MainV2: async readPacket

Controls/MAVLinkInspector.cs

@@ -1,8 +1,10 @@
-using MissionPlanner.Utilities;
+using Microsoft.Scripting.Utils;
+using MissionPlanner.Utilities;
 using System;
 using System.ComponentModel;
 using System.Drawing;
 using System.Linq;
+using System.Text;
 using System.Windows.Forms;
 using ZedGraph;
 
@@ -143,11 +145,11 @@ private void MavOnOnPacketReceived(object o, MAVLink.MAVLinkMessage linkMessage)
 
                         if (field.Name == "param_id") // param_value
                         {
-                            value = new String((char[])value2);
+                            value = Encoding.ASCII.GetString((byte[])value2);
                         }
                         else if (field.Name == "text") // statustext
                         {
-                            value = new String((char[])value);
+                            value = Encoding.ASCII.GetString((byte[])value2);
                         }
                         else
                         {

Controls/OSDVideo.cs

@@ -8,6 +8,7 @@
 using System.IO;
 using System.Runtime.InteropServices;
 using System.Threading;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace MissionPlanner
@@ -128,9 +129,9 @@ private void loadconfig()
             }
         }
 
-        private void startup()
+        private async Task startup()
         {
-            dolog();
+            await dolog().ConfigureAwait(true);
 
             if (DSplugin)
             {
@@ -271,7 +272,7 @@ private void StartCapture()
             }
         }
 
-        void dolog()
+        async Task dolog()
         {
             flightdata.Clear();
 
@@ -290,7 +291,7 @@ void dolog()
                 mine.logreadmode = true;
                 mine.speechenabled = false;
 
-                mine.readPacket();
+                await mine.readPacketAsync().ConfigureAwait(true);
 
                 startlogtime = mine.lastlogread;
 
@@ -300,7 +301,7 @@ void dolog()
 
                 while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                 {
-                    MAVLink.MAVLinkMessage packet = mine.readPacket();
+                    MAVLink.MAVLinkMessage packet = await mine.readPacketAsync().ConfigureAwait(true);
 
                     cs.datetime = mine.lastlogread;
 
@@ -618,7 +619,7 @@ private String GetCurrentFilePath(Control ctl)
             return ctl.Text.Substring(0, ctl.Text.LastIndexOf("\\") + 1);
         }
 
-        private void BUT_start_Click(object sender, EventArgs e)
+        private async void BUT_start_Click(object sender, EventArgs e)
         {
             saveconfig();
             try
@@ -655,7 +656,7 @@ private void BUT_start_Click(object sender, EventArgs e)
 
             //newManager.Close();
 
-            startup();
+            await startup().ConfigureAwait(true);
 
             this.MaximumSize = this.Size;
             this.MinimumSize = this.Size;

ExtLibs/Utilities/DFLogBuffer.cs

@@ -172,6 +172,9 @@ void setlinecount()
             {
                 try
                 {
+                    if(item.items == null || item.items.Length == 0)
+                        continue;
+
                     FMT[int.Parse(item["Type"])] = (
                         int.Parse(item["Length"].Trim()),
                         item["Name"].Trim(),
@@ -188,6 +191,9 @@ void setlinecount()
             {
                 try
                 {
+                    if (item.items == null || item.items.Length == 0)
+                        continue;
+
                     FMTU[int.Parse(item["FmtType"])] =
                         new Tuple<string, string>(item["UnitIds"].Trim(), item["MultIds"].Trim());
 
@@ -243,7 +249,8 @@ void setlinecount()
             }))
             {
                 // must be the string version to do the firmware type detection - binarylog
-                Console.WriteLine(this[(int) item.lineno]);
+                var line = this[(int) item.lineno];
+                //Console.WriteLine();
             }
 
             // try get gps time - when a dfitem is created and no valid gpstime has been establish the messages are parsed to get a valid gpstime

ExtLibs/Xamarin/Xamarin/GCSViews/FlightData.xaml.cs

@@ -695,7 +695,7 @@ private void gMapControl1_OnPositionChanged(PointLatLng point)
         bool playingLog;
         List<PointLatLng> trackPoints = new List<PointLatLng>();
 
