream_t();
req.target_system = sysid;
req.target_component = compid;
req.req_message_rate = hzrate;
req.start_stop = 1; // start
req.req_stream_id = id; // id
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
}
/// <summary>
/// Returns WP count
/// </summary>
/// <returns></returns>
public byte getWPCount()
{
MainV2.givecomport = true;
byte[] buffer;
#if MAVLINK10
__mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t();
req.target_system = sysid;
req.target_component = compid;
// request list
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
DateTime start = DateTime.Now;
int retrys = 6;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_COUNT)
{
__mavlink_mission_count_t count = new __mavlink_mission_count_t();
object temp = (object)count;
ByteArrayToStructure(buffer, ref temp, 6);
count = (__mavlink_mission_count_t)(temp);
Console.WriteLine("wpcount: " + count.count);
MainV2.givecomport = false;
return (byte)count.count; // should be ushort, but apm has limited wp count < byte
}
else
{
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_MISSION_COUNT + " " + this.BaseStream.BytesToRead);
}
}
}
#else
__mavlink_waypoint_request_list_t req = new __mavlink_waypoint_request_list_t();
req.target_system = sysid;
req.target_component = compid;
// request list
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
DateTime start = DateTime.Now;
int retrys = 6;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
{
Console.WriteLine("wpcount: " + buffer[9]);
MainV2.givecomport = false;
return buffer[9]; // should be ushort, but apm has limited wp count < byte
}
else
{
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_WAYPOINT_COUNT + " " + this.BaseStream.BytesToRead);
}
}
}
#endif
}
/// <summary>
/// Gets specfied WP
/// </summary>
/// <param name="index"></param>
/// <returns>WP</returns>
public Locationwp getWP(ushort index)
{
MainV2.givecomport = true;
Locationwp loc = new Locationwp();
#if MAVLINK10
__mavlink_mission_request_t req = new __mavlink_mission_request_t();
req.target_system = sysid;
req.target_component = compid;
req.seq = index;
//Console.WriteLine("getwp req "+ DateTime.Now.Millisecond);
// request
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST, req);
DateTime start = DateTime.Now;
int retrys = 5;
while (true)
{
if (!(start.AddMilliseconds(800) > DateTime.Now)) // apm times out after 1000ms
{
if (retrys > 0)
{
Console.WriteLine("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
byte[] buffer = readPacket();
//Console.WriteLine("getwp readend " + DateTime.Now.Millisecond);
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_ITEM)
{
//Console.WriteLine("getwp ans " + DateTime.Now.Millisecond);
__mavlink_mission_item_t wp = new __mavlink_mission_item_t();
object temp = (object)wp;
//Array.Copy(buffer, 6, buffer, 0, buffer.Length - 6);
ByteArrayToStructure(buffer, ref temp, 6);
wp = (__mavlink_mission_item_t)(temp);
#else
__mavlink_waypoint_request_t req = new __mavlink_waypoint_request_t();
req.target_system = sysid;
req.target_component = compid;
req.seq = index;
//Console.WriteLine("getwp req "+ DateTime.Now.Millisecond);
// request
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
DateTime start = DateTime.Now;
int retrys = 5;
while (true)
{
