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1824 lines
67 KiB
1824 lines
67 KiB
using System; |
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using System.Collections.Generic; // Lists |
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using System.Text; // stringbuilder |
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using System.Drawing; // pens etc |
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using System.IO; // file io |
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using System.IO.Ports; // serial |
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using System.Windows.Forms; // Forms |
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using System.Collections; // hashs |
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using System.Text.RegularExpressions; // regex |
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using System.Xml; // GE xml alt reader |
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using System.Net; // dns, ip address |
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using System.Net.Sockets; // tcplistner |
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using GMap.NET; |
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using GMap.NET.WindowsForms; |
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using System.Globalization; // language |
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using GMap.NET.WindowsForms.Markers; |
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using ZedGraph; // Graphs |
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using System.Drawing.Drawing2D; |
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using ArdupilotMega.Controls; |
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using ArdupilotMega.Utilities; |
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// written by michael oborne |
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namespace ArdupilotMega.GCSViews |
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{ |
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partial class FlightData : MyUserControl |
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{ |
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ArdupilotMega.MAVLink comPort = MainV2.comPort; |
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public static int threadrun = 0; |
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StreamWriter swlog; |
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int tickStart = 0; |
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RollingPointPairList list1 = new RollingPointPairList(1200); |
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RollingPointPairList list2 = new RollingPointPairList(1200); |
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RollingPointPairList list3 = new RollingPointPairList(1200); |
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RollingPointPairList list4 = new RollingPointPairList(1200); |
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RollingPointPairList list5 = new RollingPointPairList(1200); |
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RollingPointPairList list6 = new RollingPointPairList(1200); |
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RollingPointPairList list7 = new RollingPointPairList(1200); |
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RollingPointPairList list8 = new RollingPointPairList(1200); |
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RollingPointPairList list9 = new RollingPointPairList(1200); |
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RollingPointPairList list10 = new RollingPointPairList(1200); |
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System.Reflection.PropertyInfo list1item = null; |
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System.Reflection.PropertyInfo list2item = null; |
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System.Reflection.PropertyInfo list3item = null; |
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System.Reflection.PropertyInfo list4item = null; |
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System.Reflection.PropertyInfo list5item = null; |
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System.Reflection.PropertyInfo list6item = null; |
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System.Reflection.PropertyInfo list7item = null; |
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System.Reflection.PropertyInfo list8item = null; |
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System.Reflection.PropertyInfo list9item = null; |
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System.Reflection.PropertyInfo list10item = null; |
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CurveItem list1curve; |
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CurveItem list2curve; |
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CurveItem list3curve; |
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CurveItem list4curve; |
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CurveItem list5curve; |
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CurveItem list6curve; |
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CurveItem list7curve; |
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CurveItem list8curve; |
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CurveItem list9curve; |
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CurveItem list10curve; |
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internal static GMapOverlay kmlpolygons; |
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internal static GMapOverlay geofence; |
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bool huddropout = false; |
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bool huddropoutresize = false; |
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List<PointLatLng> trackPoints = new List<PointLatLng>(); |
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const float rad2deg = (float)(180 / Math.PI); |
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const float deg2rad = (float)(1.0 / rad2deg); |
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public static ArdupilotMega.Controls.HUD myhud = null; |
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public static GMapControl mymap = null; |
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bool playingLog = false; |
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public static PointLatLngAlt GuidedModeWP = new PointLatLngAlt(); |
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AviWriter aviwriter; |
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public SplitContainer MainHcopy = null; |
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public static FlightData instance; |
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protected override void Dispose(bool disposing) |
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{ |
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threadrun = 0; |
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MainV2.comPort.logreadmode = false; |
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MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString(); |
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System.Threading.Thread.Sleep(100); |
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base.Dispose(disposing); |
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} |
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public FlightData() |
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{ |
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InitializeComponent(); |
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instance = this; |
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mymap = gMapControl1; |
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myhud = hud1; |
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MainHcopy = MainH; |
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// setup default tuning graph |
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if (MainV2.config["Tuning_Graph_Selected"] != null) |
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{ |
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string line = MainV2.config["Tuning_Graph_Selected"].ToString(); |
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string[] lines = line.Split(new char[] { '|' }, StringSplitOptions.RemoveEmptyEntries); |
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foreach (string option in lines) |
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{ |
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chk_box_CheckedChanged((object)(new CheckBox() { Name = option, Checked = true }), new EventArgs()); |
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} |
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} |
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else |
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{ |
