public MAVLinkMessage readPacket()
{
byte[] buffer = new byte[MAVLINK_MAX_PACKET_LEN + 25];
int count = 0;
int length = 0;
int readcount = 0;
MAVLinkMessage message = null;
BaseStream.ReadTimeout = 1200; // 1200 ms between chars - the gps detection requires this.
DateTime start = DateTime.Now;
//Console.WriteLine(DateTime.Now.Millisecond + " SR0 " + BaseStream.BytesToRead);
lock (readlock)
{
lastbad = new byte[2];
//Console.WriteLine(DateTime.Now.Millisecond + " SR1 " + BaseStream.BytesToRead);
while (BaseStream.IsOpen || logreadmode)
{
try
{
if (readcount > 300)
{
break;
}
readcount++;
if (logreadmode)
{
message = readlogPacketMavlink();
buffer = message.buffer;
if (buffer == null || buffer.Length == 0)
return MAVLinkMessage.Invalid;
}
else
{
// time updated for internal reference
MAV.cs.datetime = DateTime.Now;
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
// Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
while (BaseStream.IsOpen && BaseStream.BytesToRead <= 0)
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 1 wait time out btr {0} len {1}", BaseStream.BytesToRead,
length);
throw new TimeoutException("Timeout");
}
System.Threading.Thread.Sleep(1);
//Console.WriteLine(DateTime.Now.Millisecond + " SR0b " + BaseStream.BytesToRead);
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
if (BaseStream.IsOpen)
{
BaseStream.Read(buffer, count, 1);
if (rawlogfile != null && rawlogfile.CanWrite)
rawlogfile.WriteByte(buffer[count]);
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR1b " + BaseStream.BytesToRead);
}
}
catch (Exception e)
{
log.Info("MAVLink readpacket read error: " + e.ToString());
break;
}
// check if looks like a mavlink packet and check for exclusions and write to console
if (buffer[0] != 0xfe && buffer[0] != 'U' && buffer[0] != 0xfd)
{
if (buffer[0] >= 0x20 && buffer[0] <= 127 || buffer[0] == '\n' || buffer[0] == '\r')
{
// check for line termination
if (buffer[0] == '\r' || buffer[0] == '\n')
{
// check new line is valid
if (buildplaintxtline.Length > 3)
plaintxtline = buildplaintxtline;
// reset for next line
buildplaintxtline = "";
}
TCPConsole.Write(buffer[0]);
Console.Write((char)buffer[0]);
buildplaintxtline += (char)buffer[0];
}
_bytesReceivedSubj.OnNext(1);
count = 0;
lastbad[0] = lastbad[1];
lastbad[1] = buffer[0];
buffer[1] = 0;
continue;
}
// reset count on valid packet
readcount = 0;
//Console.WriteLine(DateTime.Now.Millisecond + " SR2 " + BaseStream.BytesToRead);
var mavlinkv2 = buffer[0] == MAVLINK_STX ? true : false;
int headerlength = mavlinkv2 ? MAVLINK_CORE_HEADER_LEN : MAVLINK_CORE_HEADER_MAVLINK1_LEN;
int headerlengthstx = headerlength + 1;
// check for a header
if (buffer[0] == 0xfe || buffer[0] == 0xfd || buffer[0] == 'U')
{
// if we have the header, and no other chars, get the length and packet identifiers
if (count == 0 && !logreadmode)
{
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.IsOpen && BaseStream.BytesToRead < headerlength)
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 2 wait time out btr {0} len {1}", BaseStream.BytesToRead,
length);
throw new TimeoutException("Timeout");
}
System.Threading.Thread.Sleep(1);
}
int read = BaseStream.Read(buffer, 1, headerlength);
count = read;
if (rawlogfile != null && rawlogfile.CanWrite)
rawlogfile.Write(buffer, 1, read);
}
// packet length
if (buffer[0] == 0xfd)
{
