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zr-v4/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

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using System;
using System.Collections.Generic; // Lists
using System.Text; // stringbuilder
using System.Drawing; // pens etc
using System.IO; // file io
using System.IO.Ports; // serial
using System.Windows.Forms; // Forms
using System.Collections; // hashs
using System.Text.RegularExpressions; // regex
using System.Xml; // GE xml alt reader
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using GMap.NET;
using GMap.NET.WindowsForms;
using System.Globalization; // language
using GMap.NET.WindowsForms.Markers;
using ZedGraph; // Graphs
using System.Drawing.Drawing2D;
using ArdupilotMega.Controls;
using ArdupilotMega.Utilities;
using ArdupilotMega.Controls.BackstageView;
//using Crom.Controls.Docking;
using log4net;
using System.Reflection;
// written by michael oborne
namespace ArdupilotMega.GCSViews
{
partial class FlightData : MyUserControl, IActivate, IDeactivate
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static int threadrun = 0;
StreamWriter swlog;
int tickStart = 0;
RollingPointPairList list1 = new RollingPointPairList(1200);
RollingPointPairList list2 = new RollingPointPairList(1200);
RollingPointPairList list3 = new RollingPointPairList(1200);
RollingPointPairList list4 = new RollingPointPairList(1200);
RollingPointPairList list5 = new RollingPointPairList(1200);
RollingPointPairList list6 = new RollingPointPairList(1200);
RollingPointPairList list7 = new RollingPointPairList(1200);
RollingPointPairList list8 = new RollingPointPairList(1200);
RollingPointPairList list9 = new RollingPointPairList(1200);
RollingPointPairList list10 = new RollingPointPairList(1200);
System.Reflection.PropertyInfo list1item = null;
System.Reflection.PropertyInfo list2item = null;
System.Reflection.PropertyInfo list3item = null;
System.Reflection.PropertyInfo list4item = null;
System.Reflection.PropertyInfo list5item = null;
System.Reflection.PropertyInfo list6item = null;
System.Reflection.PropertyInfo list7item = null;
System.Reflection.PropertyInfo list8item = null;
System.Reflection.PropertyInfo list9item = null;
System.Reflection.PropertyInfo list10item = null;
CurveItem list1curve;
CurveItem list2curve;
CurveItem list3curve;
CurveItem list4curve;
CurveItem list5curve;
CurveItem list6curve;
CurveItem list7curve;
CurveItem list8curve;
CurveItem list9curve;
CurveItem list10curve;
internal static GMapOverlay kmlpolygons;
internal static GMapOverlay geofence;
Dictionary<Guid, Form> formguids = new Dictionary<Guid, Form>();
bool huddropout = false;
bool huddropoutresize = false;
// private DockStateSerializer _serializer = null;
List<PointLatLng> trackPoints = new List<PointLatLng>();
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
public static ArdupilotMega.Controls.HUD myhud = null;
public static GMapControl mymap = null;
bool playingLog = false;
double LogPlayBackSpeed = 1.0;
GMapMarker marker;
AviWriter aviwriter;
public SplitContainer MainHcopy = null;
public static FlightData instance;
protected override void Dispose(bool disposing)
{
threadrun = 0;
MainV2.comPort.logreadmode = false;
try
{
MainV2.config["FlightSplitter"] = hud1.Width;
}
catch { }
System.Threading.Thread.Sleep(100);
base.Dispose(disposing);
}
public FlightData()
{
InitializeComponent();
instance = this;
// _serializer = new DockStateSerializer(dockContainer1);
// _serializer.SavePath = Application.StartupPath + Path.DirectorySeparatorChar + "FDscreen.xml";
// dockContainer1.PreviewRenderer = new PreviewRenderer();
//
mymap = gMapControl1;
myhud = hud1;
MainHcopy = MainH;
// setup default tuning graph
if (MainV2.config["Tuning_Graph_Selected"] != null)
{
string line = MainV2.config["Tuning_Graph_Selected"].ToString();
string[] lines = line.Split(new char[] { '|' }, StringSplitOptions.RemoveEmptyEntries);
foreach (string option in lines)
{
chk_box_CheckedChanged((object)(new CheckBox() { Name = option, Checked = true }), new EventArgs());