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "roll", Checked = true }), new EventArgs()); |
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "pitch", Checked = true }), new EventArgs()); |
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_roll", Checked = true }), new EventArgs()); |
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_pitch", Checked = true }), new EventArgs()); |
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} |
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List<string> list = new List<string>(); |
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//foreach (object obj in Enum.GetValues(typeof(MAVLink.MAV_ACTION))) |
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#if MAVLINK10 |
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{ |
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list.Add("LOITER_UNLIM"); |
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list.Add("RETURN_TO_LAUNCH"); |
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list.Add("PREFLIGHT_CALIBRATION"); |
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} |
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#else |
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{ |
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list.Add("RETURN"); |
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list.Add("HALT"); |
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list.Add("CONTINUE"); |
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list.Add("SET_MANUAL"); |
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list.Add("SET_AUTO"); |
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list.Add("STORAGE_READ"); |
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list.Add("STORAGE_WRITE"); |
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list.Add("CALIBRATE_RC"); |
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list.Add("NAVIGATE"); |
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list.Add("LOITER"); |
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list.Add("TAKEOFF"); |
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list.Add("CALIBRATE_GYRO"); |
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} |
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#endif |
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CMB_action.DataSource = list; |
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CMB_modes.DataSource = Common.getModesList(); |
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CMB_modes.ValueMember = "Key"; |
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CMB_modes.DisplayMember = "Value"; |
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CMB_setwp.SelectedIndex = 0; |
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zg1.Visible = true; |
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CreateChart(zg1); |
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// config map |
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gMapControl1.MapType = MapType.GoogleSatellite; |
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gMapControl1.MinZoom = 1; |
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gMapControl1.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/"; |
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gMapControl1.OnMapZoomChanged += new MapZoomChanged(gMapControl1_OnMapZoomChanged); |
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gMapControl1.Zoom = 3; |
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gMapControl1.RoutesEnabled = true; |
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gMapControl1.PolygonsEnabled = true; |
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kmlpolygons = new GMapOverlay(gMapControl1, "kmlpolygons"); |
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gMapControl1.Overlays.Add(kmlpolygons); |
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geofence = new GMapOverlay(gMapControl1, "geofence"); |
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gMapControl1.Overlays.Add(geofence); |
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polygons = new GMapOverlay(gMapControl1, "polygons"); |
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gMapControl1.Overlays.Add(polygons); |
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routes = new GMapOverlay(gMapControl1, "routes"); |
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gMapControl1.Overlays.Add(routes); |
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try |
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{ |
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if (MainV2.getConfig("GspeedMAX") != "") |
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{ |
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Gspeed.MaxValue = float.Parse(MainV2.getConfig("GspeedMAX")); |
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} |
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} |
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catch { } |
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} |
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void tabControl1_DrawItem(object sender, DrawItemEventArgs e) |
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{ |
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// Draw the background of the ListBox control for each item. |
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//e.DrawBackground(); |
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// Define the default color of the brush as black. |
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Brush myBrush = Brushes.Black; |
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LinearGradientBrush linear = new LinearGradientBrush(e.Bounds, Color.FromArgb(0x94, 0xc1, 0x1f), Color.FromArgb(0xcd, 0xe2, 0x96), LinearGradientMode.Vertical); |
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e.Graphics.FillRectangle(linear, e.Bounds); |
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// Draw the current item text based on the current Font |
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// and the custom brush settings. |
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e.Graphics.DrawString(((TabControl)sender).TabPages[e.Index].Text.ToString(), |
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e.Font, myBrush, e.Bounds, StringFormat.GenericDefault); |
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// If the ListBox has focus, draw a focus rectangle around the selected item. |
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e.DrawFocusRectangle(); |
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} |
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void gMapControl1_OnMapZoomChanged() |
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{ |
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom); |
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} |
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private void FlightData_Load(object sender, EventArgs e) |
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{ |
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MainV2.bs = bindingSource1; |
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System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop)) |
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{ |
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IsBackground = true, |
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Name = "FlightData updater" |
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}; |
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t11.Start(); |
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//MainH.threads.Add(t11); |
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Zoomlevel.Minimum = gMapControl1.MinZoom; |
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Zoomlevel.Maximum = gMapControl1.MaxZoom + 1; |
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom); |
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if (MainV2.config["CHK_autopan"] != null) |
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CHK_autopan.Checked = bool.Parse(MainV2.config["CHK_autopan"].ToString()); |
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} |
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private void mainloop() |
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{ |
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//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US"); |
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//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US"); |
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threadrun = 1; |
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EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0)); |
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DateTime lastdata = DateTime.MinValue; |
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DateTime tracklast = DateTime.Now.AddSeconds(0); |
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DateTime tunning = DateTime.Now.AddSeconds(0); |
