| public DebugPacket ( MAVLinkMessage datin, string &text, bool PrintToConsole, string delimeter = " " ) : object | ||
| datin | MAVLinkMessage | packet byte array |
| text | string | |
| PrintToConsole | bool | |
| delimeter | string | |
| return | object | |
public object DebugPacket(MAVLinkMessage datin, ref string text, bool PrintToConsole, string delimeter = " ")
{
string textoutput = "";
try
{
if (datin.Length > 5)
{
textoutput =
string.Format(
"{0,2:X}{8}{1,2:X}{8}{2,2:X}{8}{3,2:X}{8}{4,2:X}{8}{5,2:X}{8}{6,2:X}{8}{7,6:X}{8}",
datin.header,
datin.payloadlength, datin.incompat_flags, datin.compat_flags, datin.seq, datin.sysid,
datin.compid, datin.msgid, delimeter);
object data = datin.data;
Type test = data.GetType();
if (PrintToConsole)
{
textoutput = textoutput + test.Name + delimeter;
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 + delimeter;
if (fieldValue.GetType() == typeof (byte[]))
{
try
{
byte[] crap = (byte[]) fieldValue;
foreach (byte fiel in crap)
{
if (fiel == 0)
{
break;
}
else
{
textoutput = textoutput + (char) fiel;
}
}
}
catch
{
}
}
if (fieldValue.GetType() == typeof (short[]))
{
try
{
short[] crap = (short[]) fieldValue;
foreach (short fiel in crap)
{
if (fiel == 0)
{
break;
}
else
{
textoutput = textoutput + Convert.ToString(fiel, 16) + "|";
}
}
}
catch
{
}
}
textoutput = textoutput + delimeter;
}
else
{
textoutput = textoutput + field.Name + delimeter + fieldValue.ToString() + delimeter;
}
}
var sig = "";
if (datin.sig != null)
sig = Convert.ToBase64String(datin.sig);
textoutput = textoutput + delimeter + "sig " + sig + delimeter + "Len" + delimeter + datin.Length + "\r\n";
if (PrintToConsole)
Console.Write(textoutput);
if (text != null)
text = textoutput;
}
return data;
}
}
catch
{
textoutput = textoutput + "\r\n";
}
return null;
}
| MAVLinkInterface::DebugPacket ( MAVLinkMessage datin ) : object | |
| MAVLinkInterface::DebugPacket ( MAVLinkMessage datin, bool PrintToConsole ) : object | |
| MAVLinkInterface::DebugPacket ( MAVLinkMessage datin, string &text ) : object |
public static string tlogToCSV(string filepath)
{
CurrentState.SpeedUnit = "m/s";
CurrentState.DistanceUnit = "m";
MAVLinkInterface proto = new MAVLinkInterface();
OpenFileDialog openFileDialog1 = new OpenFileDialog();
string LogFilePath;
openFileDialog1.FileName = filepath;
foreach (string logfile in openFileDialog1.FileNames)
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex) { log.Debug(ex.ToString()); }
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".csv");
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
string text = "";
mine.DebugPacket(packet, ref text, true, ",");
sw.Write(mine.lastlogread.ToString("yyyy-MM-ddTHH:mm:ss.fff") + "," + text);
}
sw.Close();
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
LogFilePath = (Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + (Path.GetFileNameWithoutExtension(logfile) + ".csv"));
return LogFilePath;
}
}
return null;
}