}
}
else
{
chk_box_CheckedChanged((object)(new CheckBox() { Name = "roll", Checked = true }), new EventArgs());
chk_box_CheckedChanged((object)(new CheckBox() { Name = "pitch", Checked = true }), new EventArgs());
chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_roll", Checked = true }), new EventArgs());
chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_pitch", Checked = true }), new EventArgs());
}
foreach (string item in MainV2.config.Keys)
{
if (item.StartsWith("hud1_useritem_"))
{
string selection = item.Replace("hud1_useritem_", "");
CheckBox chk = new CheckBox();
chk.Name = selection;
chk.Checked = true;
HUD.Custom cust = new HUD.Custom();
cust.Header = MainV2.config[item].ToString();
addHudUserItem(ref cust, chk);
}
}
List<string> list = new List<string>();
{
list.Add("LOITER_UNLIM");
list.Add("RETURN_TO_LAUNCH");
list.Add("PREFLIGHT_CALIBRATION");
list.Add("MISSION_START");
list.Add("PREFLIGHT_REBOOT_SHUTDOWN");
//DO_SET_SERVO
//DO_REPEAT_SERVO
}
CMB_action.DataSource = list;
CMB_modes.DataSource = Common.getModesList();
CMB_modes.ValueMember = "Key";
CMB_modes.DisplayMember = "Value";
CMB_setwp.SelectedIndex = 0;
zg1.Visible = true;
CreateChart(zg1);
// config map
gMapControl1.MapType = MapType.GoogleSatellite;
gMapControl1.MinZoom = 1;
gMapControl1.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
gMapControl1.OnMapZoomChanged += new MapZoomChanged(gMapControl1_OnMapZoomChanged);
gMapControl1.Zoom = 3;
gMapControl1.RoutesEnabled = true;
gMapControl1.PolygonsEnabled = true;
kmlpolygons = new GMapOverlay(gMapControl1, "kmlpolygons");
gMapControl1.Overlays.Add(kmlpolygons);
geofence = new GMapOverlay(gMapControl1, "geofence");
gMapControl1.Overlays.Add(geofence);
polygons = new GMapOverlay(gMapControl1, "polygons");
gMapControl1.Overlays.Add(polygons);
routes = new GMapOverlay(gMapControl1, "routes");
gMapControl1.Overlays.Add(routes);
try
{
if (MainV2.getConfig("GspeedMAX") != "")
{
Gspeed.MaxValue = float.Parse(MainV2.getConfig("GspeedMAX"));
}
}
catch { }
}
void tabStatus_Resize(object sender, EventArgs e)
{
// localise it
//Control tabStatus = sender as Control;
// tabStatus.SuspendLayout();
//foreach (Control temp in tabStatus.Controls)
{
// temp.DataBindings.Clear();
//temp.Dispose();
}
//tabStatus.Controls.Clear();
int x = 10;
int y = 10;
object thisBoxed = MainV2.comPort.MAV.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 { }
if (add)
{
lbl1.Location = new Point(x, y);
lbl1.Size = new System.Drawing.Size(75, 13);
lbl1.Text = field.Name;
lbl1.Name = field.Name;
lbl1.Visible = true;
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, false, System.Windows.Forms.DataSourceUpdateMode.OnValidation, "0"));
lbl2.Name = field.Name + "value";
lbl2.Visible = true;
//lbl2.Text = fieldValue.ToString();
tabStatus.Controls.Add(lbl1);
tabStatus.Controls.Add(lbl2);
}
else
{
lbl1.Location = new Point(x, y);
lbl2.Location = new Point(lbl1.Right + 5, y);
}
//Application.DoEvents();
x += 0;
y += 15;
if (y > tabStatus.Height - 30)
{
x += 140;
y = 10;
}
}
tabStatus.Width = x;
ThemeManager.ApplyThemeTo(tabStatus);
// tabStatus.ResumeLayout();
}
public void Activate()
{
if (CB_tuning.Checked)
ZedGraphTimer.Start();
if (MainV2.MONO)
{
if (!hud1.Visible)
hud1.Visible = true;
if (!hud1.Enabled)
hud1.Enabled = true;
hud1.Dock = DockStyle.Fill;
}
for (int f = 1; f < 10; f++)
{
// load settings
if (MainV2.config["quickView" + f] != null)
{
Control[] ctls = this.Controls.Find("quickView" + f, true);
if (ctls.Length > 0)
{
// set description
((QuickView)ctls[0]).desc = MainV2.comPort.MAV.cs.GetNameandUnit(MainV2.config["quickView" + f].ToString());
// set databinding for value
((QuickView)ctls[0]).DataBindings.Clear();
((QuickView)ctls[0]).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, MainV2.config["quickView" + f].ToString(), true));
}
}
else
{
// if no config, update description on predefined
try
{
Control[] ctls = this.Controls.Find("quickView" + f, true);
if (ctls.Length > 0)
{
((QuickView)ctls[0]).desc = MainV2.comPort.MAV.cs.GetNameandUnit(((QuickView)ctls[0]).desc);