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DateTime vidrec = DateTime.Now.AddSeconds(0); |
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DateTime waypoints = DateTime.Now.AddSeconds(0); |
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//comPort.stopall(true); |
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while (threadrun == 1) |
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{ |
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if (threadrun == 0) { return; } |
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if (MainV2.giveComport == true) |
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{ |
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System.Threading.Thread.Sleep(20); |
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continue; |
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} |
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if (!comPort.BaseStream.IsOpen) |
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lastdata = DateTime.Now; |
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// re-request servo data |
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if (!(lastdata.AddSeconds(8) > DateTime.Now) && comPort.BaseStream.IsOpen) |
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{ |
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//Console.WriteLine("REQ streams - flightdata"); |
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try |
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{ |
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//System.Threading.Thread.Sleep(1000); |
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//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor |
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info |
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} |
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catch { } |
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lastdata = DateTime.Now.AddSeconds(120); // prevent flooding |
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} |
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if (!MainV2.comPort.logreadmode) |
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System.Threading.Thread.Sleep(100); // max is only ever 10 hz |
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try |
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{ |
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if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now) |
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{ |
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vidrec = DateTime.Now; |
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hud1.streamjpgenable = true; |
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//aviwriter.avi_start("test.avi"); |
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// add a frame |
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aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length); |
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// write header - so even partial files will play |
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aviwriter.avi_end(hud1.Width, hud1.Height, 10); |
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} |
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} |
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catch { } |
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if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null) |
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{ |
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if (threadrun == 0) { return; } |
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updatePlayPauseButton(true); |
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if (comPort.BaseStream.IsOpen) |
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MainV2.comPort.logreadmode = false; |
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DateTime logplayback = MainV2.comPort.lastlogread; |
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try |
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{ |
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MainV2.comPort.readPacket(); |
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} |
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catch { } |
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updateLogPlayPosition(); |
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int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds; |
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if (act > 9999 || act < 0) |
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act = 0; |
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int ts = 0; |
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try |
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{ |
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ts = (int)(act / (double)NUM_playbackspeed.Value); |
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} |
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catch { } |
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if (ts > 0) |
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System.Threading.Thread.Sleep(ts); |
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if (threadrun == 0) { return; } |
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tracklast = tracklast.AddMilliseconds(ts - act); |
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tunning = tunning.AddMilliseconds(ts - act); |
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if (tracklast.Month != DateTime.Now.Month) |
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{ |
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tracklast = DateTime.Now; |
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tunning = DateTime.Now; |
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} |
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if (MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length) |
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{ |
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MainV2.comPort.logreadmode = false; |
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} |
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} |
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else |
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{ |
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// ensure we know to stop |
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if (MainV2.comPort.logreadmode) |
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MainV2.comPort.logreadmode = false; |
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updatePlayPauseButton(false); |
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if (!playingLog && MainV2.comPort.logplaybackfile != null) |
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{ |
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continue; |
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} |
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} |
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try |
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{ |
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//Console.WriteLine(DateTime.Now.Millisecond); |
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updateBindingSource(); |
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//Console.WriteLine(DateTime.Now.Millisecond + " done "); |
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if (ArdupilotMega.Controls.OpenGLtest.instance != null) |
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{ |
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ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll,MainV2.cs.pitch,MainV2.cs.yaw); |
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ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat,MainV2.cs.lng,MainV2.cs.alt,"here"); |
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} |
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if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true) |
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{ |
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double time = (Environment.TickCount - tickStart) / 1000.0; |
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if (list1item != null) |
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list1.Add(time, (float)list1item.GetValue((object)MainV2.cs, null)); |
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if (list2item != null) |
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list2.Add(time, (float)list2item.GetValue((object)MainV2.cs, null)); |
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if (list3item != null) |
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list3.Add(time, (float)list3item.GetValue((object)MainV2.cs, null)); |
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if (list4item != null) |