if (!(start.AddMilliseconds(800) > DateTime.Now)) // apm times out after 1000ms
{
if (retrys > 0)
{
Console.WriteLine("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
byte[] buffer = readPacket();
//Console.WriteLine("getwp readend " + DateTime.Now.Millisecond);
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT)
{
//Console.WriteLine("getwp ans " + DateTime.Now.Millisecond);
__mavlink_waypoint_t wp = new __mavlink_waypoint_t();
object temp = (object)wp;
//Array.Copy(buffer, 6, buffer, 0, buffer.Length - 6);
ByteArrayToStructure(buffer, ref temp, 6);
wp = (__mavlink_waypoint_t)(temp);
#endif
loc.options = (byte)(wp.frame & 0x1);
loc.id = (byte)(wp.command);
loc.p1 = (wp.param1);
loc.p2 = (wp.param2);
loc.p3 = (wp.param3);
loc.p4 = (wp.param4);
loc.alt = ((wp.z));
loc.lat = ((wp.x));
loc.lng = ((wp.y));
/*
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
switch (loc.id)
{ // Switch to map APM command fields inot MAVLink command fields
case (byte)MAV_CMD.LOITER_TURNS:
case (byte)MAV_CMD.TAKEOFF:
case (byte)MAV_CMD.DO_SET_HOME:
//case (byte)MAV_CMD.DO_SET_ROI:
loc.alt = (float)((wp.z));
loc.lat = (float)((wp.x));
loc.lng = (float)((wp.y));
loc.p1 = (float)wp.param1;
break;
case (byte)MAV_CMD.CONDITION_CHANGE_ALT:
loc.lat = (int)wp.param1;
loc.p1 = 0;
break;
case (byte)MAV_CMD.LOITER_TIME:
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
{
loc.p1 = (byte)(wp.param1 / 10); // APM loiter time is in ten second increments
}
else
{
loc.p1 = (byte)wp.param1;
}
break;
case (byte)MAV_CMD.CONDITION_DELAY:
case (byte)MAV_CMD.CONDITION_DISTANCE:
loc.lat = (int)wp.param1;
break;
case (byte)MAV_CMD.DO_JUMP:
loc.lat = (int)wp.param2;
loc.p1 = (byte)wp.param1;
break;
case (byte)MAV_CMD.DO_REPEAT_SERVO:
loc.lng = (int)wp.param4;
goto case (byte)MAV_CMD.DO_CHANGE_SPEED;
case (byte)MAV_CMD.DO_REPEAT_RELAY:
case (byte)MAV_CMD.DO_CHANGE_SPEED:
loc.lat = (int)wp.param3;
loc.alt = (int)wp.param2;
loc.p1 = (byte)wp.param1;
break;
case (byte)MAV_CMD.DO_SET_PARAMETER:
case (byte)MAV_CMD.DO_SET_RELAY:
case (byte)MAV_CMD.DO_SET_SERVO:
loc.alt = (int)wp.param2;
loc.p1 = (byte)wp.param1;
break;
case (byte)MAV_CMD.WAYPOINT:
loc.p1 = (byte)wp.param1;
break;
}
}
*/
Console.WriteLine("getWP {0} {1} {2} {3} {4} opt {5}", loc.id, loc.p1, loc.alt, loc.lat, loc.lng, loc.options);
break;
}
else
{
Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
}
}
}
MainV2.givecomport = false;
return loc;
}
public object DebugPacket(byte[] datin)
{
string text = "";
return DebugPacket(datin, ref text);
}
/// <summary>
/// Print entire decoded packet to console
/// </summary>
/// <param name="datin">packet byte array</param>
/// <returns>struct of data</returns>
public object DebugPacket(byte[] datin, ref string text)
{
string textoutput;
try
{
if (datin.Length > 5)
{
byte header = datin[0];
byte length = datin[1];
byte seq = datin[2];
byte sysid = datin[3];
byte compid = datin[4];
byte messid = datin[5];
textoutput = string.Format("{0:X} {1:X} {2:X} {3:X} {4:X} {5:X} ", header, length, seq, sysid, compid, messid);
object data = Activator.CreateInstance(mavstructs[messid]);
ByteArrayToStructure(datin, ref data, 6);
Type test = data.GetType();
textoutput = textoutput + test.Name + " ";
foreach (var field in test.GetFields())
{
// field.Name has the field's name.
