-
Notifications
You must be signed in to change notification settings - Fork 2.5k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
1 changed file
with
142 additions
and
108 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,108 +1,142 @@ | ||
| using System; | ||
| using System.IO; | ||
| using System.Linq; | ||
| using System.Net; | ||
| using System.Net.Sockets; | ||
| using System.Threading; | ||
|
|
||
| namespace Mock | ||
| { | ||
| class Program | ||
| { | ||
| static void Main(string[] args) | ||
| { | ||
| var mavlinkudp = new UdpClient(14550); | ||
| var mavparse = new MAVLink.MavlinkParse(); | ||
| var seqno = 0; | ||
| IPEndPoint ipEP = new IPEndPoint(IPAddress.Any, 0); | ||
|
|
||
|
|
||
| while (true) | ||
| { | ||
| while (mavlinkudp.Available > 0) | ||
| { | ||
| ipEP = new IPEndPoint(IPAddress.Any, 0); | ||
| try | ||
| { | ||
| var rawpacket = mavlinkudp.Receive(ref ipEP); | ||
|
|
||
| var packet = mavparse.ReadPacket(new MemoryStream(rawpacket)); | ||
| Console.WriteLine(packet); | ||
| } | ||
| catch | ||
| { | ||
| continue; | ||
| } | ||
| } | ||
|
|
||
| if (ipEP.Address == IPAddress.Any) | ||
| { | ||
| Thread.Sleep(100); | ||
| continue; | ||
| } | ||
|
|
||
| var sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, | ||
| new MAVLink.mavlink_heartbeat_t() | ||
| { | ||
| autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA, | ||
| base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED, | ||
| system_status = (byte)MAVLink.MAV_STATE.ACTIVE, | ||
| type = (byte)MAVLink.MAV_TYPE.QUADROTOR | ||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_BASIC_ID, | ||
| new MAVLink.mavlink_open_drone_id_basic_id_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_LOCATION, | ||
| new MAVLink.mavlink_open_drone_id_location_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SELF_ID, | ||
| new MAVLink.mavlink_open_drone_id_self_id_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM, | ||
| new MAVLink.mavlink_open_drone_id_system_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM_UPDATE, | ||
| new MAVLink.mavlink_open_drone_id_system_update_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_OPERATOR_ID, | ||
| new MAVLink.mavlink_open_drone_id_operator_id_t() | ||
| { | ||
|
|
||
| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| Thread.Sleep(1000); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| internal struct mavlink_vfr_hud_EDIT_t | ||
| { | ||
| } | ||
| } | ||
| using System; | ||
| using System.IO; | ||
| using System.Linq; | ||
| using System.Net; | ||
| using System.Net.Sockets; | ||
| using System.Threading; | ||
|
|
||
| namespace Mock | ||
| { | ||
| class Program | ||
| { | ||
| static void Main(string[] args) | ||
| { | ||
| var mavlinkudp = new UdpClient(14550); | ||
| var mavparse = new MAVLink.MavlinkParse(); | ||
| var seqno = 0; | ||
| IPEndPoint ipEP = new IPEndPoint(IPAddress.Any, 0); | ||
|
|
||
|
|
||
| while (true) | ||
| { | ||
| try | ||
| { | ||
| while (mavlinkudp.Available > 0) | ||
| { | ||
| ipEP = new IPEndPoint(IPAddress.Any, 0); | ||
| try | ||
| { | ||
| var rawpacket = mavlinkudp.Receive(ref ipEP); | ||
|
|
||
| var packet = mavparse.ReadPacket(new MemoryStream(rawpacket)); | ||
| Console.WriteLine(packet); | ||
| } | ||
| catch | ||
| { | ||
| continue; | ||
| } | ||
| } | ||
|
|
||
| ipEP = new IPEndPoint(IPAddress.Parse("192.168.144.10"), 14553); | ||
|
|
||
| if (ipEP.Address == IPAddress.Any) | ||
| { | ||
| Thread.Sleep(100); | ||
| continue; | ||
| } | ||
|
|
||
| var sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, | ||
| new MAVLink.mavlink_heartbeat_t() | ||
| { | ||
| autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA, | ||
| base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED, | ||
| system_status = (byte)MAVLink.MAV_STATE.ACTIVE, | ||
| type = (byte)MAVLink.MAV_TYPE.QUADROTOR | ||
| }, false, 1, 1, seqno++); | ||
| //mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_BASIC_ID, | ||
| new MAVLink.mavlink_open_drone_id_basic_id_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ALL, | ||
| target_system = 42, | ||
| id_or_mac = new byte[] { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, (byte)DateTime.Now.Second }, | ||
| id_type = (byte)MAVLink.MAV_ODID_ID_TYPE.SERIAL_NUMBER, | ||
| ua_type = (byte)MAVLink.MAV_ODID_UA_TYPE.HELICOPTER_OR_MULTIROTOR, | ||
|
|
||
|
|
||
|
|
||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_LOCATION, | ||
| new MAVLink.mavlink_open_drone_id_location_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ALL, | ||
| target_system = 42, | ||
| latitude = (int)(47.3980398 * 1e7), | ||
| longitude = (int)(8.5455728 * 1e7), | ||
| altitude_barometric = 100, | ||
| altitude_geodetic = 100, | ||
| height = 100, | ||
| timestamp = (float)DateTime.UtcNow.Second | ||
|
|
||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
|
|
||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SELF_ID, | ||
| new MAVLink.mavlink_open_drone_id_self_id_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ALL, | ||
| target_system = 42, | ||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM, | ||
| new MAVLink.mavlink_open_drone_id_system_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ALL, | ||
| target_system = 42, | ||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM_UPDATE, | ||
| new MAVLink.mavlink_open_drone_id_system_update_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ODID_TXRX_1, | ||
| target_system = 42, | ||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_OPERATOR_ID, | ||
| new MAVLink.mavlink_open_drone_id_operator_id_t() | ||
| { | ||
| target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_ALL, | ||
| target_system = 42, | ||
|
|
||
| }, false, 255, 190, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
|
|
||
| Thread.Sleep(1000); | ||
| } | ||
| catch (Exception ex) | ||
| { | ||
| Console.WriteLine(ex); | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| internal struct mavlink_vfr_hud_EDIT_t | ||
| { | ||
| } | ||
| } |