-        private void mainloop()
+        private async void mainloop()
         {
             if (threadrun == true)
                 return;
@@ -774,7 +774,7 @@ private void mainloop()
                     try
                     {
                         if (!MainV2.comPort.giveComport)
-                            MainV2.comPort.readPacket();
+                            await MainV2.comPort.readPacketAsync().ConfigureAwait(false);
 
                         // update currentstate of sysids on the port
                         foreach (var MAV in MainV2.comPort.MAVlist)

ExtLibs/Xamarin/Xamarin/Linked/MainV2.cs

@@ -3,6 +3,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Threading;
+using System.Threading.Tasks;
 using log4net;
 using MissionPlanner.Comms;
 
@@ -74,7 +75,7 @@ public static ISpeech speechEngine
         /// 
         /// and can't fall out
         /// </summary>
-        internal void SerialReader()
+        internal async Task SerialReader()
         {
             if (serialThread == true)
                 return;
@@ -461,7 +462,7 @@ internal void SerialReader()
                         {
                             try
                             {
-                                port.readPacket();
+                                await port.readPacketAsync().ConfigureAwait(false);
                             }
                             catch (Exception ex)
                             {

ExtLibs/wasm/Pages/Tlog.razor

@@ -285,7 +285,7 @@
         {
             var param = (MAVLink.mavlink_param_value_t) packet.data;
 
-            Console.WriteLine("{0} {1}", new String(param.param_id), param.param_value);
+            Console.WriteLine("{0} {1}", Encoding.ASCII.GetString(param.param_id), param.param_value);
         }
 
         return true;

ExtLibs/wasm/Pages/Websocket.razor

@@ -501,17 +501,17 @@
             var txt = (MAVLink.mavlink_statustext_t) packet.data;
             if (txt.severity >= (byte) MAVLink.MAV_SEVERITY.NOTICE)
             {
-                Toaster.Info(new String(txt.text).TrimUnPrintable());
+                Toaster.Info(Encoding.ASCII.GetString(txt.text).TrimUnPrintable());
             }
             else if (txt.severity >= (byte) MAVLink.MAV_SEVERITY.WARNING)
             {
-                Toaster.Warning(new String(txt.text).TrimUnPrintable());
-                SpeechSynthesis.Speak(new String(txt.text).TrimUnPrintable());
+                Toaster.Warning(Encoding.ASCII.GetString(txt.text).TrimUnPrintable());
+                SpeechSynthesis.Speak(Encoding.ASCII.GetString(txt.text).TrimUnPrintable());
             }
             else if (txt.severity >= (byte) MAVLink.MAV_SEVERITY.EMERGENCY)
             {
-                Toaster.Error(new String(txt.text).TrimUnPrintable());
-                SpeechSynthesis.Speak(new String(txt.text).TrimUnPrintable());
+                Toaster.Error(Encoding.ASCII.GetString(txt.text).TrimUnPrintable());
+                SpeechSynthesis.Speak(Encoding.ASCII.GetString(txt.text).TrimUnPrintable());
             }
         }
 

GCSViews/ConfigurationView/ConfigHWCompass.cs

@@ -359,7 +359,7 @@ private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
             }
         }
 
-        private void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
+        private async void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
         {
             var minthro = "30";
             if (DialogResult.Cancel ==
@@ -369,7 +369,7 @@ private void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
             var ans = 0;
             int.TryParse(minthro, out ans);
 
-            MagCalib.ProcessLog(ans);
+            await MagCalib.ProcessLog(ans).ConfigureAwait(true);
         }
 
         private void CHK_autodec_CheckedChanged(object sender, EventArgs e)

GCSViews/ConfigurationView/ConfigTerminal.cs

@@ -9,6 +9,7 @@
 using System.Reflection;
 using System.Text;
 using System.Threading;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using SerialPort = MissionPlanner.Comms.SerialPort;
 
@@ -345,7 +346,7 @@ private void setcomport()
             }
         }
 
-        private void start_Terminal(bool px4)
+        private async Task start_Terminal(bool px4)
         {
             setcomport();
 
@@ -390,7 +391,7 @@ private void start_Terminal(bool px4)
                         mine.BaseStream.Open();
 