object fieldValue = field.GetValue(data); // Get value
if (field.FieldType.IsArray)
{
textoutput = textoutput + field.Name + "=";
byte[] crap = (byte[])fieldValue;
foreach (byte fiel in crap)
{
textoutput = textoutput + fiel + ",";
}
textoutput = textoutput + " ";
}
else
{
textoutput = textoutput + field.Name + "=" + fieldValue.ToString() + " ";
}
}
textoutput = textoutput + " Len:" + datin.Length + "\r\n";
Console.Write(textoutput);
if (text != null)
text = textoutput;
return data;
}
}
catch { }
return null;
}
/// <summary>
/// Sets wp total count
/// </summary>
/// <param name="wp_total"></param>
public void setWPTotal(ushort wp_total)
{
#if MAVLINK10
MainV2.givecomport = true;
__mavlink_mission_count_t req = new __mavlink_mission_count_t();
req.target_system = sysid;
req.target_component = compid; // MAVLINK_MSG_ID_MISSION_COUNT
req.count = wp_total;
generatePacket(MAVLINK_MSG_ID_MISSION_COUNT, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(700) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_COUNT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setWPTotal");
}
byte[] buffer = readPacket();
if (buffer.Length > 9)
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST)
{
__mavlink_mission_request_t request = new __mavlink_mission_request_t();
object temp = (object)request;
ByteArrayToStructure(buffer, ref temp, 6);
request = (__mavlink_mission_request_t)(temp);
if (request.seq == 0)
{
if (param["WP_TOTAL"] != null)
param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false;
return;
}
}
else
{
//Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
}
}
}
#else
MainV2.givecomport = true;
__mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t();
req.target_system = sysid;
req.target_component = compid; // MAVLINK_MSG_ID_WAYPOINT_COUNT
req.count = wp_total;
generatePacket(MAVLINK_MSG_ID_WAYPOINT_COUNT, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(700) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_COUNT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setWPTotal");
}
byte[] buffer = readPacket();
if (buffer.Length > 9)
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST)
{
__mavlink_waypoint_request_t request = new __mavlink_waypoint_request_t();
object temp = (object)request;
ByteArrayToStructure(buffer, ref temp, 6);
request = (__mavlink_waypoint_request_t)(temp);
if (request.seq == 0)
{
if (param["WP_TOTAL"] != null)
param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false;
return;
}
}
else
{
//Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
}
}
}
#endif
}
/// <summary>
/// Save wp to eeprom
/// </summary>
/// <param name="loc">location struct</param>
/// <param name="index">wp no</param>
/// <param name="frame">global or relative</param>
/// <param name="current">0 = no , 2 = guided mode</param>
public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current)
{
MainV2.givecomport = true;
#if MAVLINK10
__mavlink_mission_item_t req = new __mavlink_mission_item_t();
#else
__mavlink_waypoint_t req = new __mavlink_waypoint_t();
#endif
req.target_system = sysid;
req.target_component = compid; // MAVLINK_MSG_ID_MISSION_ITEM
req.command = loc.id;
req.param1 = loc.p1;
req.current = current;
req.frame = (byte)frame;
req.y = (float)(loc.lng);
req.x = (float)(loc.lat);
req.z = (float)(loc.alt);
req.param1 = loc.p1;
req.param2 = loc.p2;
req.param3 = loc.p3;
req.param4 = loc.p4;
/*
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
switch (loc.id)
{ // Switch to map APM command fields inot MAVLink command fields
case (byte)MAV_CMD.LOITER_TURNS:
case (byte)MAV_CMD.TAKEOFF:
req.param1 = loc.p1;
break;
case (byte)MAV_CMD.DO_SET_HOME:
req.param1 = loc.p1;