}
}
catch { }
}
}
if (MainV2.comPort.MAV.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.MAV.param["BATT_MONITOR"] != 0)
{
hud1.batteryon = true;
}
else
{
hud1.batteryon = false;
}
foreach (Control ctl in splitContainer1.Panel2.Controls)
{
ctl.Visible = true;
}
}
public void Deactivate()
{
if (MainV2.MONO)
{
hud1.Dock = DockStyle.None;
hud1.Size = new System.Drawing.Size(5, 5);
hud1.Enabled = false;
hud1.Visible = false;
}
// hud1.Location = new Point(-1000,-1000);
ZedGraphTimer.Stop();
}
void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
{
// Draw the background of the ListBox control for each item.
//e.DrawBackground();
// Define the default color of the brush as black.
Brush myBrush = Brushes.Black;
LinearGradientBrush linear = new LinearGradientBrush(e.Bounds, Color.FromArgb(0x94, 0xc1, 0x1f), Color.FromArgb(0xcd, 0xe2, 0x96), LinearGradientMode.Vertical);
e.Graphics.FillRectangle(linear, e.Bounds);
// Draw the current item text based on the current Font
// and the custom brush settings.
e.Graphics.DrawString(((TabControl)sender).TabPages[e.Index].Text.ToString(),
e.Font, myBrush, e.Bounds, StringFormat.GenericDefault);
// If the ListBox has focus, draw a focus rectangle around the selected item.
e.DrawFocusRectangle();
}
void gMapControl1_OnMapZoomChanged()
{
TRK_zoom.Value = gMapControl1.Zoom;
Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
}
private void FlightData_Load(object sender, EventArgs e)
{
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "FlightData updater"
};
t11.Start();
//MainH.threads.Add(t11);
TRK_zoom.Minimum = gMapControl1.MinZoom;
TRK_zoom.Maximum = gMapControl1.MaxZoom + 1;
TRK_zoom.Value = gMapControl1.Zoom;
Zoomlevel.Minimum = gMapControl1.MinZoom;
Zoomlevel.Maximum = gMapControl1.MaxZoom + 1;
Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
if (MainV2.config["CHK_autopan"] != null)
CHK_autopan.Checked = bool.Parse(MainV2.config["CHK_autopan"].ToString());
if (MainV2.config.Contains("FlightSplitter"))
{
// hud1.Width = int.Parse(MainV2.config["FlightSplitter"].ToString());
// MainH.PerformLayout();
MainH.SplitterDistance = int.Parse(MainV2.config["FlightSplitter"].ToString());
}
}
private void mainloop()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
threadrun = 1;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
DateTime lastdata = DateTime.MinValue;
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime updatescreen = DateTime.Now;
DateTime tsreal = DateTime.Now;
double taketime = 0;
double timeerror = 0;
//comPort.stopall(true);
while (threadrun == 1)
{
if (threadrun == 0) { return; }
if (MainV2.giveComport == true)
{
System.Threading.Thread.Sleep(50);
continue;
}
if (!MainV2.comPort.BaseStream.IsOpen)
lastdata = DateTime.Now;
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now) && MainV2.comPort.BaseStream.IsOpen)
{
//Console.WriteLine("REQ streams - flightdata");
try
{
//System.Threading.Thread.Sleep(1000);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info
}
catch { log.Error("Failed to request rates"); }
lastdata = DateTime.Now.AddSeconds(120); // prevent flooding
}
if (!MainV2.comPort.logreadmode)
System.Threading.Thread.Sleep(100); // max is only ever 10 hz
try
{
if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
{
vidrec = DateTime.Now;
hud1.streamjpgenable = true;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length);
// write header - so even partial files will play
aviwriter.avi_end(hud1.Width, hud1.Height, 10);
}
}
catch { log.Error("Failed to write avi"); }
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
if (threadrun == 0) { return; }
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.logreadmode = false;
try
{
MainV2.comPort.logplaybackfile.Close();
}
catch { log.Error("Failed to close logfile"); }
MainV2.comPort.logplaybackfile = null;
}
//Console.WriteLine(DateTime.Now.Millisecond);
if (updatescreen.AddMilliseconds(300) < DateTime.Now)
{
try
{
updatePlayPauseButton(true);
updateLogPlayPosition();
}
catch { log.Error("Failed to update log playback pos"); }
