Adding final comments

tracking and telemetry/Client/Client.cs

@@ -61,7 +61,7 @@ namespace Client
 
                 // set the comport options
                 serialPort1.PortName = CMB_comport.Text;
-                serialPort1.BaudRate = 115200;
+                serialPort1.BaudRate = int.Parse(comboBox1.Text);
 
                 // open the comport
                 serialPort1.Open();
@@ -156,15 +156,17 @@ namespace Client
                     }));
 
 
-
+                    //detect gps packet
                     if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
                     {
                         marker.IsVisible = true;
                         var global_position_int = (MAVLink.mavlink_global_position_int_t)packet.data;
+                        //get longitude and latitude info from packet
                         var lon = global_position_int.lon / 10000000.0;
                         var lat = global_position_int.lat / 10000000.0;
-                        gmap.Invoke(new Action(() =>
+                        gmap.Invoke(new Action(() => //access gui thread
                         {
+                            //draw on map
                             gmap.Position = new PointLatLng(lat, lon);
                             GMapMarker line = new GMarkerGoogle(new PointLatLng(lat, lon), new Bitmap(dot));
                             marker.Position = new PointLatLng(lat, lon);
@@ -174,11 +176,13 @@ namespace Client
 
                     }
 
+                    //detect system status packet
                     if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS)
                     {
                         progressBar1.Invoke(new Action(() =>
                          {
                              var sys_status = (MAVLink.mavlink_sys_status_t)packet.data;
+                             //get battery remaining
                              if (sys_status.battery_remaining < 15)
                              {
                                  SetState(progressBar1, 2);
@@ -200,11 +204,14 @@ namespace Client
                              progressBar1.Value = sys_status.battery_remaining;
                          }));
                     }
+
+                    //get heartbeat packet
                     if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
                         {
                             var heartbeat = (MAVLink.mavlink_heartbeat_t)packet.data;
-                            txt_vehicleType.Invoke(new Action(() =>
+                            txt_vehicleType.Invoke(new Action(() => //access gui thread
                             {
+                                //print information
                                 txt_vehicleType.Text = ((MAVLink.MAV_TYPE)heartbeat.autopilot).ToString();
                                 txt_autopilot.Text = ((MAVLink.MAV_AUTOPILOT)heartbeat.autopilot).ToString();
                                 txt_baseMode.Text = ((MAVLink.MAV_MODE_FLAG)heartbeat.base_mode).ToString();
@@ -261,10 +268,15 @@ namespace Client
 
         private void client_Load(object sender, EventArgs e)
         {
+            //init
+
+            //init gmap element
             gmap.MapProvider = GMap.NET.MapProviders.GMapProviders.GoogleHybridMap;
             GMaps.Instance.Mode = AccessMode.ServerOnly;
+
             gmap.ShowCenter = true;
             marker.IsVisible = false;
+            //init draw markers
             markers.Markers.Add(marker);
             gmap.Overlays.Add(markers);
         }

tracking and telemetry/Client/obj/Debug/Client.csproj.FileListAbsolute.txt

@@ -38,6 +38,5 @@ C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and te
 C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\obj\Debug\Client.csproj.CopyComplete
 C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\obj\Debug\Client.exe
 C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\obj\Debug\Client.pdb
-C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\bin\Debug\GMap.NET.Core.dll
-C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\bin\Debug\GMap.NET.WindowsForms.dll
 C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\obj\Debug\Client.add_module.resources
+C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Client\obj\Debug\Client.add_module.resources

tracking and telemetry/Mavlink/obj/Debug/MAVLink.1.0.5.nuspec

@@ -16,8 +16,8 @@
     </dependencies>
   </metadata>
   <files>
-    <file src="C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\net35\MAVLink.dll" target="lib\net35\MAVLink.dll" />
-    <file src="C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\net461\MAVLink.dll" target="lib\net461\MAVLink.dll" />
-    <file src="C:\Users\Giorgos Ger\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\netstandard2.0\MAVLink.dll" target="lib\netstandard2.0\MAVLink.dll" />
+    <file src="C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\net35\MAVLink.dll" target="lib\net35\MAVLink.dll" />
+    <file src="C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\net461\MAVLink.dll" target="lib\net461\MAVLink.dll" />
+    <file src="C:\Users\GeorgiosGerontakis\Desktop\Talos_Drones_Tracking_and_Telemetry\tracking and telemetry\Mavlink\bin\Debug\netstandard2.0\MAVLink.dll" target="lib\netstandard2.0\MAVLink.dll" />
   </files>
 </package>