break;
case (byte)MAV_CMD.CONDITION_CHANGE_ALT:
req.param1 = loc.lat;
req.x = 0;
req.y = 0;
break;
case (byte)MAV_CMD.LOITER_TIME:
req.param1 = loc.p1 * 10; // APM loiter time is in ten second increments
break;
case (byte)MAV_CMD.CONDITION_DELAY:
case (byte)MAV_CMD.CONDITION_DISTANCE:
req.param1 = loc.lat;
break;
case (byte)MAV_CMD.DO_JUMP:
req.param2 = loc.lat;
req.param1 = loc.p1;
break;
case (byte)MAV_CMD.DO_REPEAT_SERVO:
req.param4 = loc.lng;
goto case (byte)MAV_CMD.DO_CHANGE_SPEED;
case (byte)MAV_CMD.DO_REPEAT_RELAY:
case (byte)MAV_CMD.DO_CHANGE_SPEED:
req.param3 = loc.lat;
req.param2 = loc.alt;
req.param1 = loc.p1;
break;
case (byte)MAV_CMD.DO_SET_PARAMETER:
case (byte)MAV_CMD.DO_SET_RELAY:
case (byte)MAV_CMD.DO_SET_SERVO:
req.param2 = loc.alt;
req.param1 = loc.p1;
break;
}
}
*/
req.seq = index;
Console.WriteLine("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index);
// request
#if MAVLINK10
generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
#else
generatePacket(MAVLINK_MSG_ID_WAYPOINT, req);
#endif
DateTime start = DateTime.Now;
int retrys = 6;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("setWP Retry " + retrys);
#if MAVLINK10
generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
#else
generatePacket(MAVLINK_MSG_ID_WAYPOINT, req);
#endif
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - setWP");
}
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
#if MAVLINK10
if (buffer[5] == MAVLINK_MSG_ID_MISSION_ACK)
{
__mavlink_mission_ack_t ans = new __mavlink_mission_ack_t();
object temp = (object)ans;
ByteArrayToStructure(buffer, ref temp, 6);
ans = (__mavlink_mission_ack_t)(temp);
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString()));
break;
}
else if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST)
{
__mavlink_mission_request_t ans = new __mavlink_mission_request_t();
object temp = (object)ans;
ByteArrayToStructure(buffer, ref temp, 6);
ans = (__mavlink_mission_request_t)(temp);
if (ans.seq == (index + 1))
{
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
break;
}
else
{
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}
else
{
//Console.WriteLine(DateTime.Now + " PC setwp " + buffer[5]);
}
#else
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_ACK)
{ //__mavlink_waypoint_request_t
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5]);
break;
}
else if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST)
{
__mavlink_waypoint_request_t ans = new __mavlink_waypoint_request_t();
object temp = (object)ans;
//Array.Copy(buffer, 6, buffer, 0, buffer.Length - 6);
ByteArrayToStructure(buffer, ref temp, 6);
ans = (__mavlink_waypoint_request_t)(temp);
if (ans.seq == (index + 1))
{
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
break;
}
else
{
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}
else
{
//Console.WriteLine(DateTime.Now + " PC setwp " + buffer[5]);
}
#endif
}
}
}
public void setMountConfigure(MAV_MOUNT_MODE mountmode, bool stabroll, bool stabpitch, bool stabyaw)
{
__mavlink_mount_configure_t req = new __mavlink_mount_configure_t();
req.target_system = sysid;
req.target_component = compid;
req.mount_mode = (byte)mountmode;
req.stab_pitch = (stabpitch == true) ? (byte)1 : (byte)0;
req.stab_roll = (stabroll == true) ? (byte)1 : (byte)0;
req.stab_yaw = (stabyaw == true) ? (byte)1 : (byte)0;
generatePacket(MAVLINK_MSG_ID_MOUNT_CONFIGURE, req);
System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_MOUNT_CONFIGURE, req);
}
public void setMountControl(double pa, double pb, double pc, bool islatlng)
{
__mavlink_mount_control_t req = new __mavlink_mount_control_t();
req.target_system = sysid;
req.target_component = compid;
