fix(params): add helper methods for ParamsClientEx.cs

asv-soft · Nov 14, 2023 · 3d770ea · 3d770ea
1 parent e8ac11d
commit 3d770ea
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Showing 6 changed files with 70 additions and 8 deletions.
diff --git a/src/Asv.Mavlink/Devices/Gbs/Client/GbsClientDevice.cs b/src/Asv.Mavlink/Devices/Gbs/Client/GbsClientDevice.cs
@@ -1,42 +1,63 @@
 #nullable enable
+using System;
 using System.Reactive.Concurrency;
 using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
+using NLog;
 
 namespace Asv.Mavlink;
 
 public class GbsClientDeviceConfig:ClientDeviceConfig
 {
     public CommandProtocolConfig Command { get; set; } = new();
     public ParamsClientExConfig Params { get; set; } = new();
+    public string SerialNumberParamName { get; set; } = "BRD_SERIAL_NUM";
 }
 public class GbsClientDevice : ClientDevice, IGbsClientDevice
 {
+    private readonly GbsClientDeviceConfig _config;
+    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
+    private readonly ParamsClientEx _params;
     public GbsClientDevice(IMavlinkV2Connection connection,
         MavlinkClientIdentity identity,
         IPacketSequenceCalculator seq,
         GbsClientDeviceConfig config,
         IScheduler? scheduler = null) : base(connection, identity,config, seq, scheduler)
     {
+        _config = config;
         Command = new CommandClient(connection, identity, seq, config.Command).DisposeItWith(Disposable);
         var gbs = new AsvGbsClient(connection,identity,seq,scheduler).DisposeItWith(Disposable);
         Gbs = new AsvGbsExClient(gbs,Heartbeat,Command).DisposeItWith(Disposable);
         var paramBase = new ParamsClient(connection, identity, seq, config.Params).DisposeItWith(Disposable);
-        Params = new ParamsClientEx(paramBase, config.Params).DisposeItWith(Disposable);
+        _params = new ParamsClientEx(paramBase, config.Params).DisposeItWith(Disposable);
     }
 
-    public IParamsClientEx Params { get; }
+    public IParamsClientEx Params => _params;
     public ICommandClient Command { get; }
     public IAsvGbsExClient Gbs { get; }
     protected override Task InternalInit()
     {
+        _params.Init(MavParamHelper.ByteWiseEncoding, ArraySegment<ParamDescription>.Empty);
         return Task.CompletedTask;
     }
 
-    protected override Task<string> GetCustomName(CancellationToken cancel)
+    protected override async Task<string> GetCustomName(CancellationToken cancel)
     {
-        return Task.FromResult("GBS");
+        try
+        {
+            if (_config.SerialNumberParamName.IsNullOrWhiteSpace() == false)
+            {
+                _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+                var serialNumber  = (int)await Params.ReadOnce(_config.SerialNumberParamName, cancel).ConfigureAwait(false);
+                return $"RTK GBS [{serialNumber:D5}]";    
+            }
+        }
+        catch (Exception e)
+        {
+            _logger.Error($"Error to get GBS serial number:{e.Message}");
+        }
+        return "RTL GBS";
     }
 
     public override DeviceClass Class => DeviceClass.GbsRtk;

diff --git a/src/Asv.Mavlink/Devices/Sdr/Client/SdrClientDevice.cs b/src/Asv.Mavlink/Devices/Sdr/Client/SdrClientDevice.cs
@@ -4,6 +4,7 @@
 using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
+using NLog;
 
 namespace Asv.Mavlink;
 
@@ -15,13 +16,17 @@ public class SdrClientDeviceConfig:ClientDeviceConfig
     public MissionClientExConfig MissionsEx { get; set; } = new();
     public ParameterClientConfig Params { get; set; } = new();
     public ParamsClientExConfig ParamsEx { get; set; } = new();
+    public string SerialNumberParamName { get; set; } = "BRD_SERIAL_NUM";
 }
 public class SdrClientDevice : ClientDevice, ISdrClientDevice
 {
+    private readonly SdrClientDeviceConfig _config;
     private readonly ParamsClientEx _params;
+    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
 
     public SdrClientDevice(IMavlinkV2Connection connection, MavlinkClientIdentity identity, SdrClientDeviceConfig config, IPacketSequenceCalculator seq, IScheduler? scheduler = null) : base(connection, identity, config, seq, scheduler)
     {
+        _config = config;
         Command = new CommandClient(connection, identity, seq, config.Command).DisposeItWith(Disposable);
         Sdr = new AsvSdrClientEx(new AsvSdrClient(connection, identity, seq), Heartbeat, Command,config.SdrEx).DisposeItWith(Disposable);
         Missions = new MissionClientEx(new MissionClient(connection, identity, seq,config.Missions), config.MissionsEx).DisposeItWith(Disposable);
@@ -33,9 +38,22 @@ protected override Task InternalInit()
         return Task.CompletedTask;
     }
 