tracking and telemetry/Mavlink/obj/MAVLink.csproj.nuget.cache

@@ -1,5 +1,5 @@
 {
   "version": 1,
-  "dgSpecHash": "Ag7lXZtqstH3xklYuTDl+YMeB0rg7JeJHg+s0sz+OCF4AU2HDCYiTkOcOpzkQQOf7ny4zGjQXB0BwUALr06mnQ==",
+  "dgSpecHash": "BMGtCCk4FceRPZQ8UoY4BK0IG5v3lF+DQNRO7D8QeSza51b62rEvJioVn3CMuEhqg306+1i2Bgfp7PzRxm1UJg==",
   "success": true
 }

tracking and telemetry/Mavlink/obj/MAVLink.csproj.nuget.dgspec.json

@@ -1,24 +1,21 @@
 {
   "format": 1,
   "restore": {
-    "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj": {}
+    "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj": {}
   },
   "projects": {
-    "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj": {
+    "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj": {
       "version": "1.0.5",
       "restore": {
-        "projectUniqueName": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
+        "projectUniqueName": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
         "projectName": "MAVLink",
-        "projectPath": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
-        "packagesPath": "C:\\Users\\Giorgos Ger\\.nuget\\packages\\",
-        "outputPath": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\obj\\",
+        "projectPath": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
+        "packagesPath": "C:\\Users\\GeorgiosGerontakis\\.nuget\\packages\\",
+        "outputPath": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\obj\\",
         "projectStyle": "PackageReference",
         "crossTargeting": true,
-        "fallbackFolders": [
-          "C:\\Program Files\\dotnet\\sdk\\NuGetFallbackFolder"
-        ],
         "configFilePaths": [
-          "C:\\Users\\Giorgos Ger\\AppData\\Roaming\\NuGet\\NuGet.Config",
+          "C:\\Users\\GeorgiosGerontakis\\AppData\\Roaming\\NuGet\\NuGet.Config",
           "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config"
         ],
         "originalTargetFrameworks": [
@@ -49,10 +46,10 @@
       },
       "frameworks": {
         "net35": {
-          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
         },
         "net461": {
-          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
         },
         "netstandard2.0": {
           "dependencies": {
@@ -73,7 +70,7 @@
           ],
           "assetTargetFallback": true,
           "warn": true,
-          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
         }
       }
     }

tracking and telemetry/Mavlink/obj/MAVLink.csproj.nuget.g.props

@@ -5,7 +5,7 @@
     <RestoreTool Condition=" '$(RestoreTool)' == '' ">NuGet</RestoreTool>
     <ProjectAssetsFile Condition=" '$(ProjectAssetsFile)' == '' ">$(MSBuildThisFileDirectory)project.assets.json</ProjectAssetsFile>
     <NuGetPackageRoot Condition=" '$(NuGetPackageRoot)' == '' ">$(UserProfile)\.nuget\packages\</NuGetPackageRoot>
-    <NuGetPackageFolders Condition=" '$(NuGetPackageFolders)' == '' ">C:\Users\Giorgos Ger\.nuget\packages\;C:\Program Files\dotnet\sdk\NuGetFallbackFolder</NuGetPackageFolders>
+    <NuGetPackageFolders Condition=" '$(NuGetPackageFolders)' == '' ">C:\Users\GeorgiosGerontakis\.nuget\packages\</NuGetPackageFolders>
     <NuGetProjectStyle Condition=" '$(NuGetProjectStyle)' == '' ">PackageReference</NuGetProjectStyle>
     <NuGetToolVersion Condition=" '$(NuGetToolVersion)' == '' ">5.4.0</NuGetToolVersion>
   </PropertyGroup>