if (!islatlng)
{
req.input_a = (int)pa;
req.input_b = (int)pb;
req.input_c = (int)pc;
}
else
{
req.input_a = (int)(pa * 10000000.0);
req.input_b = (int)(pb * 10000000.0);
req.input_c = (int)(pc * 100.0);
}
generatePacket(MAVLINK_MSG_ID_MOUNT_CONTROL, req);
System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_MOUNT_CONTROL, req);
}
public void setMode(string modein)
{
#if MAVLINK10
try
{
MAVLink.__mavlink_set_mode_t mode = new MAVLink.__mavlink_set_mode_t();
if (Common.translateMode(modein, ref mode))
{
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
System.Threading.Thread.Sleep(10);
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
}
}
catch { System.Windows.Forms.MessageBox.Show("Failed to change Modes"); }
#else
try
{
MAVLink.__mavlink_set_nav_mode_t navmode = new MAVLink.__mavlink_set_nav_mode_t();
MAVLink.__mavlink_set_mode_t mode = new MAVLink.__mavlink_set_mode_t();
if (Common.translateMode(modein, ref navmode, ref mode))
{
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
System.Threading.Thread.Sleep(10);
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
System.Threading.Thread.Sleep(10);
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
System.Threading.Thread.Sleep(10);
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
}
}
catch { System.Windows.Forms.MessageBox.Show("Failed to change Modes"); }
#endif
}
/// <summary>
/// used for last bad serial characters
/// </summary>
byte[] lastbad = new byte[2];
/// <summary>
/// Serial Reader to read mavlink packets. POLL method
/// </summary>
/// <returns></returns>
public byte[] readPacket()
{
byte[] temp = new byte[300];
int count = 0;
int length = 0;
int readcount = 0;
lastbad = new byte[2];
BaseStream.ReadTimeout = 1100; // 1100 ms between bytes
DateTime start = DateTime.Now;
lock (readlock)
{
while (BaseStream.IsOpen || logreadmode)
{
try
{
if (readcount > 300)
{
Console.WriteLine("MAVLink readpacket No valid mavlink packets");
break;
}
readcount++;
if (logreadmode)
{
try
{
if (logplaybackfile.BaseStream.Position == 0)
{
if (logplaybackfile.PeekChar() == '-')
{
oldlogformat = true;
}
else
{
oldlogformat = false;
}
}
}
catch { oldlogformat = false; }
if (oldlogformat)
{
temp = readlogPacket(); //old style log
}
else
{
temp = readlogPacketMavlink();
}
}
else
{
MainV2.cs.datetime = DateTime.Now;
temp[count] = (byte)BaseStream.ReadByte();
}
}
catch (Exception e) { Console.WriteLine("MAVLink readpacket read error: " + e.Message); break; }
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M') // out of sync
{
if (temp[0] >= 0x20 && temp[0] <= 127 || temp[0] == '\n')
{
Console.Write((char)temp[0]);
}
count = 0;
lastbad[0] = lastbad[1];
lastbad[1] = temp[0];
temp[1] = 0;
continue;
}
// reset count on valid packet
readcount = 0;
if (temp[0] == 'U' || temp[0] == 254)
{
length = temp[1] + 6 + 2 - 2; // data + header + checksum - U - length
if (count >= 5 || logreadmode)
{
if (sysid != 0)
{
if (sysid != temp[3] || compid != temp[4])
{
Console.WriteLine("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
return new byte[0];
}
}
try
{
if (logreadmode)
{
}
else
{
int to = 0;
while (BaseStream.BytesToRead < (length - 4))
{
if (to > 1000)
{
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
break;
}
System.Threading.Thread.Sleep(1);
System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
to++;
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
}
int read = BaseStream.Read(temp, 6, length - 4);
}
//Console.WriteLine("data " + read + " " + length + " aval " + this.BytesToRead);
count = length + 2;
}
catch { break; }
break;
}
}
count++;
if (count == 299)
break;
}
}// end readlock
Array.Resize<byte>(ref temp, count);