-    protected override Task<string> GetCustomName(CancellationToken cancel)
+    protected override async Task<string> GetCustomName(CancellationToken cancel)
     {
-        return Task.FromResult("SdrPayload");
+        try
+        {
+            if (_config.SerialNumberParamName.IsNullOrWhiteSpace() == false)
+            {
+                _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+                var serialNumber  = (int)await Params.ReadOnce(_config.SerialNumberParamName, cancel).ConfigureAwait(false);
+                return $"SDR [{serialNumber:D5}]";    
+            }
+        }
+        catch (Exception e)
+        {
+            _logger.Warn($"Error to get SDR serial number:{e.Message}");
+        }
+        return "SDR Payload";
     }
     public override DeviceClass Class => DeviceClass.SdrPayload;
     public IAsvSdrClientEx Sdr { get; }

diff --git a/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArducopterClient.cs b/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArducopterClient.cs
@@ -17,7 +17,7 @@ namespace Asv.Mavlink;
 
 public class ArduCopterClient:ArduVehicle
 {
-    public static readonly Logger _logger = LogManager.GetCurrentClassLogger(); 
+    private static readonly Logger _logger = LogManager.GetCurrentClassLogger(); 
     public ArduCopterClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity, VehicleClientConfig config, IPacketSequenceCalculator seq, IScheduler? scheduler = null) 
         : base(connection, identity, config, seq, scheduler)
     {

diff --git a/src/Asv.Mavlink/Microservices/Params/Client/Ex/IParamsClientEx.cs b/src/Asv.Mavlink/Microservices/Params/Client/Ex/IParamsClientEx.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Reactive.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
@@ -8,6 +9,10 @@ namespace Asv.Mavlink;
 
 public interface IParamsClientEx
 {
+    IParamsClient Base { get; }
+    IObservable<(string, MavParamValue)> OnValueChanged { get; }
+
+
     bool IsInit { get; set; }
     /// <summary>
     /// True if params synced with remote device and local cache
@@ -47,5 +52,11 @@ public interface IParamsClientEx
     /// <param name="cancel"></param>
     /// <returns></returns>
     Task<MavParamValue> WriteOnce(string name, MavParamValue value, CancellationToken cancel = default);
+
+    public IObservable<MavParamValue> Filter(string name)
+    {
+        MavParamHelper.CheckParamName(name);
+        return OnValueChanged.Where(x=>x.Item1.Equals(name, StringComparison.InvariantCultureIgnoreCase)).Select(x=>x.Item2);
+    }
 }
 
diff --git a/src/Asv.Mavlink/Microservices/Params/Client/Ex/ParamsClientEx.cs b/src/Asv.Mavlink/Microservices/Params/Client/Ex/ParamsClientEx.cs
@@ -3,6 +3,7 @@
 using System.Collections.Immutable;
 using System.Linq;
 using System.Reactive.Linq;
+using System.Reactive.Subjects;
 using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
@@ -25,6 +26,7 @@ public class ParamsClientEx : DisposableOnceWithCancel, IParamsClientEx
     private ImmutableDictionary<string,ParamDescription> _descriptions;
     private readonly RxValue<ushort?> _remoteCount;
     private readonly RxValue<ushort> _localCount;
+    private readonly Subject<(string, MavParamValue)> _onValueChanged;
 
     public ParamsClientEx(IParamsClient client, ParamsClientExConfig config)
     {
@@ -38,8 +40,10 @@ public ParamsClientEx(IParamsClient client, ParamsClientExConfig config)
         _remoteCount = new RxValue<ushort?>(null).DisposeItWith(Disposable);
         _localCount = new RxValue<ushort>(0).DisposeItWith(Disposable);
         _paramsSource.CountChanged.Select(_=>(ushort)_).Subscribe(_localCount).DisposeItWith(Disposable);
+        _onValueChanged = new Subject<(string, MavParamValue)>().DisposeItWith(Disposable);
     }
 
+    public IObservable<(string, MavParamValue)> OnValueChanged => _onValueChanged;
     public bool IsInit { get; set; }
 
     public void Init(IMavParamEncoding converter, IEnumerable<ParamDescription> existDescription)
@@ -63,6 +67,10 @@ private void OnUpdate(IList<ParamValuePayload> items)
                 if (exist.HasValue)
                 {
                     exist.Value.Update(value);
+                    if (_onValueChanged.HasObservers)
+                    {
+                        _onValueChanged.OnNext((name, _converter.ConvertFromMavlinkUnion(value.ParamValue, value.ParamType)));
+                    }
                 }
                 else
                 {
@@ -73,6 +81,10 @@ private void OnUpdate(IList<ParamValuePayload> items)
                     var newItem = new ParamItem(Base, _converter, desc, value);
                     _.AddOrUpdate(newItem);
                     newItem.IsSynced.Subscribe(OnSyncedChanged);
+                    if (_onValueChanged.HasObservers)
+                    {
+                        _onValueChanged.OnNext((name, _converter.ConvertFromMavlinkUnion(value.ParamValue, value.ParamType)));
+                    }
                 }
             }
 

diff --git a/src/Asv.Mavlink/Microservices/Params/Tools/MavParamHelper.cs b/src/Asv.Mavlink/Microservices/Params/Tools/MavParamHelper.cs
@@ -23,7 +23,7 @@ public static void CheckParamName(string name)
             throw new ArgumentException(
                 $"Param name '{name}' not match regex '{ParamNameRegexString}')");
     }
-
+   
     public static IMavParamEncoding GetEncoding(MavParamEncodingType type)
     {
         return type switch