tracking and telemetry/Mavlink/obj/MAVLink.csproj.nuget.g.targets

@@ -4,6 +4,6 @@
     <MSBuildAllProjects>$(MSBuildAllProjects);$(MSBuildThisFileFullPath)</MSBuildAllProjects>
   </PropertyGroup>
   <ImportGroup Condition=" '$(TargetFramework)' == 'netstandard2.0' AND '$(ExcludeRestorePackageImports)' != 'true' ">
-    <Import Project="C:\Program Files\dotnet\sdk\NuGetFallbackFolder\netstandard.library\2.0.3\build\netstandard2.0\NETStandard.Library.targets" Condition="Exists('C:\Program Files\dotnet\sdk\NuGetFallbackFolder\netstandard.library\2.0.3\build\netstandard2.0\NETStandard.Library.targets')" />
+    <Import Project="$(NuGetPackageRoot)netstandard.library\2.0.3\build\netstandard2.0\NETStandard.Library.targets" Condition="Exists('$(NuGetPackageRoot)netstandard.library\2.0.3\build\netstandard2.0\NETStandard.Library.targets')" />
   </ImportGroup>
 </Project>

tracking and telemetry/Mavlink/obj/project.assets.json

@@ -183,24 +183,20 @@
     ]
   },
   "packageFolders": {
-    "C:\\Users\\Giorgos Ger\\.nuget\\packages\\": {},
-    "C:\\Program Files\\dotnet\\sdk\\NuGetFallbackFolder": {}
+    "C:\\Users\\GeorgiosGerontakis\\.nuget\\packages\\": {}
   },
   "project": {
     "version": "1.0.5",
     "restore": {
-      "projectUniqueName": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
+      "projectUniqueName": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
       "projectName": "MAVLink",
-      "projectPath": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
-      "packagesPath": "C:\\Users\\Giorgos Ger\\.nuget\\packages\\",
-      "outputPath": "C:\\Users\\Giorgos Ger\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\obj\\",
+      "projectPath": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\MAVLink.csproj",
+      "packagesPath": "C:\\Users\\GeorgiosGerontakis\\.nuget\\packages\\",
+      "outputPath": "C:\\Users\\GeorgiosGerontakis\\Desktop\\Talos_Drones_Tracking_and_Telemetry\\tracking and telemetry\\Mavlink\\obj\\",
       "projectStyle": "PackageReference",
       "crossTargeting": true,
-      "fallbackFolders": [
-        "C:\\Program Files\\dotnet\\sdk\\NuGetFallbackFolder"
-      ],
       "configFilePaths": [
-        "C:\\Users\\Giorgos Ger\\AppData\\Roaming\\NuGet\\NuGet.Config",
+        "C:\\Users\\GeorgiosGerontakis\\AppData\\Roaming\\NuGet\\NuGet.Config",
         "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config"
       ],
       "originalTargetFrameworks": [
@@ -231,10 +227,10 @@
     },
     "frameworks": {
       "net35": {
-        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
       },
       "net461": {
-        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
       },
       "netstandard2.0": {
         "dependencies": {
@@ -255,7 +251,7 @@
         ],
         "assetTargetFallback": true,
         "warn": true,
-        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.101\\RuntimeIdentifierGraph.json"
+        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\3.1.100\\RuntimeIdentifierGraph.json"
       }
     }
   }

tracking and telemetry/viewer/src/viewer.py

@@ -5,29 +5,34 @@ import numpy as np
 import sys
 from sys import argv
 
+#use: viewer.py module_ip client_ip
 
 context = zmq.Context()
 
-module_ip = str(sys.argv[1])
+module_ip = str(sys.argv[1]) 
 
 client_ip = str(sys.argv[2])
 
 print("Connecting to module…")
 socket = context.socket(zmq.REQ)
-socket.connect("tcp://"+ module_ip +":4444")
-socket.send(str.encode(client_ip))
+socket.connect("tcp://"+ module_ip +":4444") #listen for connections on port 4444
+socket.send(str.encode(client_ip)) #send current ip to module
 
+print("Waiting for module to connect back…")
 footage_socket = context.socket(zmq.SUB)
-footage_socket.bind("tcp://0.0.0.0:5555")
+footage_socket.bind("tcp://0.0.0.0:5555") #listen for connections on port 5555
 footage_socket.setsockopt_string(zmq.SUBSCRIBE, np.unicode(''))
+print("Module connected!")
 
 while True:
     try:
-        frame = footage_socket.recv_string()
-        img = base64.b64decode(frame)
-        npimg = np.fromstring(img, dtype=np.uint8)
-        
+        frame = footage_socket.recv_string() # recieve frame from module
+        img = base64.b64decode(frame) # base64 to string
+
+        #convert string to image
+        npimg = np.fromstring(img, dtype=np.uint8) #       
         source = cv2.imdecode(npimg, 1)
+
         cv2.imshow("Stream", source)
         cv2.waitKey(1)