if (packetlosttimer.AddSeconds(10) < DateTime.Now)
{
packetlosttimer = DateTime.Now;
packetslost = (int)(packetslost * 0.8f);
packetsnotlost = (int)(packetsnotlost * 0.8f);
}
MainV2.cs.linkqualitygcs = (ushort)((packetsnotlost / (packetsnotlost + packetslost)) * 100);
if (bpstime.Second != DateTime.Now.Second && !logreadmode)
{
// Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false));
bps2 = bps1; // prev sec
bps1 = 0; // current sec
bpstime = DateTime.Now;
}
bps1 += temp.Length;
bps = (bps1 + bps2) / 2;
if (temp.Length >= 5 && temp[3] == 255 && logreadmode) // gcs packet
{
getWPsfromstream(ref temp);
return temp;// new byte[0];
}
ushort crc = crc_calculate(temp, temp.Length - 2);
if (temp.Length > 5 && temp[0] == 254)
{
crc = crc_accumulate(MAVLINK_MESSAGE_CRCS[temp[5]], crc);
}
if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]])
{
Console.WriteLine("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
return new byte[0];
}
if (temp.Length < 5 || temp[temp.Length - 1] != (crc >> 8) || temp[temp.Length - 2] != (crc & 0xff))
{
int packetno = 0;
if (temp.Length > 5)
{
packetno = temp[5];
}
Console.WriteLine("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno);
return new byte[0];
}
try
{
if ((temp[0] == 'U' || temp[0] == 254) && temp.Length >= temp[1])
{
if (temp[2] != ((recvpacketcount + 1) % 0x100))
{
synclost++; // actualy sync loss's
if (temp[2] < ((recvpacketcount + 1) % 0x100))
{
packetslost += 0x100 - recvpacketcount + temp[2];
}
else
{
packetslost += temp[2] - recvpacketcount;
}
Console.WriteLine("lost {0} pkts {1}", temp[2], (int)packetslost);
}
packetsnotlost++;
recvpacketcount = temp[2];
//MAVLINK_MSG_ID_GPS_STATUS
//if (temp[5] == MAVLINK_MSG_ID_GPS_STATUS)
// Console.Write(temp[5] + " " + DateTime.Now.Millisecond + " " + packetspersecond[temp[5]] + " " + (DateTime.Now - packetspersecondbuild[temp[5]]).TotalMilliseconds + " \n");
if (double.IsInfinity(packetspersecond[temp[5]]))
packetspersecond[temp[5]] = 0;
packetspersecond[temp[5]] = (((1000 / ((DateTime.Now - packetspersecondbuild[temp[5]]).TotalMilliseconds) + packetspersecond[temp[5]]) / 2));
packetspersecondbuild[temp[5]] = DateTime.Now;
//Console.WriteLine("Packet {0}",temp[5]);
// store packet history
lock (objlock)
{
packets[temp[5]] = temp;
}
if (debugmavlink)
DebugPacket(temp);
if (temp[5] == MAVLink.MAVLINK_MSG_ID_STATUSTEXT) // status text
{
string logdata = Encoding.ASCII.GetString(temp, 7, temp.Length - 7);
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
Console.WriteLine(DateTime.Now + " " + logdata);
if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
{
//MainV2.talk.SpeakAsync(logdata);
}
}
getWPsfromstream(ref temp);
try
{
if (logfile != null)
{
lock (logwritelock)
{
byte[] datearray = BitConverter.GetBytes((UInt64)((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000)); //ASCIIEncoding.ASCII.GetBytes(DateTime.Now.ToBinary() + ":");
Array.Reverse(datearray);
logfile.Write(datearray, 0, datearray.Length);
logfile.Write(temp, 0, temp.Length);
}
}
}
catch { }
}
}
catch { }
lastvalidpacket = DateTime.Now;
// Console.Write((DateTime.Now - start).TotalMilliseconds.ToString("00.000") + "\t" + temp.Length + " \r");
return temp;
}
/// <summary>
/// Used to extract mission from log file
/// </summary>
/// <param name="temp">packet</param>
void getWPsfromstream(ref byte[] temp)
{
#if MAVLINK10
if (temp[5] == MAVLINK_MSG_ID_MISSION_COUNT)
{
// clear old
wps = new PointLatLngAlt[wps.Length];
}
if (temp[5] == MAVLink.MAVLINK_MSG_ID_MISSION_ITEM)
{
__mavlink_mission_item_t wp = new __mavlink_mission_item_t();
object structtemp = (object)wp;
//Array.Copy(buffer, 6, buffer, 0, buffer.Length - 6);