length = buffer[1] + headerlengthstx + 2 - 2; // data + header + checksum - magic - length
if ((buffer[2] & MAVLINK_IFLAG_SIGNED) > 0)
{
length += MAVLINK_SIGNATURE_BLOCK_LEN;
}
}
else
{
length = buffer[1] + headerlengthstx + 2 - 2; // data + header + checksum - U - length
}
if (count >= headerlength || logreadmode)
{
try
{
if (logreadmode)
{
}
else
{
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.IsOpen && BaseStream.BytesToRead < (length - count))
{
if (DateTime.Now > to)
{
log.InfoFormat("MAVLINK: 3 wait time out btr {0} len {1}",
BaseStream.BytesToRead, length);
break;
}
System.Threading.Thread.Sleep(1);
}
if (BaseStream.IsOpen)
{
int read = BaseStream.Read(buffer, headerlengthstx, length - (headerlengthstx-2));
if (rawlogfile != null && rawlogfile.CanWrite)
{
// write only what we read, temp is the whole packet, so 6-end
rawlogfile.Write(buffer, headerlengthstx, read);
}
}
}
count = length + 2;
}
catch
{
break;
}
break;
}
}
count++;
if (count == 299)
break;
}
//Console.WriteLine(DateTime.Now.Millisecond + " SR3 " + BaseStream.BytesToRead);
} // end readlock
// resize the packet to the correct length
Array.Resize<byte>(ref buffer, count);
// add byte count
_bytesReceivedSubj.OnNext(buffer.Length);
// update bps statistics
if (_bpstime.Second != DateTime.Now.Second)
{
long btr = 0;
if (BaseStream != null && BaseStream.IsOpen)
{
btr = BaseStream.BytesToRead;
}
else if (logreadmode)
{
btr = logplaybackfile.BaseStream.Length - logplaybackfile.BaseStream.Position;
}
Console.Write("bps {0} loss {1} left {2} mem {3} mav2 {4} sign {5} mav1 {6} mav2 {7} signed {8} \n", _bps1, MAV.synclost, btr,
System.GC.GetTotalMemory(false)/1024/1024.0, MAV.mavlinkv2, MAV.signing, _mavlink1count, _mavlink2count, _mavlink2signed);
_bps2 = _bps1; // prev sec
_bps1 = 0; // current sec
_bpstime = DateTime.Now;
_mavlink1count = 0;
_mavlink2count = 0;
_mavlink2signed = 0;
}
_bps1 += buffer.Length;
if (buffer.Length == 0)
return MAVLinkMessage.Invalid;
if (message == null)
message = new MAVLinkMessage(buffer);
uint msgid = message.msgid;
message_info msginfo = MAVLINK_MESSAGE_INFOS.GetMessageInfo(msgid);
// calc crc
var sigsize = (message.sig != null) ? MAVLINK_SIGNATURE_BLOCK_LEN : 0;
ushort crc = MavlinkCRC.crc_calculate(buffer, message.Length - sigsize-MAVLINK_NUM_CHECKSUM_BYTES);
// calc extra bit of crc for mavlink 1.0/2.0
if (message.header == 0xfe || message.header == 0xfd)
{
crc = MavlinkCRC.crc_accumulate(msginfo.crc, crc);
}
// check message length size vs table (mavlink1 explicit size check | mavlink2 oversize check, no undersize because of 0 trimming)
if ((!message.ismavlink2 && message.payloadlength != msginfo.minlength) || (message.ismavlink2 && message.payloadlength > msginfo.length))
{
if (msginfo.length == 0) // pass for unknown packets
{
log.InfoFormat("unknown packet type {0}", message.msgid);
}
else
{
log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", buffer.Length, message.msgid);
return MAVLinkMessage.Invalid;
}
}
// check crc
if ((message.crc16 >> 8) != (crc >> 8) ||
(message.crc16 & 0xff) != (crc & 0xff))
{
if (buffer.Length > 5 && msginfo.name != null)
log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} vs {4} pkno {2} {3}", buffer.Length,
crc, message.msgid, msginfo.name.ToString(),
message.crc16);
if (logreadmode)
log.InfoFormat("bad packet pos {0} ", logplaybackfile.BaseStream.Position);
return MAVLinkMessage.Invalid;