updatescreen = DateTime.Now;
}
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
DateTime logplayback = MainV2.comPort.lastlogread;
try
{
MainV2.comPort.readPacket();
}
catch { log.Error("Failed to read log packet"); }
double act = (MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
if (act > 9999 || act < 0)
act = 0;
double ts = 0;
if (LogPlayBackSpeed == 0)
LogPlayBackSpeed = 0.01;
try
{
ts = Math.Min((act / LogPlayBackSpeed), 1000);
}
catch { }
double timetook = (DateTime.Now - tsreal).TotalMilliseconds;
if (timetook != 0)
{
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
//if ((taketime - timetook) < 0)
{
timeerror += (taketime - timetook);
if (ts != 0)
{
ts += timeerror;
timeerror = 0;
}
}
if (ts > 1000)
ts = 1000;
}
taketime = ts;
tsreal = DateTime.Now;
if (ts > 0 && ts < 1000)
System.Threading.Thread.Sleep((int)ts);
if (threadrun == 0) { return; }
tracklast = tracklast.AddMilliseconds(ts - act);
tunning = tunning.AddMilliseconds(ts - act);
if (tracklast.Month != DateTime.Now.Month)
{
tracklast = DateTime.Now;
tunning = DateTime.Now;
}
try
{
if (MainV2.comPort.logplaybackfile != null && MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
{
MainV2.comPort.logreadmode = false;
}
}
catch { MainV2.comPort.logreadmode = false; }
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
try
{
//Console.WriteLine(DateTime.Now.Millisecond);
updateBindingSource();
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
if (ArdupilotMega.Controls.OpenGLtest.instance != null)
{
ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch, MainV2.comPort.MAV.cs.yaw);
ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
{
double time = (Environment.TickCount - tickStart) / 1000.0;
if (list1item != null)
list1.Add(time, (float)list1item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list2item != null)
list2.Add(time, (float)list2item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list3item != null)
list3.Add(time, (float)list3item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list4item != null)
list4.Add(time, (float)list4item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list5item != null)
list5.Add(time, (float)list5item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list6item != null)
list6.Add(time, (float)list6item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list7item != null)
list7.Add(time, (float)list7item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list8item != null)
list8.Add(time, (float)list8item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list9item != null)
list9.Add(time, (float)list9item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list10item != null)
list10.Add(time, (float)list10item.GetValue((object)MainV2.comPort.MAV.cs, null));
}
if (tracklast.AddSeconds(1) < DateTime.Now)
{
if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True")
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int cnt = 0;
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
cnt++;
}
if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
{
// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
}
if (MainV2.comPort.MAV.cs.lat != 0)
{
// trackPoints.Add(currentloc);
route.Points.Add(currentloc);
}
// if (CB_tuning.Checked == false) // draw if in view
{
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
}
//route = new GMapRoute(route.Points, "track");
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
//updateClearRoutes();
gMapControl1.UpdateRouteLocalPosition(route);
if (waypoints.AddSeconds(10) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateMissionRouteMarkers();
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
{
if (plla.x == 0 || plla.y == 0)
continue;
if (plla.command == (byte)MAVLink.MAV_CMD.ROI)
{
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int)plla.z, Color.Red, routes);
continue;
}
string tag = plla.seq.ToString();
if (plla.seq == 0 && plla.current != 2)
{
tag = "Home";
}
if (plla.current == 2)
{
continue;
}
addpolygonmarker(tag, plla.y, plla.x, (int)plla.z, Color.White, polygons);
}