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list4.Add(time, (float)list4item.GetValue((object)MainV2.cs, null)); |
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if (list5item != null) |
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list5.Add(time, (float)list5item.GetValue((object)MainV2.cs, null)); |
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if (list6item != null) |
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list6.Add(time, (float)list6item.GetValue((object)MainV2.cs, null)); |
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if (list7item != null) |
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list7.Add(time, (float)list7item.GetValue((object)MainV2.cs, null)); |
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if (list8item != null) |
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list8.Add(time, (float)list8item.GetValue((object)MainV2.cs, null)); |
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if (list9item != null) |
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list9.Add(time, (float)list9item.GetValue((object)MainV2.cs, null)); |
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if (list10item != null) |
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list10.Add(time, (float)list10item.GetValue((object)MainV2.cs, null)); |
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} |
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if (tracklast.AddSeconds(1) < DateTime.Now) |
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{ |
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if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True") |
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{ |
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setMapBearing(); |
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} |
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gMapControl1.HoldInvalidation = true; |
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while (gMapControl1.inOnPaint == true) |
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{ |
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System.Threading.Thread.Sleep(1); |
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} |
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if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString())) |
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{ |
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trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString())); |
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} |
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if (MainV2.cs.lat != 0) |
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trackPoints.Add(new PointLatLng(MainV2.cs.lat, MainV2.cs.lng)); |
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// if (CB_tuning.Checked == false) // draw if in view |
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{ |
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if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null) |
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{ |
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// this is for the pulled wp list from a mavlink logfile |
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FlightPlanner.pointlist.Clear(); |
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FlightPlanner.pointlist.AddRange(MainV2.comPort.wps); |
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} |
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while (gMapControl1.inOnPaint == true) |
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{ |
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System.Threading.Thread.Sleep(1); |
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} |
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updateClearRoutes(); |
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route = new GMapRoute(trackPoints, "track"); |
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//track.Stroke = Pens.Red; |
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//route.Stroke = new Pen(Color.FromArgb(144, Color.Red)); |
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//route.Stroke.Width = 5; |
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//route.Tag = "track"; |
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|
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routes.Routes.Add(route); |
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|
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if (waypoints.AddSeconds(10) < DateTime.Now) |
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{ |
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//Console.WriteLine("Doing FD WP's"); |
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polygons.Markers.Clear(); |
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|
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foreach (PointLatLngAlt plla in FlightPlanner.pointlist) |
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{ |
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if (plla == null || plla.Lng == 0 || plla.Lat == 0) |
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break; |
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addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color,polygons); |
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} |
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RegeneratePolygon(); |
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|
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waypoints = DateTime.Now; |
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} |
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|
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if (MainV2.cs.mode.ToLower() == "guided" && GuidedModeWP != null && GuidedModeWP.Lat != 0) |
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{ |
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addpolygonmarker("Guided Mode", GuidedModeWP.Lng, GuidedModeWP.Lat, (int)GuidedModeWP.Alt, Color.Blue, routes); |
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} |
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|
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//routes.Polygons.Add(poly); |
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|
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if (trackPoints.Count > 0) |
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{ |
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PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng); |
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|
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|
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) |
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{ |
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routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1)); |
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} |
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else |
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{ |
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routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing)); |
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} |
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|
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if (trackPoints[trackPoints.Count - 1].Lat != 0 && (DateTime.Now.Second % 4 == 0) && CHK_autopan.Checked) |
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{ |
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updateMapPosition(currentloc); |
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} |
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|
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if (trackPoints.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom |
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{ |
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updateMapPosition(currentloc); |
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updateMapZoom(17); |
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//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes"); |
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} |
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} |
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|
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gMapControl1.HoldInvalidation = false; |
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|
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gMapControl1.Invalidate(); |
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} |
|
|
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tracklast = DateTime.Now; |
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} |
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} |
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catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); } |
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} |