}
byte sysid = message.sysid;
byte compid = message.compid;
byte packetSeqNo = message.seq;
// create a state for any sysid/compid includes gcs on log playback
if (!MAVlist.Contains(sysid, compid))
{
// create an item - hidden
MAVlist.AddHiddenList(sysid, compid);
// prevent packetloss counter on connect
MAVlist[sysid, compid].recvpacketcount = unchecked(packetSeqNo - (byte)1);
}
// once set it cannot be reverted
if (!MAVlist[sysid, compid].mavlinkv2)
MAVlist[sysid, compid].mavlinkv2 = message.buffer[0] == MAVLINK_STX ? true : false;
// stat count
if (message.buffer[0] == MAVLINK_STX)
_mavlink2count++;
else if (message.buffer[0] == MAVLINK_STX_MAVLINK1)
_mavlink1count++;
//check if sig was included in packet, and we are not ignoring the signature (signing isnt checked else we wont enable signing)
//logreadmode we always ignore signing as they would not be in the log if they failed the signature
if (message.sig != null && !MAVlist[sysid, compid].signingignore && !logreadmode)
{
_mavlink2signed++;
bool valid = false;
foreach (var AuthKey in MAVAuthKeys.Keys.Values)
{
using (SHA256Managed signit = new SHA256Managed())
{
signit.TransformBlock(AuthKey.Key, 0, AuthKey.Key.Length, null, 0);
signit.TransformFinalBlock(message.buffer, 0, message.Length - MAVLINK_SIGNATURE_BLOCK_LEN + 7);
var ctx = signit.Hash;
// trim to 48
Array.Resize(ref ctx, 6);
//Console.WriteLine("rec linkid {0}, time {1} {2} {3} {4} {5} {6} {7}", message.sig[0], message.sig[1], message.sig[2], message.sig[3], message.sig[4], message.sig[5], message.sig[6], message.sigTimestamp);
for (int i = 0; i < ctx.Length; i++)
{
if (ctx[i] != message.sig[7 + i])
{
// not this key, check next
continue;
}
}
// got valid key
valid = true;
MAVlist[sysid, compid].linkid = message.sig[0];
MAVlist[sysid, compid].signingKey = AuthKey.Key;
enableSigning(sysid, compid);
break;
}
}
if (!valid)
{
log.InfoFormat("Packet failed signature but passed crc");
return MAVLinkMessage.Invalid;
}
}
// packet is now verified
// extract wp's/rally/fence/camera feedback/params from stream, including gcs packets on playback
if (buffer.Length >= 5)
{
getWPsfromstream(ref message, sysid, compid);
}
// if its a gcs packet - dont process further
if (buffer.Length >= 5 && (sysid == 255 || sysid == 253) && logreadmode) // gcs packet
{
return message;
}
// update packet loss statistics
if (!logreadmode && MAVlist[sysid, compid].packetlosttimer.AddSeconds(5) < DateTime.Now)
{
MAVlist[sysid, compid].packetlosttimer = DateTime.Now;
MAVlist[sysid, compid].packetslost = (MAVlist[sysid, compid].packetslost * 0.8f);
MAVlist[sysid, compid].packetsnotlost = (MAVlist[sysid, compid].packetsnotlost * 0.8f);
}
else if (logreadmode && MAVlist[sysid, compid].packetlosttimer.AddSeconds(5) < lastlogread)
{
MAVlist[sysid, compid].packetlosttimer = lastlogread;
MAVlist[sysid, compid].packetslost = (MAVlist[sysid, compid].packetslost * 0.8f);
MAVlist[sysid, compid].packetsnotlost = (MAVlist[sysid, compid].packetsnotlost * 0.8f);
}
try
{
if ((message.header == 'U' || message.header == 0xfe || message.header == 0xfd) && buffer.Length >= message.payloadlength)
{
// check if we lost pacakets based on seqno
int expectedPacketSeqNo = ((MAVlist[sysid, compid].recvpacketcount + 1)%0x100);
{
// the second part is to work around a 3dr radio bug sending dup seqno's