ByteArrayToStructure(temp, ref structtemp, 6);
wp = (__mavlink_mission_item_t)(structtemp);
#else
if (temp[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
{
// clear old
wps = new PointLatLngAlt[wps.Length];
}
if (temp[5] == MAVLink.MAVLINK_MSG_ID_WAYPOINT)
{
__mavlink_waypoint_t wp = new __mavlink_waypoint_t();
object structtemp = (object)wp;
//Array.Copy(buffer, 6, buffer, 0, buffer.Length - 6);
ByteArrayToStructure(temp, ref structtemp, 6);
wp = (__mavlink_waypoint_t)(structtemp);
#endif
wps[wp.seq] = new PointLatLngAlt(wp.x, wp.y, wp.z, wp.seq.ToString());
}
}
public PointLatLngAlt getFencePoint(int no, ref int total)
{
byte[] buffer;
MainV2.givecomport = true;
PointLatLngAlt plla = new PointLatLngAlt();
__mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t();
req.idx = (byte)no;
req.target_component = compid;
req.target_system = sysid;
// request point
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getFencePoint");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
{
MainV2.givecomport = false;
__mavlink_fence_point_t fp = new __mavlink_fence_point_t();
object structtemp = (object)fp;
ByteArrayToStructure(buffer, ref structtemp, 6);
fp = (__mavlink_fence_point_t)(structtemp);
plla.Lat = fp.lat;
plla.Lng = fp.lng;
plla.Tag = fp.idx.ToString();
total = fp.count;
return plla;
}
}
}
}
public bool setFencePoint(byte index, PointLatLngAlt plla, byte fencepointcount)
{
__mavlink_fence_point_t fp = new __mavlink_fence_point_t();
fp.idx = index;
fp.count = fencepointcount;
fp.lat = (float)plla.Lat;
fp.lng = (float)plla.Lng;
fp.target_component = compid;
fp.target_system = sysid;
int retry = 3;
while (retry > 0)
{
generatePacket(MAVLINK_MSG_ID_FENCE_POINT, fp);
int counttemp = 0;
PointLatLngAlt newfp = getFencePoint(fp.idx, ref counttemp);
if (newfp.Lat == plla.Lat && newfp.Lng == fp.lng)
return true;
retry--;
}
return false;
}
byte[] readlogPacket()
{
byte[] temp = new byte[300];
sysid = 0;
int a = 0;
while (a < temp.Length && logplaybackfile.BaseStream.Position != logplaybackfile.BaseStream.Length)
{
temp[a] = (byte)logplaybackfile.BaseStream.ReadByte();
//Console.Write((char)temp[a]);
if (temp[a] == ':')
{
break;
}
a++;
if (temp[0] != '-')
{
a = 0;
}
}
//Console.Write('\n');
//Encoding.ASCII.GetString(temp, 0, a);
string datestring = Encoding.ASCII.GetString(temp, 0, a);
//Console.WriteLine(datestring);
long date = Int64.Parse(datestring);
DateTime date1 = DateTime.FromBinary(date);
lastlogread = date1;
int length = 5;
a = 0;
while (a < length)
{
temp[a] = (byte)logplaybackfile.BaseStream.ReadByte();
if (a == 1)
{
length = temp[1] + 6 + 2 + 1;
}
a++;
}
return temp;
}
byte[] readlogPacketMavlink()
{
byte[] temp = new byte[300];
sysid = 0;
//byte[] datearray = BitConverter.GetBytes((ulong)(DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds);
byte[] datearray = new byte[8];
logplaybackfile.BaseStream.Read(datearray, 0, datearray.Length);
Array.Reverse(datearray);
DateTime date1 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
UInt64 dateint = BitConverter.ToUInt64(datearray, 0);
date1 = date1.AddMilliseconds(dateint / 1000);
lastlogread = date1.ToLocalTime();
MainV2.cs.datetime = lastlogread;
int length = 5;
int a = 0;
while (a < length)
{
temp[a] = (byte)logplaybackfile.ReadByte();
if (temp[0] != 'U' && temp[0] != 254)
{
Console.WriteLine("lost sync byte {0} pos {1}", temp[0], logplaybackfile.BaseStream.Position);
a = 0;
continue;
}
if (a == 1)
{
length = temp[1] + 6 + 2; // 6 header + 2 checksum
}
a++;
}
return temp;
}
const int X25_INIT_CRC = 0xffff;
const int X25_VALIDATE_CRC = 0xf0b8;
ushort crc_accumulate(byte b, ushort crc)
{
unchecked
{
byte ch = (byte)(b ^ (byte)(crc & 0x00ff));