                         // check if we are a mavlink stream
-                        var buffer = mine.readPacket();
+                        var buffer = await mine.readPacketAsync().ConfigureAwait(true);
 
                         if (buffer.Length > 0)
                         {
@@ -700,7 +701,7 @@ private void BUT_logbrowse_Click(object sender, EventArgs e)
             logbrowse.Show();
         }
 
-        private void BUT_RebootAPM_Click(object sender, EventArgs e)
+        private async void BUT_RebootAPM_Click(object sender, EventArgs e)
         {
             if (comPort.IsOpen)
             {
@@ -720,11 +721,11 @@ private void BUT_RebootAPM_Click(object sender, EventArgs e)
             }
 
             if (CMB_boardtype.Text.Contains("APM"))
-                start_Terminal(false);
+                await start_Terminal(false).ConfigureAwait(true);
             if (CMB_boardtype.Text.Contains("PX4"))
-                start_Terminal(true);
+                await start_Terminal(true).ConfigureAwait(true);
             if (CMB_boardtype.Text.Contains("VRX"))
-                start_Terminal(true);
+                await start_Terminal(true).ConfigureAwait(true);
             if (CMB_boardtype.Text.Contains("SSH"))
             {
                 term = new SSHTerminal(TXT_terminal);

GCSViews/FlightData.cs

@@ -2716,7 +2716,7 @@ private void loadFileToolStripMenuItem_Click(object sender, EventArgs e)
             POI.POILoad();
         }
 
-        private void mainloop()
+        private async void mainloop()
         {
             threadrun = true;
             EndPoint Remote = new IPEndPoint(IPAddress.Any, 0);
@@ -2820,7 +2820,7 @@ private void mainloop()
                     try
                     {
                         if (!MainV2.comPort.giveComport)
-                            MainV2.comPort.readPacket();
+                            await MainV2.comPort.readPacketAsync().ConfigureAwait(false);
 
                         // update currentstate of sysids on the port
                         foreach (var MAV in MainV2.comPort.MAVlist)

Log/LogIndex.cs

@@ -53,7 +53,7 @@ void createFileList(object directory)
 
         private void queueRunner(object nothing)
         {
-            Parallel.ForEach(files, file => { ProcessFile(file); });
+            Parallel.ForEach(files, async (file) => { await ProcessFile(file).ConfigureAwait(false); });
 
             Loading.ShowLoading("Populating Data", this);
 
@@ -65,15 +65,15 @@ private void queueRunner(object nothing)
             Loading.Close();
         }
 
-        private void ProcessFile(string file)
+        private async Task ProcessFile(string file)
         {
             if (File.Exists(file))
-                processbg(file);
+                await processbg(file).ConfigureAwait(false);
         }
 
         List<object> logs = new List<object>();
         int a = 0;
-        void processbg(string file)
+        async Task processbg(string file)
         {
             a++;
             Loading.ShowLoading(a + "/" + files.Count + " " + file, this);
@@ -109,7 +109,8 @@ void processbg(string file)
                     try
                     {
                         mine.logplaybackfile =
-                            new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
+                            new BinaryReader(new BufferedStream(
+                                File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read), 1024 * 1024 * 5));
                     }
                     catch (Exception ex)
                     {
@@ -150,7 +151,7 @@ void processbg(string file)
                     // abandon last 100 bytes
                     while (mine.logplaybackfile.BaseStream.Position < (length - 100))
                     {
-                        var packet = mine.readPacket();
+                        var packet = await mine.readPacketAsync().ConfigureAwait(false);
 
                         // gcs
                         if (packet.sysid == 255)
@@ -179,7 +180,7 @@ void processbg(string file)
             }
             else if (file.ToLower().EndsWith(".bin") || file.ToLower().EndsWith(".log"))
             {
-                using (DFLogBuffer colbuf = new DFLogBuffer(File.OpenRead(file)))
+                using (DFLogBuffer colbuf = new DFLogBuffer(new BufferedStream(File.OpenRead(file), 1024 * 1024 * 5)))
                 {
                     PointLatLngAlt lastpos = null;
                     DateTime start = DateTime.MinValue;