if (packetSeqNo != expectedPacketSeqNo && packetSeqNo != MAVlist[sysid, compid].recvpacketcount)
{
MAVlist[sysid, compid].synclost++; // actualy sync loss's
int numLost = 0;
if (packetSeqNo < ((MAVlist[sysid, compid].recvpacketcount + 1)))
// recvpacketcount = 255 then 10 < 256 = true if was % 0x100 this would fail
{
numLost = 0x100 - expectedPacketSeqNo + packetSeqNo;
}
else
{
numLost = packetSeqNo - expectedPacketSeqNo;
}
MAVlist[sysid, compid].packetslost += numLost;
WhenPacketLost.OnNext(numLost);
if(!logreadmode)
log.InfoFormat("mav {2}-{4} seqno {0} exp {3} pkts lost {1}", packetSeqNo, numLost, sysid,
expectedPacketSeqNo,compid);
}
MAVlist[sysid, compid].packetsnotlost++;
//Console.WriteLine("{0} {1}", sysid, packetSeqNo);
MAVlist[sysid, compid].recvpacketcount = packetSeqNo;
}
WhenPacketReceived.OnNext(1);
// packet stats per mav
if (double.IsInfinity(MAVlist[sysid, compid].packetspersecond[msgid]))
MAVlist[sysid, compid].packetspersecond[msgid] = 0;
MAVlist[sysid, compid].packetspersecond[msgid] = (((1000 /
((DateTime.Now -
MAVlist[sysid, compid]
.packetspersecondbuild[msgid])
.TotalMilliseconds) +
MAVlist[sysid, compid].packetspersecond[
msgid]) / 2));
MAVlist[sysid, compid].packetspersecondbuild[msgid] = DateTime.Now;
//Console.WriteLine("Packet {0}",temp[5]);
// store packet history
lock (objlock)
{
MAVlist[sysid, compid].addPacket(message);
// 3dr radio status packet are injected into the current mav
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.RADIO_STATUS ||
msgid == (byte)MAVLink.MAVLINK_MSG_ID.RADIO)
{
MAVlist[sysidcurrent, compidcurrent].addPacket(message);
}
// adsb packets are forwarded and can be from any sysid/compid
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.ADSB_VEHICLE)
{
var adsb = message.ToStructure<MAVLink.mavlink_adsb_vehicle_t>();
var id = adsb.ICAO_address.ToString("X5");
if (MainV2.instance.adsbPlanes.ContainsKey(id))
{
// update existing
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).Lat = adsb.lat/1e7;
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).Lng = adsb.lon/1e7;
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).Alt = adsb.altitude/1000.0;
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).Heading = adsb.heading*0.01f;
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).Time = DateTime.Now;
((adsb.PointLatLngAltHdg)MainV2.instance.adsbPlanes[id]).CallSign = ASCIIEncoding.ASCII.GetString(adsb.callsign);
}
else
{
// create new plane
MainV2.instance.adsbPlanes[id] =
new adsb.PointLatLngAltHdg(adsb.lat/1e7, adsb.lon/1e7,
adsb.altitude/1000.0, adsb.heading*0.01f, id,
DateTime.Now) {CallSign = ASCIIEncoding.ASCII.GetString(adsb.callsign)};
}
}
if (msgid == (byte) MAVLink.MAVLINK_MSG_ID.COLLISION)
{
var coll = message.ToStructure<MAVLink.mavlink_collision_t>();
var id = coll.id.ToString("X5");
var coll_type = (MAVLink.MAV_COLLISION_SRC)coll.src;
var action = (MAVLink.MAV_COLLISION_ACTION)coll.action;
if (action > MAV_COLLISION_ACTION.REPORT)
{
// we are reacting to a threat
}
var threat_level = (MAVLink.MAV_COLLISION_THREAT_LEVEL)coll.threat_level;
if (MainV2.instance.adsbPlanes.ContainsKey(id))
{
((adsb.PointLatLngAltHdg) MainV2.instance.adsbPlanes[id]).ThreatLevel = threat_level;
}
}
}
// set seens sysid's based on hb packet - this will hide 3dr radio packets
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
{
mavlink_heartbeat_t hb = message.ToStructure<mavlink_heartbeat_t>();