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Console.WriteLine("FD Main loop exit"); |
|
} |
|
|
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private void setMapBearing() |
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{ |
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this.Invoke((System.Windows.Forms.MethodInvoker)delegate() |
|
{ |
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gMapControl1.Bearing = (int)MainV2.cs.yaw; |
|
}); |
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} |
|
|
|
|
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// to prevent cross thread calls while in a draw and exception |
|
private void updateClearRoutes() |
|
{ |
|
// not async |
|
this.Invoke((System.Windows.Forms.MethodInvoker)delegate() |
|
{ |
|
routes.Markers.Clear(); |
|
routes.Routes.Clear(); |
|
}); |
|
} |
|
|
|
private void updatePlayPauseButton(bool playing) |
|
{ |
|
if (playing) |
|
{ |
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
BUT_playlog.Text = "Pause"; |
|
} |
|
catch { } |
|
}); |
|
} |
|
else |
|
{ |
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
BUT_playlog.Text = "Play"; |
|
} |
|
catch { } |
|
}); |
|
} |
|
} |
|
|
|
private void updateBindingSource() |
|
{ |
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
MainV2.cs.UpdateCurrentSettings(bindingSource1); |
|
} |
|
catch { } |
|
}); |
|
} |
|
|
|
private void updateMapPosition(PointLatLng currentloc) |
|
{ |
|
this.BeginInvoke((MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
gMapControl1.Position = currentloc; |
|
hud1.Refresh(); |
|
} |
|
catch { } |
|
}); |
|
} |
|
|
|
private void updateMapZoom(int zoom) |
|
{ |
|
this.BeginInvoke((MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
gMapControl1.Zoom = zoom; |
|
} |
|
catch { } |
|
}); |
|
} |
|
|
|
private void updateLogPlayPosition() |
|
{ |
|
this.BeginInvoke((MethodInvoker)delegate() |
|
{ |
|
try |
|
{ |
|
tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100); |
|
|
|
lbl_logpercent.Text = (MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length).ToString("0.00%"); |
|
} |
|
catch { } |
|
}); |
|
} |
|
|
|
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay) |
|
{ |
|
try |
|
{ |
|
PointLatLng point = new PointLatLng(lat, lng); |
|
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point); |
|
m.ToolTipMode = MarkerTooltipMode.Always; |
|
m.ToolTipText = tag; |
|
m.Tag = tag; |
|
|
|
GMapMarkerRect mBorders = new GMapMarkerRect(point); |
|
{ |
|
|
|
mBorders.InnerMarker = m; |
|
try |
|
{ |
|
mBorders.wprad = (int)float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()); |
|
} |
|
catch { } |
|
mBorders.MainMap = gMapControl1; |
|
if (color.HasValue) |
|
{ |
|
mBorders.Color = color.Value; |
|
} |
|
} |
|
|
|
overlay.Markers.Add(m); |
|
overlay.Markers.Add(mBorders); |
|
} |
|
catch (Exception) { } |
|
} |
|
|
|
/// <summary> |
|
/// used to redraw the polygon |
|
/// </summary> |
|
void RegeneratePolygon() |
|
{ |
|
List<PointLatLng> polygonPoints = new List<PointLatLng>(); |
|
|
|
if (routes == null) |
|
return; |
|
|
|
foreach (GMapMarker m in polygons.Markers) |
|
{ |
|
if (m is GMapMarkerRect) |
|
{ |
|
m.Tag = polygonPoints.Count; |
|
polygonPoints.Add(m.Position); |
|
} |
|
} |
|
|
|
if (polygon == null) |
|
{ |
|
polygon = new GMapPolygon(polygonPoints, "polygon test"); |
|
polygons.Polygons.Add(polygon); |
|
} |
|
else |
|
{ |
|
polygon.Points.Clear(); |
|
polygon.Points.AddRange(polygonPoints); |
|
|
|
polygon.Stroke = new Pen(Color.Yellow, 4); |
|
|
|
if (polygons.Polygons.Count == 0) |
|
{ |
|
polygons.Polygons.Add(polygon); |
|
} |
|
else |
|
{ |
|
gMapControl1.UpdatePolygonLocalPosition(polygon); |
|
} |
|
} |
|
} |
|
|
|
GMapPolygon polygon; |
|
GMapOverlay polygons; |
|
GMapOverlay routes; |
|
GMapRoute route; |
|
|
|
public void CreateChart(ZedGraphControl zgc) |
|
{ |
|
GraphPane myPane = zgc.GraphPane; |
|
|
|
// Set the titles and axis labels |
|
myPane.Title.Text = "Tuning"; |
|
myPane.XAxis.Title.Text = "Time (s)"; |
|
myPane.YAxis.Title.Text = "Unit"; |
|
|
|
// Show the x axis grid |
|
myPane.XAxis.MajorGrid.IsVisible = true; |
|
|
|
myPane.XAxis.Scale.Min = 0; |
|
myPane.XAxis.Scale.Max = 5; |
|
|
|
// Make the Y axis scale red |
|
myPane.YAxis.Scale.FontSpec.FontColor = Color.White; |
|
myPane.YAxis.Title.FontSpec.FontColor = Color.White; |
|
// turn off the opposite tics so the Y tics don't show up on the Y2 axis |
|
myPane.YAxis.MajorTic.IsOpposite = false; |
|
myPane.YAxis.MinorTic.IsOpposite = false; |
|
// Don't display the Y zero line |
|
myPane.YAxis.MajorGrid.IsZeroLine = true; |
|
// Align the Y axis labels so they are flush to the axis |
|
myPane.YAxis.Scale.Align = AlignP.Inside; |
|
// Manually set the axis range |
|
//myPane.YAxis.Scale.Min = -1; |
|
//myPane.YAxis.Scale.Max = 1; |
|
|
|
// Fill the axis background with a gradient |
|
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f); |
|
|
|
// Sample at 50ms intervals |
|
ZedGraphTimer.Interval = 100; |
|
//timer1.Enabled = true; |
|
//timer1.Start(); |
|
|
|
|
|
// Calculate the Axis Scale Ranges |
|
zgc.AxisChange(); |
|
|
|
tickStart = Environment.TickCount; |
|
|
|
|
|
} |
|
|
|
private void timer1_Tick(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
// Make sure that the curvelist has at least one curve |
|
if (zg1.GraphPane.CurveList.Count <= 0) |
|
return; |
|
|
|
// Get the first CurveItem in the graph |
|
LineItem curve = zg1.GraphPane.CurveList[0] as LineItem; |
|
if (curve == null) |
|
return; |
|
|
|
// Get the PointPairList |
|
IPointListEdit list = curve.Points as IPointListEdit; |
|
// If this is null, it means the reference at curve.Points does not |
|
// support IPointListEdit, so we won't be able to modify it |
|
if (list == null) |
|
return; |
|
|
|
// Time is measured in seconds |
|
double time = (Environment.TickCount - tickStart) / 1000.0; |
|
|
|
// Keep the X scale at a rolling 30 second interval, with one |
|
// major step between the max X value and the end of the axis |
|
Scale xScale = zg1.GraphPane.XAxis.Scale; |
|
if (time > xScale.Max - xScale.MajorStep) |
|
{ |
|
xScale.Max = time + xScale.MajorStep; |
|
xScale.Min = xScale.Max - 10.0; |
|
} |
|
|
|
// Make sure the Y axis is rescaled to accommodate actual data |
|
zg1.AxisChange(); |
|
|
|
// Force a redraw |
|
|
|
zg1.Invalidate(); |
|
} |
|
catch { } |
|
|
|
} |
|
|
|
private void FlightData_FormClosing(object sender, FormClosingEventArgs e) |
|
{ |
|
ZedGraphTimer.Stop(); |
|
threadrun = 0; |
|
if (comPort.BaseStream.IsOpen) |
|
{ |
|
comPort.Close(); |
|
} |
|
} |
|
|
|
private void BUT_clear_track_Click(object sender, EventArgs e) |
|
{ |
|
trackPoints.Clear(); |
|
} |
|
|
|
private void BUT_save_log_Click(object sender, EventArgs e) |
|
{ |
|
// close existing log first |
|
if (swlog != null) |
|
swlog.Close(); |
|
|
|
try |
|
{ |
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs"); |
|
swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm") + " telem.log"); |
|
} |
|
catch { CustomMessageBox.Show("Log creation error"); } |
|
} |
|
|
|
private void BUTactiondo_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
#if MAVLINK10 |
|
comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),0,0,0,0,0,0,0); |
|
#else |
|
comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text)); |
|
#endif |
|
} |
|
catch { CustomMessageBox.Show("The Command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void BUTrestartmission_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
|
|
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN); // set nav from |
|
//System.Threading.Thread.Sleep(100); |
|
comPort.setWPCurrent(1); // set nav to |
|
//System.Threading.Thread.Sleep(100); |
|
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO); // set auto |
|
} |
|
catch { CustomMessageBox.Show("The command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void FlightData_Resize(object sender, EventArgs e) |
|
{ |
|
//Gspeed; |
|
//Galt; |
|
//Gheading; |
|
//attitudeIndicatorInstrumentControl1; |
|
} |
|
|
|
private void CB_tuning_CheckedChanged(object sender, EventArgs e) |
|
{ |
|
if (CB_tuning.Checked) |
|
{ |
|
splitContainer1.Panel1Collapsed = false; |
|
ZedGraphTimer.Enabled = true; |
|
ZedGraphTimer.Start(); |
|
zg1.Visible = true; |
|
zg1.Refresh(); |
|
} |
|
else |
|
{ |
|
splitContainer1.Panel1Collapsed = true; |
|
ZedGraphTimer.Enabled = false; |
|
ZedGraphTimer.Stop(); |
|
zg1.Visible = false; |
|
} |
|
} |
|
|
|
private void SubMainHT_Panel1_Resize(object sender, EventArgs e) |
|
{ |
|
hud1.Width = MainH.SplitterDistance; |
|
|
|
SubMainLeft.SplitterDistance = hud1.Height + 2; |
|
} |
|
|
|
private void BUT_RAWSensor_Click(object sender, EventArgs e) |
|
{ |
|
Form temp = new RAW_Sensor(); |
|
ThemeManager.ApplyThemeTo(temp); |
|
temp.Show(); |
|
} |
|
|
|
private void gMapControl1_Click(object sender, EventArgs e) |
|
{ |
|
|
|
} |
|
|
|
PointLatLng gotolocation = new PointLatLng(); |
|
|
|
private void gMapControl1_MouseDown(object sender, MouseEventArgs e) |
|
{ |
|
