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Move SteamControllers and _parseMavlinkMessage #26
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,48 +1,124 @@ | ||
| import 'dart:async'; | ||
| import 'dart:typed_data'; | ||
| import 'package:dart_mavlink/mavlink.dart'; | ||
| import 'package:dart_mavlink/dialects/common.dart'; | ||
| import 'package:imacs/modules/mavlink_communication.dart'; | ||
|
|
||
| class GetDroneInformation { | ||
| final MavlinkParser _parser = MavlinkParser(MavlinkDialectCommon()); | ||
| final MavlinkCommunication comm; | ||
|
|
||
| GetDroneInformation({required this.comm}); | ||
| final StreamController<double> _yawStreamController = | ||
| StreamController<double>(); | ||
| final StreamController<double> _pitchStreamController = | ||
| StreamController<double>(); | ||
| final StreamController<double> _rollStreamController = | ||
| StreamController<double>(); | ||
| final StreamController<double> _rollSpeedController = | ||
| StreamController<double>(); | ||
| final StreamController<double> _pitchSpeedController = | ||
| StreamController<double>(); | ||
| final StreamController<double> _yawSpeedController = | ||
| StreamController<double>(); | ||
| final StreamController<int> _timeBootMsPitchController = | ||
| StreamController<int>(); | ||
|
|
||
| final StreamController<int> _latStreamController = StreamController<int>(); | ||
| final StreamController<int> _lonStreamController = StreamController<int>(); | ||
| final StreamController<int> _altStreamController = StreamController<int>(); | ||
|
|
||
| GetDroneInformation({required this.comm}) { | ||
| if (comm.connectionType == MavlinkCommunicationType.tcp) { | ||
| _listenTcpPort(); | ||
| } else if (comm.connectionType == MavlinkCommunicationType.serial) { | ||
| _listenSerialPort(); | ||
| } | ||
| _parseMavlinkMessage(); | ||
| } | ||
|
|
||
| _listenTcpPort() async { | ||
| await comm.tcpSocketInitializationFlag.future; | ||
| comm.tcpSocket.listen( | ||
| (Uint8List data) { | ||
| _parser.parse(data); | ||
| }, | ||
| onError: (error) { | ||
| print(error); | ||
| comm.tcpSocket.destroy(); | ||
| }, | ||
| ); | ||
| } | ||
|
|
||
| _listenSerialPort() async { | ||
| comm.stream.listen( | ||
| (Uint8List data) { | ||
| _parser.parse(data); | ||
| }, | ||
| onError: (error) { | ||
| print(error); | ||
| comm.serialPort.close(); | ||
| }, | ||
| ); | ||
| } | ||
|
|
||
| void _parseMavlinkMessage() { | ||
| _parser.stream.listen((MavlinkFrame frame) { | ||
| if (frame.message is Attitude) { | ||
| // Append data to appropriate stream | ||
| var attitude = frame.message as Attitude; | ||
| _yawStreamController.add(attitude.yaw); | ||
| _pitchStreamController.add(attitude.pitch); | ||
| _rollStreamController.add(attitude.roll); | ||
| _rollSpeedController.add(attitude.rollspeed); | ||
| _pitchSpeedController.add(attitude.pitchspeed); | ||
| _yawSpeedController.add(attitude.yawspeed); | ||
| _timeBootMsPitchController.add(attitude.timeBootMs); | ||
| } else if (frame.message is GlobalPositionInt) { | ||
| var globalPositionInt = frame.message as GlobalPositionInt; | ||
| _latStreamController.add(globalPositionInt.lat); | ||
| _lonStreamController.add(globalPositionInt.lon); | ||
| _altStreamController.add(globalPositionInt.relativeAlt); | ||
| } | ||
| }); | ||
| } | ||
|
|
||
| Stream<double> getYawStream() { | ||
| return comm.yawStreamController.stream; | ||
| return _yawStreamController.stream; | ||
| } | ||
|
|
||
| Stream<double> getPitchStream() { | ||
| return comm.pitchStreamController.stream; | ||
| return _pitchStreamController.stream; | ||
| } | ||
|
|
||
| Stream<double> getRollStream() { | ||
| return comm.rollStreamController.stream; | ||
| return _rollStreamController.stream; | ||
| } | ||
|
|
||
| Stream<double> getRollSpeedStream() { | ||
| return comm.rollSpeedController.stream; | ||
| return _rollSpeedController.stream; | ||
| } | ||
|
|
||
| Stream<double> getPitchSpeedStream() { | ||
| return comm.pitchSpeedController.stream; | ||
| return _pitchSpeedController.stream; | ||
| } | ||
|
|
||
| Stream<double> getYawSpeedStream() { | ||
| return comm.yawSpeedController.stream; | ||
| return _yawSpeedController.stream; | ||
| } | ||
|
|
||
| Stream<int> getTimeBootMsPitchStream() { | ||
| return comm.timeBootMsPitchController.stream; | ||
| return _timeBootMsPitchController.stream; | ||
| } | ||
|
|
||
| Stream<int> getLatStream() { | ||
| return comm.latStreamController.stream; | ||
| return _latStreamController.stream; | ||
| } | ||
|
|
||
| Stream<int> getLonStream() { | ||
| return comm.lonStreamController.stream; | ||
| return _lonStreamController.stream; | ||
| } | ||
|
|
||
| Stream<int> getAltStream() { | ||
| return comm.altStreamController.stream; | ||
| return _altStreamController.stream; | ||
| } | ||
| } |
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Move this logic to
GetDroneInformation