// not a gcs
if (hb.type != (byte) MAV_TYPE.GCS)
{
// add a seen sysid
if (!MAVlist.Contains(sysid, compid, false))
{
// ensure its set from connect or log playback
MAVlist.Create(sysid, compid);
MAVlist[sysid, compid].aptype = (MAV_TYPE) hb.type;
MAVlist[sysid, compid].apname = (MAV_AUTOPILOT) hb.autopilot;
setAPType(sysid, compid);
}
// attach to the only remote device. / default to first device seen
if (MAVlist.Count == 1)
{
// set it private as compidset will trigger new mavstate
_sysidcurrent = sysid;
compidcurrent = compid;
}
}
}
// only process for active mav
if (sysidcurrent == sysid && compidcurrent == compid)
PacketReceived(message);
if (debugmavlink)
DebugPacket(message);
if (msgid == (byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT) // status text
{
var msg = message.ToStructure<MAVLink.mavlink_statustext_t>();
byte sev = msg.severity;
string logdata = Encoding.ASCII.GetString(msg.text);
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
log.Info(DateTime.Now + " " + sev + " " + logdata);
MAVlist[sysid, compid].cs.messages.Add(logdata);
// gymbals etc are a child/slave to the main sysid, this displays the children messages under the current displayed vehicle
if (sysid == sysidcurrent && compid != compidcurrent)
MAVlist[sysidcurrent, compidcurrent].cs.messages.Add(compid + " : "+logdata);
bool printit = false;
// the change of severity and the autopilot version where introduced at the same time, so any version non 0 can be used
// copter 3.4+
// plane 3.4+
if (MAVlist[sysid, compid].cs.version.Major > 0 || MAVlist[sysid, compid].cs.version.Minor >= 4)
{
if (sev <= (byte) MAV_SEVERITY.WARNING)
{
printit = true;
}
}
else
{
if (sev >= 3)
{
printit = true;
}
}
if (logdata.StartsWith("Tuning:") || logdata.StartsWith("PreArm:") || logdata.StartsWith("Arm:"))
printit = true;
if (printit)
{
MAVlist[sysid, compid].cs.messageHigh = logdata;
MAVlist[sysid, compid].cs.messageHighTime = DateTime.Now;
if (MainV2.speechEngine != null &&
MainV2.speechEngine.IsReady &&
Settings.Instance["speechenable"] != null &&
Settings.Instance["speechenable"].ToString() == "True")
{
if (speechenabled)
MainV2.speechEngine.SpeakAsync(logdata);
}
}
}
if (lastparamset != DateTime.MinValue && lastparamset.AddSeconds(10) < DateTime.Now)
{
lastparamset = DateTime.MinValue;
if (BaseStream.IsOpen)
{
doCommand(MAV_CMD.PREFLIGHT_STORAGE, 0, 0, 0, 0, 0, 0, 0, false);
}
}
try
{
if (logfile != null && logfile.CanWrite && !logreadmode)
{
lock (logfile)
{
byte[] datearray =
BitConverter.GetBytes(
(UInt64) ((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds*1000));
Array.Reverse(datearray);
logfile.Write(datearray, 0, datearray.Length);
logfile.Write(buffer, 0, buffer.Length);
if (msgid == 0)
{
// flush on heartbeat - 1 seconds
logfile.Flush();
rawlogfile.Flush();
}
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
try
{
// full rw from mirror stream
if (MirrorStream != null && MirrorStream.IsOpen)
{
MirrorStream.Write(buffer, 0, buffer.Length);
while (MirrorStream.BytesToRead > 0)
{
byte[] buf = new byte[1024];
int len = MirrorStream.Read(buf, 0, buf.Length);
if (MirrorStreamWrite)
BaseStream.Write(buf, 0, len);
}
}
}
catch
{
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
// update last valid packet receive time
MAVlist[sysid, compid].lastvalidpacket = DateTime.Now;
return message;
}