gotolocation = gMapControl1.FromLocalToLatLng(e.X, e.Y); |
|
} |
|
|
|
private void goHereToolStripMenuItem_Click(object sender, EventArgs e) |
|
{ |
|
if (!MainV2.comPort.BaseStream.IsOpen) |
|
{ |
|
CustomMessageBox.Show("Please Connect First"); |
|
return; |
|
} |
|
|
|
string alt = "100"; |
|
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) |
|
{ |
|
alt = (10 * MainV2.cs.multiplierdist).ToString("0"); |
|
} |
|
else |
|
{ |
|
alt = (100 * MainV2.cs.multiplierdist).ToString("0"); |
|
} |
|
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Guided Mode Alt", ref alt)) |
|
return; |
|
|
|
int intalt = (int)(100 * MainV2.cs.multiplierdist); |
|
if (!int.TryParse(alt, out intalt)) |
|
{ |
|
CustomMessageBox.Show("Bad Alt"); |
|
return; |
|
} |
|
|
|
if (gotolocation.Lat == 0 || gotolocation.Lng == 0) |
|
{ |
|
CustomMessageBox.Show("Bad Lat/Long"); |
|
return; |
|
} |
|
|
|
Locationwp gotohere = new Locationwp(); |
|
|
|
gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT; |
|
gotohere.alt = (float)(intalt / MainV2.cs.multiplierdist); // back to m |
|
gotohere.lat = (float)(gotolocation.Lat); |
|
gotohere.lng = (float)(gotolocation.Lng); |
|
|
|
try |
|
{ |
|
MainV2.giveComport = true; |
|
|
|
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2); |
|
|
|
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode"); |
|
|
|
MainV2.giveComport = false; |
|
} |
|
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); } |
|
|
|
} |
|
|
|
private void Zoomlevel_ValueChanged(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
if (gMapControl1.MaxZoom + 1 == (double)Zoomlevel.Value) |
|
{ |
|
gMapControl1.Zoom = (double)Zoomlevel.Value - .1; |
|
} |
|
else |
|
{ |
|
gMapControl1.Zoom = (double)Zoomlevel.Value; |
|
} |
|
} |
|
catch { } |
|
} |
|
|
|
private void gMapControl1_MouseMove(object sender, MouseEventArgs e) |
|
{ |
|
PointLatLng point = gMapControl1.FromLocalToLatLng(e.X, e.Y); |
|
|
|
if (e.Button == MouseButtons.Left) |
|
{ |
|
double latdif = gotolocation.Lat - point.Lat; |
|
double lngdif = gotolocation.Lng - point.Lng; |
|
|
|
try |
|
{ |
|
gMapControl1.Position = new PointLatLng(gMapControl1.Position.Lat + latdif, gMapControl1.Position.Lng + lngdif); |
|
} |
|
catch { } |
|
} |
|
} |
|
|
|
private void FlightData_ParentChanged(object sender, EventArgs e) |
|
{ |
|
if (MainV2.cam != null) |
|
{ |
|
MainV2.cam.camimage += new WebCamService.CamImage(cam_camimage); |
|
} |
|
} |
|
|
|
void cam_camimage(Image camimage) |
|
{ |
|
hud1.bgimage = camimage; |
|
} |
|
|
|
private void BUT_Homealt_Click(object sender, EventArgs e) |
|
{ |
|
if (MainV2.cs.altoffsethome != 0) |
|
{ |
|
MainV2.cs.altoffsethome = 0; |
|
} |
|
else |
|
{ |
|
MainV2.cs.altoffsethome = MainV2.cs.alt / MainV2.cs.multiplierdist; |
|
} |
|
} |
|
|
|
private void gMapControl1_Resize(object sender, EventArgs e) |
|
{ |
|
gMapControl1.Zoom = gMapControl1.Zoom + 0.01; |
|
} |
|
|
|
private void BUT_loadtelem_Click(object sender, EventArgs e) |
|
{ |
|
if (MainV2.comPort.logplaybackfile != null) |
|
{ |
|
try |
|
{ |
|
MainV2.comPort.logplaybackfile.Close(); |
|
MainV2.comPort.logplaybackfile = null; |
|
} |
|
catch { } |
|
} |
|
|
|
OpenFileDialog fd = new OpenFileDialog(); |
|
fd.AddExtension = true; |
|
fd.Filter = "Ardupilot Telemtry log (*.tlog)|*.tlog|Mavlink Log (*.mavlog)|*.mavlog"; |
|
fd.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs"; |
|
fd.DefaultExt = ".tlog"; |
|
DialogResult result = fd.ShowDialog(); |
|
string file = fd.FileName; |
|
if (file != "") |
|
{ |
|
try |
|
{ |
|
BUT_clear_track_Click(sender, e); |
|
|
|
MainV2.comPort.logreadmode = false; |
|
MainV2.comPort.logplaybackfile = new BinaryReader(File.OpenRead(file)); |
|
MainV2.comPort.lastlogread = DateTime.MinValue; |
|
|
|
tracklog.Value = 0; |
|
tracklog.Minimum = 0; |
|
tracklog.Maximum = 100; |
|
} |
|
catch { CustomMessageBox.Show("Error: Failed to write log file"); } |
|
} |
|
} |
|
|
|
private void BUT_playlog_Click(object sender, EventArgs e) |
|
{ |
|
if (MainV2.comPort.logreadmode) |
|
{ |
|
MainV2.comPort.logreadmode = false; |
|
ZedGraphTimer.Stop(); |
|
playingLog = false; |
|
} |
|
else |
|
{ |
|
// BUT_clear_track_Click(sender, e); |
|
MainV2.comPort.logreadmode = true; |
|
list1.Clear(); |
|
list2.Clear(); |
|
list3.Clear(); |
|
list4.Clear(); |
|
list5.Clear(); |
|
list6.Clear(); |
|
list7.Clear(); |
|
list8.Clear(); |
|
list9.Clear(); |
|
list10.Clear(); |
|
tickStart = Environment.TickCount; |
|
|
|
zg1.GraphPane.XAxis.Scale.Min = 0; |
|
zg1.GraphPane.XAxis.Scale.Max = 1; |
|
ZedGraphTimer.Start(); |
|
playingLog = true; |
|
} |
|
} |
|
|
|
private void tracklog_Scroll(object sender, EventArgs e) |
|
{ |
|
BUT_clear_track_Click(sender, e); |
|
|
|
MainV2.comPort.lastlogread = DateTime.MinValue; |
|
|
|
if (MainV2.comPort.logplaybackfile != null) |
|
MainV2.comPort.logplaybackfile.BaseStream.Position = (long)(MainV2.comPort.logplaybackfile.BaseStream.Length * (tracklog.Value / 100.0)); |
|
|
|
updateLogPlayPosition(); |
|
} |
|
|
|
bool loaded = false; |
|
|
|
private void MainH_SplitterMoved(object sender, SplitterEventArgs e) |
|
{ |
|
if (loaded == true) |
|
{ // startup check |
|
MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString(); |
|
} |
|
loaded = true; |
|
hud1.Width = MainH.Panel1.Width; |
|
} |
|
|
|
private void tabPage1_Resize(object sender, EventArgs e) |
|
{ |
|
int mywidth; |
|
|
|
if (tabGauges.Width < 500) |
|
{ |
|
Gvspeed.Visible = false; |
|
mywidth = tabGauges.Width / 3; |
|
|
|
Gspeed.Height = mywidth; |
|
Galt.Height = mywidth; |
|
Gheading.Height = mywidth; |
|
|
|
Gspeed.Location = new Point(0, 0); |
|
} |
|
else |
|
{ |
|
Gvspeed.Visible = true; |
|
mywidth = tabGauges.Width / 4; |
|
|
|
Gvspeed.Height = mywidth; |
|
Gspeed.Height = mywidth; |
|
Galt.Height = mywidth; |
|
Gheading.Height = mywidth; |
|
|
|
Gvspeed.Location = new Point(0, 0); |
|
Gspeed.Location = new Point(Gvspeed.Right, 0); |
|
} |
|
|
|
Galt.Location = new Point(Gspeed.Right, 0); |
|
Gheading.Location = new Point(Galt.Right, 0); |
|
|
|
} |
|
|
|
private void BUT_setmode_Click(object sender, EventArgs e) |
|
{ |
|
MainV2.comPort.setMode(CMB_modes.Text); |
|
} |
|
|
|
private void BUT_setwp_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
comPort.setWPCurrent((ushort)CMB_setwp.SelectedIndex); // set nav to |
|
} |
|
catch { CustomMessageBox.Show("The command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void CMB_setwp_Click(object sender, EventArgs e) |
|
{ |
|
CMB_setwp.Items.Clear(); |
|
|
|
CMB_setwp.Items.Add("0 (Home)"); |
|
|
|
if (MainV2.comPort.param["CMD_TOTAL"] != null) |
|
{ |
|
int wps = int.Parse(MainV2.comPort.param["CMD_TOTAL"].ToString()); |
|
for (int z = 1; z <= wps; z++) |
|
{ |
|
CMB_setwp.Items.Add(z.ToString()); |
|
} |
|
} |
|
} |
|
|
|
private void BUT_quickauto_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
#if MAVLINK10 |
|
MainV2.comPort.setMode("Auto"); |
|
#else |
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO); |
|
#endif |
|
} |
|
catch { CustomMessageBox.Show("The Command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void BUT_quickrtl_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
#if MAVLINK10 |
|
MainV2.comPort.setMode("RTL"); |
|
#else |
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN); |
|
#endif |
|
} |
|
catch { CustomMessageBox.Show("The Command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void BUT_quickmanual_Click(object sender, EventArgs e) |
|
{ |
|
try |
|
{ |
|
((Button)sender).Enabled = false; |
|
#if MAVLINK10 |
|
MainV2.comPort.setMode("Manual"); |
|
#else |
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_MANUAL); |
|
#endif |
|
} |
|
catch { CustomMessageBox.Show("The Command failed to execute"); } |
|
((Button)sender).Enabled = true; |
|
} |
|
|
|
private void BUT_log2kml_Click(object sender, EventArgs e) |
|
{ |
|
if (DialogResult.Cancel == Common.MessageShowAgain("Tlog to KML Firmware Version", "When converting logs, ensure your Firmware version is set correctly.\n(Near your com port selection.)")) |
|
{ |
|
return; |
|
} |
|
|
|
Form frm = new MavlinkLog(); |
|
ThemeManager.ApplyThemeTo(frm); |
|
frm.ShowDialog(); |
|
} |
|
|
|
private void BUT_joystick_Click(object sender, EventArgs e) |
|
{ |
|
Form joy = new JoystickSetup(); |
|
ThemeManager.ApplyThemeTo(joy); |
|
joy.Show(); |
|
} |
|
|
|
private void CMB_modes_Click(object sender, EventArgs e) |
|
{ |
|
CMB_modes.DataSource = Common.getModesList(); |
|
CMB_modes.ValueMember = "Key"; |
|
CMB_modes.DisplayMember = "Value"; |
|
} |
|
|
|
private void hud1_DoubleClick(object sender, EventArgs e) |
|
{ |
|
if (huddropout) |
|
return; |
|
|
|
SubMainLeft.Panel1Collapsed = true; |
|
Form dropout = new Form(); |
|
dropout.Size = new System.Drawing.Size(hud1.Width, hud1.Height + 20); |
|
SubMainLeft.Panel1.Controls.Remove(hud1); |
|
dropout.Controls.Add(hud1); |
|
dropout.Resize += new EventHandler(dropout_Resize); |
|
dropout.FormClosed += new FormClosedEventHandler(dropout_FormClosed); |
|
dropout.Show(); |
|
huddropout = true; |
|
} |
|
|
|
void dropout_FormClosed(object sender, FormClosedEventArgs e) |
