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