ch = (byte)(ch ^ (ch << 4));
return (ushort)((crc >> 8) ^ (ch << 8) ^ (ch << 3) ^ (ch >> 4));
}
}
ushort crc_calculate(byte[] pBuffer, int length)
{
if (length < 1)
{
return 0xffff;
}
// For a "message" of length bytes contained in the unsigned char array
// pointed to by pBuffer, calculate the CRC
// crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
ushort crcTmp;
int i;
crcTmp = X25_INIT_CRC;
for (i = 1; i < length; i++) // skips header U
{
crcTmp = crc_accumulate(pBuffer[i], crcTmp);
//Console.WriteLine(crcTmp + " " + pBuffer[i] + " " + length);
}
return (crcTmp);
}
byte[] StructureToByteArray(object obj)
{
int len = Marshal.SizeOf(obj);
byte[] arr = new byte[len];
IntPtr ptr = Marshal.AllocHGlobal(len);
Marshal.StructureToPtr(obj, ptr, true);
Marshal.Copy(ptr, arr, 0, len);
Marshal.FreeHGlobal(ptr);
return arr;
}
public static void ByteArrayToStructure(byte[] bytearray, ref object obj, int startoffset)
{
if (bytearray[0] == 'U')
{
ByteArrayToStructureEndian(bytearray, ref obj, startoffset);
}
else
{
int len = Marshal.SizeOf(obj);
IntPtr i = Marshal.AllocHGlobal(len);
// create structure from ptr
obj = Marshal.PtrToStructure(i, obj.GetType());
try
{
// copy byte array to ptr
Marshal.Copy(bytearray, startoffset, i, len);
}
catch (Exception ex) { Console.WriteLine("ByteArrayToStructure FAIL: error " + ex.ToString()); }
obj = Marshal.PtrToStructure(i, obj.GetType());
Marshal.FreeHGlobal(i);
}
}
public static void ByteArrayToStructureEndian(byte[] bytearray, ref object obj, int startoffset)
{
int len = Marshal.SizeOf(obj);
IntPtr i = Marshal.AllocHGlobal(len);
byte[] temparray = (byte[])bytearray.Clone();
// create structure from ptr
obj = Marshal.PtrToStructure(i, obj.GetType());
// do endian swap
object thisBoxed = obj;
Type test = thisBoxed.GetType();
int reversestartoffset = startoffset;
// Enumerate each structure field using reflection.
foreach (var field in test.GetFields())
{
// field.Name has the field's name.
object fieldValue = field.GetValue(thisBoxed); // Get value
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
if (typeCode != TypeCode.Object)
{
Array.Reverse(temparray, reversestartoffset, Marshal.SizeOf(fieldValue));
reversestartoffset += Marshal.SizeOf(fieldValue);
}
else
{
reversestartoffset += ((byte[])fieldValue).Length;
}
}
try
{
// copy byte array to ptr
Marshal.Copy(temparray, startoffset, i, len);
}
catch (Exception ex) { Console.WriteLine("ByteArrayToStructure FAIL: error " + ex.ToString()); }
obj = Marshal.PtrToStructure(i, obj.GetType());
Marshal.FreeHGlobal(i);
}
public short swapend11(short value)
{
int len = Marshal.SizeOf(value);
byte[] temp = BitConverter.GetBytes(value);
Array.Reverse(temp);
return BitConverter.ToInt16(temp, 0);
}
public ushort swapend11(ushort value)
{
int len = Marshal.SizeOf(value);
byte[] temp = BitConverter.GetBytes(value);
Array.Reverse(temp);
return BitConverter.ToUInt16(temp, 0);
}
public ulong swapend11(ulong value)
{
int len = Marshal.SizeOf(value);
byte[] temp = BitConverter.GetBytes(value);
Array.Reverse(temp);
return BitConverter.ToUInt64(temp, 0);
}
public float swapend11(float value)
{
byte[] temp = BitConverter.GetBytes(value);
if (temp[0] == 0xff)
temp[0] = 0xfe;
Array.Reverse(temp);
return BitConverter.ToSingle(temp, 0);
}
public int swapend11(int value)
{
int len = Marshal.SizeOf(value);
byte[] temp = BitConverter.GetBytes(value);
Array.Reverse(temp);
return BitConverter.ToInt32(temp, 0);
}
public double swapend11(double value)
{
int len = Marshal.SizeOf(value);
byte[] temp = BitConverter.GetBytes(value);
Array.Reverse(temp);
return BitConverter.ToDouble(temp, 0);
}
}
}
Reference in New Issue View Git Blame Copy Permalink