|
{ |
|
SubMainLeft.Panel1.Controls.Add(hud1); |
|
SubMainLeft.Panel1Collapsed = false; |
|
huddropout = false; |
|
} |
|
|
|
void dropout_Resize(object sender, EventArgs e) |
|
{ |
|
if (huddropoutresize) |
|
return; |
|
|
|
huddropoutresize = true; |
|
|
|
int hudw = hud1.Width; |
|
int hudh = hud1.Height; |
|
|
|
int formh = ((Form)sender).Height - 30; |
|
int formw = ((Form)sender).Width; |
|
|
|
if (((Form)sender).Height < hudh) |
|
{ |
|
if (((Form)sender).WindowState == FormWindowState.Maximized) |
|
{ |
|
Point tl = ((Form)sender).DesktopLocation; |
|
((Form)sender).WindowState = FormWindowState.Normal; |
|
((Form)sender).Location = tl; |
|
} |
|
((Form)sender).Width = (int)(formh * 1.333f); |
|
((Form)sender).Height = (int)(formh) + 20; |
|
} |
|
hud1.Refresh(); |
|
huddropoutresize = false; |
|
} |
|
|
|
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e) |
|
{ |
|
if (tabControl1.SelectedTab == tabStatus) |
|
{ |
|
tabControl1.SuspendLayout(); |
|
|
|
foreach (Control temp in tabStatus.Controls) |
|
{ |
|
temp.DataBindings.Clear(); |
|
//temp.Dispose(); |
|
} |
|
//tabStatus.Controls.Clear(); |
|
|
|
int x = 10; |
|
int y = 10; |
|
|
|
object thisBoxed = MainV2.cs; |
|
Type test = thisBoxed.GetType(); |
|
|
|
foreach (var field in test.GetProperties()) |
|
{ |
|
// field.Name has the field's name. |
|
object fieldValue; |
|
try |
|
{ |
|
fieldValue = field.GetValue(thisBoxed, null); // Get value |
|
} |
|
catch { continue; } |
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode. |
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType()); |
|
|
|
bool add = true; |
|
|
|
MyLabel lbl1 = new MyLabel(); |
|
MyLabel lbl2 = new MyLabel(); |
|
try |
|
{ |
|
lbl1 = (MyLabel)tabStatus.Controls.Find(field.Name, false)[0]; |
|
|
|
lbl2 = (MyLabel)tabStatus.Controls.Find(field.Name + "value", false)[0]; |
|
|
|
add = false; |
|
} |
|
catch { } |
|
|
|
lbl1.Location = new Point(x, y); |
|
lbl1.Size = new System.Drawing.Size(75, 13); |
|
lbl1.Text = field.Name; |
|
lbl1.Name = field.Name; |
|
lbl2.AutoSize = false; |
|
|
|
lbl2.Location = new Point(lbl1.Right + 5, y); |
|
lbl2.Size = new System.Drawing.Size(50, 13); |
|
//if (lbl2.Name == "") |
|
lbl2.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.bindingSource1, field.Name, true, System.Windows.Forms.DataSourceUpdateMode.OnValidation, "")); |
|
lbl2.Name = field.Name + "value"; |
|
//lbl2.Text = fieldValue.ToString(); |
|
|
|
if (add) |
|
{ |
|
tabStatus.Controls.Add(lbl1); |
|
tabStatus.Controls.Add(lbl2); |
|
} |
|
|
|
//Application.DoEvents(); |
|
|
|
x += 0; |
|
y += 15; |
|
|
|
if (y > tabStatus.Height - 30) |
|
{ |
|
x += 140; |
|
y = 10; |
|
} |
|
} |
|
|
|
tabStatus.Width = x; |
|
|
|
tabControl1.ResumeLayout(); |
|
} |
|
else |
|
{ |
|
foreach (Control temp in tabStatus.Controls) |
|
{ |
|
temp.DataBindings.Clear(); |
|
} |
|
} |
|
} |
|
|
|
private void Gspeed_DoubleClick(object sender, EventArgs e) |
|
{ |
|
string max = "60"; |
|
if (DialogResult.OK == Common.InputBox("Enter Max", "Enter Max Speed", ref max)) |
|
{ |
|
Gspeed.MaxValue = float.Parse(max); |
|
MainV2.config["GspeedMAX"] = Gspeed.MaxValue.ToString(); |
|
} |
|
} |
|
|
|
private void recordHudToAVIToolStripMenuItem_Click(object sender, EventArgs e) |
|
{ |
|
stopRecordToolStripMenuItem_Click(sender, e); |
|
|
|
CustomMessageBox.Show("Output avi will be saved to the log folder"); |
|
|
|
aviwriter = new AviWriter(); |
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs"); |
|
aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".avi"); |
|
|
|
recordHudToAVIToolStripMenuItem.Text = "Recording"; |
|
} |
|
|
|
private void stopRecordToolStripMenuItem_Click(object sender, EventArgs e) |
|
{ |
|
recordHudToAVIToolStripMenuItem.Text = "Start Recording"; |
|
|
|
if (aviwriter != null) |
|
aviwriter.avi_close(); |
|
|
|
aviwriter = null; |
|
} |
|
|
|
void setupPropertyInfo(ref System.Reflection.PropertyInfo input, string name, object source) |
|
{ |
|
Type test = source.GetType(); |
|
|
|
foreach (var field in test.GetProperties()) |
|
{ |
|
if (field.Name == name) |
|
{ |
|
input = field; |
|
return; |
|
} |
|
} |
|
|
|
|
|
} |
|
|
|
private void zg1_DoubleClick(object sender, EventArgs e) |
|
{ |
|
Form selectform = new Form() |
|
{ |
|
Name = "select", |
|
Width = 50, |
|
Height = 250, |
|
Text = "Graph This" |
|
}; |
|
|
|
int x = 10; |
|
int y = 10; |
|
|
|
{ |
|
CheckBox chk_box = new CheckBox(); |
|
chk_box.Text = "Logarithmic"; |
|
chk_box.Name = "Logarithmic"; |
|
chk_box.Location = new Point(x, y); |
|
chk_box.Size = new System.Drawing.Size(100, 20); |
|
chk_box.CheckedChanged += new EventHandler(chk_log_CheckedChanged); |
|
|
|
selectform.Controls.Add(chk_box); |
|
} |
|
|
|
y += 20; |
|
|
|
object thisBoxed = MainV2.cs; |
|
Type test = thisBoxed.GetType(); |
|
|
|
foreach (var field in test.GetProperties()) |
|
{ |
|
// field.Name has the field's name. |
|
object fieldValue; |
|
try |
|
{ |
|
fieldValue = field.GetValue(thisBoxed, null); // Get value |
|
} |
|
catch { continue; } |
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode. |
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType()); |
|
|
|
if (!(typeCode == TypeCode.Single)) |
|
continue; |
|
|
|
CheckBox chk_box = new CheckBox(); |
|
|
|
if (list1item != null && list1item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list2item != null && list2item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list3item != null && list3item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list4item != null && list4item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list5item != null && list5item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list6item != null && list6item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list7item != null && list7item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list8item != null && list8item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list9item != null && list9item.Name == field.Name) |
|
chk_box.Checked = true; |
|
if (list10item != null && list10item.Name == field.Name) |
|
chk_box.Checked = true; |
|
|
|
chk_box.Text = field.Name; |
|
chk_box.Name = field.Name; |
|
chk_box.Location = new Point(x, y); |
|
chk_box.Size = new System.Drawing.Size(100, 20); |
|
chk_box.CheckedChanged += new EventHandler(chk_box_CheckedChanged); |
|
|
|
selectform.Controls.Add(chk_box); |
|
|
|
Application.DoEvents(); |
|
|
|
x += 0; |
|
y += 20; |
|
|
|
if (y > selectform.Height - 50) |
|
{ |
|
x += 100; |
|
y = 10; |
|
|
|
selectform.Width = x + 100; |
|
} |
|
} |
|
ThemeManager.ApplyThemeTo(selectform); |
|
selectform.Show(); |
|
} |
|
|
|
void chk_log_CheckedChanged(object sender, EventArgs e) |
|
{ |
|
if (((CheckBox)sender).Checked) |
|
{ |
|
zg1.GraphPane.YAxis.Type = AxisType.Log; |
|
} |
|
else |
|
{ |
|
zg1.GraphPane.YAxis.Type = AxisType.Linear; |
|
} |
|
} |
|
|
|
void chk_box_CheckedChanged(object sender, EventArgs e) |
|
{ |
|
if (((CheckBox)sender).Checked) |
|
{ |
|
if (list1item == null) |
|
{ |
|
setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.cs); |
|
list1curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list1, Color.Red, SymbolType.None); |
|
} |
|
else if (list2item == null) |
|
{ |
|
setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.cs); |
|
list2curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list2, Color.Blue, SymbolType.None); |
|
} |
|
else if (list3item == null) |
|
{ |
|
setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.cs); |
|
list3curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list3, Color.Green, SymbolType.None); |
|
} |
|
else if (list4item == null) |
|
{ |
|
setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.cs); |
|
list4curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list4, Color.Orange, SymbolType.None); |
|
} |
|
else if (list5item == null) |
|
{ |
|
setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.cs); |
|
list5curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list5, Color.Yellow, SymbolType.None); |
|
} |
|
else if (list6item == null) |
|
{ |
|
setupPropertyInfo(ref list6item, ((CheckBox)sender).Name, MainV2.cs); |
|
list6curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list6, Color.Magenta, SymbolType.None); |
|
} |
|
else if (list7item == null) |
|
{ |
|
setupPropertyInfo(ref list7item, ((CheckBox)sender).Name, MainV2.cs); |
|
list7curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list7, Color.Purple, SymbolType.None); |
|
} |
|
else if (list8item == null) |
|
{ |
|
setupPropertyInfo(ref list8item, ((CheckBox)sender).Name, MainV2.cs); |
|
list8curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list8, Color.LimeGreen, SymbolType.None); |
|
} |
|
else if (list9item == null) |
|
{ |
|
setupPropertyInfo(ref list9item, ((CheckBox)sender).Name, MainV2.cs); |
|
list9curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list9, Color.Cyan, SymbolType.None); |
|
} |
|
else if (list10item == null) |
|
{ |
|
setupPropertyInfo(ref list10item, ((CheckBox)sender).Name, MainV2.cs); |
|
