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UDPMavlinkShim: autoconnect to mavlink udp 14550
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Linq; | ||
| using System.Net; | ||
| using System.Net.Sockets; | ||
| using System.Reflection; | ||
| using System.Text; | ||
| using log4net; | ||
|
|
||
| namespace MissionPlanner.Utilities | ||
| { | ||
| public class UDPMavlinkShim | ||
| { | ||
| private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
|
|
||
| private static UdpClient client; | ||
|
|
||
| static UDPMavlinkShim() | ||
| { | ||
| try | ||
| { | ||
| client = new UdpClient(14550, AddressFamily.InterNetwork); | ||
| client.BeginReceive(clientdata, client); | ||
| } | ||
| catch | ||
| { | ||
| } | ||
| } | ||
|
|
||
| private static void clientdata(IAsyncResult ar) | ||
| { | ||
| var client = ((UdpClient) ar.AsyncState); | ||
|
|
||
| if (client == null || client.Client == null) | ||
| return; | ||
|
|
||
| var port = ((IPEndPoint) client.Client.LocalEndPoint).Port; | ||
|
|
||
| //if (client != null) | ||
| //client.Close(); | ||
|
|
||
| try | ||
| { | ||
| var udpclient = new Comms.UdpSerial(client); | ||
|
|
||
| MainV2.instance.BeginInvoke((Action) delegate | ||
| { | ||
| if (MainV2.comPort.BaseStream.IsOpen) | ||
| { | ||
| var mav = new MAVLinkInterface(); | ||
| mav.BaseStream = udpclient; | ||
| MainV2.instance.doConnect(mav, "preset", port.ToString()); | ||
|
|
||
| MainV2.Comports.Add(mav); | ||
| } | ||
| else | ||
| { | ||
| MainV2.comPort.BaseStream = udpclient; | ||
| MainV2.instance.doConnect(MainV2.comPort, "preset", port.ToString()); | ||
| } | ||
| }); | ||
| } | ||
| catch (Exception ex) | ||
| { | ||
| log.Error(ex); | ||
| } | ||
| } | ||
|
|
||
| public static void Start() | ||
| { | ||
| } | ||
|
|
||
| public static void Stop() | ||
| { | ||
| try | ||
| { | ||
| if (client!= null) | ||
| client.Close(); | ||
| } | ||
| catch | ||
| { | ||
| } | ||
| } | ||
| } | ||
| } |