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| <Project Sdk="Microsoft.NET.Sdk"> | ||
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| <PropertyGroup> | ||
| <OutputType>Exe</OutputType> | ||
| <TargetFramework>net7.0</TargetFramework> | ||
| <NoWarn>1701;1702;NU1605</NoWarn> | ||
| </PropertyGroup> | ||
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| <ItemGroup> | ||
| <ProjectReference Include="..\Mavlink\MAVLink.csproj" /> | ||
| </ItemGroup> | ||
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| </Project> |
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| using System; | ||
| using System.IO; | ||
| using System.Linq; | ||
| using System.Net; | ||
| using System.Net.Sockets; | ||
| using System.Threading; | ||
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| 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); | ||
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| while (true) | ||
| { | ||
| while (mavlinkudp.Available > 0) | ||
| { | ||
| ipEP = new IPEndPoint(IPAddress.Any, 0); | ||
| try | ||
| { | ||
| var rawpacket = mavlinkudp.Receive(ref ipEP); | ||
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| var packet = mavparse.ReadPacket(new MemoryStream(rawpacket)); | ||
| Console.WriteLine(packet); | ||
| } | ||
| catch | ||
| { | ||
| continue; | ||
| } | ||
| } | ||
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| if (ipEP.Address == IPAddress.Any) | ||
| { | ||
| Thread.Sleep(100); | ||
| continue; | ||
| } | ||
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| 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); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_BASIC_ID, | ||
| new MAVLink.mavlink_open_drone_id_basic_id_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_LOCATION, | ||
| new MAVLink.mavlink_open_drone_id_location_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SELF_ID, | ||
| new MAVLink.mavlink_open_drone_id_self_id_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM, | ||
| new MAVLink.mavlink_open_drone_id_system_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_SYSTEM_UPDATE, | ||
| new MAVLink.mavlink_open_drone_id_system_update_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| sendpacket = mavparse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.OPEN_DRONE_ID_OPERATOR_ID, | ||
| new MAVLink.mavlink_open_drone_id_operator_id_t() | ||
| { | ||
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| }, false, 1, 1, seqno++); | ||
| mavlinkudp.Send(sendpacket, sendpacket.Length, ipEP); | ||
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| Thread.Sleep(1000); | ||
| } | ||
| } | ||
| } | ||
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| internal struct mavlink_vfr_hud_EDIT_t | ||
| { | ||
| } | ||
| } |
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