public FileStream GetLog(ushort no)
{
FileStream ms = new FileStream(Path.GetTempFileName(), FileMode.Create, FileAccess.ReadWrite);
Hashtable set = new Hashtable();
giveComport = true;
MAVLinkMessage buffer;
if (Progress != null)
{
Progress((int) 0, "");
}
uint totallength = 0;
uint ofs = 0;
uint bps = 0;
DateTime bpstimer = DateTime.Now;
mavlink_log_request_data_t req = new mavlink_log_request_data_t();
req.target_component = MAV.compid;
req.target_system = MAV.sysid;
req.id = no;
req.ofs = ofs;
// entire log
req.count = 0xFFFFFFFF;
// request point
generatePacket((byte) MAVLINK_MSG_ID.LOG_REQUEST_DATA, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(3000) > DateTime.Now))
{
if (retrys > 0)
{
log.Info("GetLog Retry " + retrys + " - giv com " + giveComport);
generatePacket((byte) MAVLINK_MSG_ID.LOG_REQUEST_DATA, req);
start = DateTime.Now;
retrys--;
continue;
}
giveComport = false;
throw new TimeoutException("Timeout on read - GetLog");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer.msgid == (byte) MAVLINK_MSG_ID.LOG_DATA)
{
var data = buffer.ToStructure<mavlink_log_data_t>();
if (data.id != no)
continue;
// reset retrys
retrys = 3;
start = DateTime.Now;
bps += data.count;
// record what we have received
set[(data.ofs/90).ToString()] = 1;
ms.Seek((long) data.ofs, SeekOrigin.Begin);
ms.Write(data.data, 0, data.count);
// update new start point
req.ofs = data.ofs + data.count;
if (bpstimer.Second != DateTime.Now.Second)
{
if (Progress != null)
{
Progress((int) req.ofs, "");
}
//Console.WriteLine("log dl bps: " + bps.ToString());
bpstimer = DateTime.Now;
bps = 0;
}
// if data is less than max packet size or 0 > exit
if (data.count < 90 || data.count == 0)
{
totallength = data.ofs + data.count;
log.Info("start fillin len " + totallength + " count " + set.Count + " datalen " +
data.count);
break;
}
}
}
}
log.Info("set count " + set.Count);
log.Info("count total " + ((totallength)/90 + 1));
log.Info("totallength " + totallength);
log.Info("current length " + ms.Length);
while (true)
{
if (totallength == ms.Length && set.Count >= ((totallength) / 90 + 1))
{
giveComport = false;
return ms;
}
if (!(start.AddMilliseconds(200) > DateTime.Now))
{
for (int a = 0; a < ((totallength)/90 + 1); a++)
{
if (!set.ContainsKey(a.ToString()))
{
// request large chunk if they are back to back
uint bytereq = 90;
int b = a + 1;
while (!set.ContainsKey(b.ToString()))
{
bytereq += 90;
b++;
}
req.ofs = (uint) (a*90);
req.count = bytereq;
log.Info("req missing " + req.ofs + " " + req.count);
generatePacket((byte) MAVLINK_MSG_ID.LOG_REQUEST_DATA, req);
start = DateTime.Now;
break;
}
}
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer.msgid == (byte) MAVLINK_MSG_ID.LOG_DATA)
{
var data = buffer.ToStructure<mavlink_log_data_t>();
if (data.id != no)
continue;
// reset retrys
retrys = 3;
start = DateTime.Now;
bps += data.count;
// record what we have received
set[(data.ofs/90).ToString()] = 1;
ms.Seek((long)data.ofs, SeekOrigin.Begin);
ms.Write(data.data, 0, data.count);
// update new start point
req.ofs = data.ofs + data.count;
if (bpstimer.Second != DateTime.Now.Second)
{
if (Progress != null)
{
Progress((int) req.ofs, "");
}
//Console.WriteLine("log dl bps: " + bps.ToString());
bpstimer = DateTime.Now;
bps = 0;
}
// check if we have next set and invalidate to request next packets
if (set.ContainsKey(((data.ofs/90) + 1).ToString()))
{
start = DateTime.MinValue;
}
// if data is less than max packet size or 0 > exit
if (data.count < 90 || data.count == 0)
{
continue;
}
}
}
}
}