list10curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list10, Color.Violet, SymbolType.None); |
|
} |
|
else |
|
{ |
|
CustomMessageBox.Show("Max 10 at a time."); |
|
((CheckBox)sender).Checked = false; |
|
} |
|
ThemeManager.ApplyThemeTo(this); |
|
|
|
string selected = ""; |
|
try |
|
{ |
|
selected = selected + zg1.GraphPane.CurveList[0].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[1].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[2].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[3].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[4].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[5].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[6].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[7].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[8].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[9].Label.Text + "|"; |
|
selected = selected + zg1.GraphPane.CurveList[10].Label.Text + "|"; |
|
} |
|
catch { } |
|
MainV2.config["Tuning_Graph_Selected"] = selected; |
|
} |
|
else |
|
{ |
|
// reset old stuff |
|
if (list1item != null && list1item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list1item = null; |
|
zg1.GraphPane.CurveList.Remove(list1curve); |
|
} |
|
if (list2item != null && list2item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list2item = null; |
|
zg1.GraphPane.CurveList.Remove(list2curve); |
|
} |
|
if (list3item != null && list3item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list3item = null; |
|
zg1.GraphPane.CurveList.Remove(list3curve); |
|
} |
|
if (list4item != null && list4item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list4item = null; |
|
zg1.GraphPane.CurveList.Remove(list4curve); |
|
} |
|
if (list5item != null && list5item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list5item = null; |
|
zg1.GraphPane.CurveList.Remove(list5curve); |
|
} |
|
if (list6item != null && list6item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list6item = null; |
|
zg1.GraphPane.CurveList.Remove(list6curve); |
|
} |
|
if (list7item != null && list7item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list7item = null; |
|
zg1.GraphPane.CurveList.Remove(list7curve); |
|
} |
|
if (list8item != null && list8item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list8item = null; |
|
zg1.GraphPane.CurveList.Remove(list8curve); |
|
} |
|
if (list9item != null && list9item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list9item = null; |
|
zg1.GraphPane.CurveList.Remove(list9curve); |
|
} |
|
if (list10item != null && list10item.Name == ((CheckBox)sender).Name) |
|
{ |
|
list10item = null; |
|
zg1.GraphPane.CurveList.Remove(list10curve); |
|
} |
|
} |
|
} |
|
|
|
private void pointCameraHereToolStripMenuItem_Click(object sender, EventArgs e) |
|
{ |
|
if (!MainV2.comPort.BaseStream.IsOpen) |
|
{ |
|
CustomMessageBox.Show("Please Connect First"); |
|
return; |
|
} |
|
|
|
string alt = (100 * MainV2.cs.multiplierdist).ToString("0"); |
|
Common.InputBox("Enter Alt", "Enter Target Alt (absolute)", ref alt); |
|
|
|
int intalt = (int)(100 * MainV2.cs.multiplierdist); |
|
if (!int.TryParse(alt, out intalt)) |
|
{ |
|
CustomMessageBox.Show("Bad Alt"); |
|
return; |
|
} |
|
|
|
if (gotolocation.Lat == 0 || gotolocation.Lng == 0) |
|
{ |
|
CustomMessageBox.Show("Bad Lat/Long"); |
|
return; |
|
} |
|
|
|
MainV2.comPort.setMountConfigure(MAVLink.MAV_MOUNT_MODE.GPS_POINT, true, true, true); |
|
MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true); |
|
|
|
} |
|
|
|
private void BUT_script_Click(object sender, EventArgs e) |
|
{ |
|
|
|
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(ScriptStart)) |
|
{ |
|
IsBackground = true, |
|
Name = "Script Thread" |
|
}; |
|
t11.Start(); |
|
} |
|
|
|
void ScriptStart() |
|
{ |
|
string myscript = @" |
|
# cs.???? = currentstate, any variable on the status tab in the planner can be used. |
|
# Script = options are |
|
# Script.Sleep(ms) |
|
# Script.ChangeParam(name,value) |
|
# Script.GetParam(name) |
|
# Script.ChangeMode(mode) - same as displayed in mode setup screen 'AUTO' |
|
# Script.WaitFor(string,timeout) |
|
# Script.SendRC(channel,pwm,sendnow) |
|
# |
|
|
|
print 'Start Script' |
|
for chan in range(1,9): |
|
Script.SendRC(chan,1500,False) |
|
Script.SendRC(3,Script.GetParam('RC3_MIN'),True) |
|
|
|
Script.Sleep(5000) |
|
while cs.lat == 0: |
|
print 'Waiting for GPS' |
|
Script.Sleep(1000) |
|
print 'Got GPS' |
|
jo = 10 * 13 |
|
print jo |
|
Script.SendRC(3,1000,False) |
|
Script.SendRC(4,2000,True) |
|
cs.messages.Clear() |
|
Script.WaitFor('ARMING MOTORS',30000) |
|
Script.SendRC(4,1500,True) |
|
print 'Motors Armed!' |
|
|
|
Script.SendRC(3,1700,True) |
|
while cs.alt < 50: |
|
Script.Sleep(50) |
|
|
|
Script.SendRC(5,2000,True) # acro |
|
|
|
Script.SendRC(1,2000,False) # roll |
|
Script.SendRC(3,1370,True) # throttle |
|
while cs.roll > -45: # top hald 0 - 180 |
|
Script.Sleep(5) |
|
while cs.roll < -45: # -180 - -45 |
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Script.Sleep(5) |
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|
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Script.SendRC(5,1500,False) # stabalise |
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Script.SendRC(1,1500,True) # level roll |
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Script.Sleep(2000) # 2 sec to stabalise |
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Script.SendRC(3,1300,True) # throttle back to land |
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|
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thro = 1350 # will decend |
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|
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while cs.alt > 0.1: |
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Script.Sleep(300) |
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|
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Script.SendRC(3,1000,False) |
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Script.SendRC(4,1000,True) |
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Script.WaitFor('DISARMING MOTORS',30000) |
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Script.SendRC(4,1500,True) |
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|
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print 'Roll complete' |
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|
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"; |
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|
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CustomMessageBox.Show("This is Very ALPHA"); |
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|
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Form scriptedit = new Form(); |
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|
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scriptedit.Size = new System.Drawing.Size(500,500); |
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|
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TextBox tb = new TextBox(); |
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|
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tb.Dock = DockStyle.Fill; |
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|
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tb.ScrollBars = ScrollBars.Both; |
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tb.Multiline = true; |
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|
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tb.Location = new Point(0,0); |
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tb.Size = new System.Drawing.Size(scriptedit.Size.Width-30,scriptedit.Size.Height-30); |
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|
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scriptedit.Controls.Add(tb); |
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|
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tb.Text = myscript; |
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|
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scriptedit.ShowDialog(); |
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|
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if (DialogResult.Yes == CustomMessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo)) |
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{ |
|
|
|
Script scr = new Script(); |
|
|
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scr.runScript(tb.Text); |
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} |
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} |
|
|
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private void CHK_autopan_CheckedChanged(object sender, EventArgs e) |
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{ |
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MainV2.config["CHK_autopan"] = CHK_autopan.Checked.ToString(); |
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} |
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} |
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} |