RegeneratePolygon();
waypoints = DateTime.Now;
}
//routes.Polygons.Add(poly);
if (route.Points.Count > 0)
{
// add primary route icon
if (routes.Markers.Count != 1)
{
routes.Markers.Clear();
routes.Markers.Add(new GMapMarkerCross(currentloc));
}
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y, MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue, routes);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
{
routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1) { ToolTipText = MainV2.comPort.MAV.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1));
}
else
{
routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing));
}
if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
gMapControl1.HoldInvalidation = false;
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
}
Console.WriteLine("FD Main loop exit");
}
private void setMapBearing()
{
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
gMapControl1.Bearing = (int)MainV2.comPort.MAV.cs.yaw;
});
}
// to prevent cross thread calls while in a draw and exception
private void updateClearRoutes()
{
// not async
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
routes.Routes.Clear();
routes.Routes.Add(route);
});
}
// to prevent cross thread calls while in a draw and exception
private void updateMissionRouteMarkers()
{
// not async
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
polygons.Markers.Clear();
routes.Markers.Clear();
});
}
private void updatePlayPauseButton(bool playing)
{
if (playing)
{
if (BUT_playlog.Text == "Pause")
return;
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
{
try
{
BUT_playlog.Text = "Pause";
}
catch { }
});
}
else
{
if (BUT_playlog.Text == "Play")
return;
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.comPort.MAV.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
{
if (tracklog.Visible)
tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100);
if (lbl_logpercent.Visible)
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()) / MainV2.comPort.MAV.cs.multiplierdist);
}
catch { }
mBorders.MainMap = gMapControl1;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
private void addpolygonmarkerred(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleRed m = new GMapMarkerGoogleRed(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
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;
try
{
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.Close();
}
}
catch { }
}
private void BUT_clear_track_Click(object sender, EventArgs e)
{
if (route != null)
route.Points.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
MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text), 1, 0, 1, 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(MAVLink09.MAV_ACTION.MAV_ACTION_RETURN); // set nav from
//System.Threading.Thread.Sleep(100);
MainV2.comPort.setWPCurrent(1); // set nav to
//System.Threading.Thread.Sleep(100);
//comPort.doAction(MAVLink09.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 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;
}
if (MainV2.comPort.MAV.GuidedMode.z == 0)
{
flyToHereAltToolStripMenuItem_Click(null, null);
if (MainV2.comPort.MAV.GuidedMode.z == 0)
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)(MainV2.comPort.MAV.GuidedMode.z); // back to m
gotohere.lat = (float)(gotolocation.Lat);
gotohere.lng = (float)(gotolocation.Lng);
try
{
MainV2.comPort.setGuidedModeWP(gotohere);
}
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 { }
}
else
{
// setup a ballon with home distance
if (marker != null)
{
if (routes.Markers.Contains(marker))
routes.Markers.Remove(marker);
}
if (MainV2.getConfig("CHK_disttohomeflightdata") != false.ToString())
{
marker = new GMapMarkerRect(point);
marker.ToolTip = new GMapToolTip(marker);
marker.ToolTipMode = MarkerTooltipMode.Always;
marker.ToolTipText = "Dist to Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.comPort.MAV.cs.HomeLocation.Point()) * 1000) * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
routes.Markers.Add(marker);
}
}
}
private void FlightData_ParentChanged(object sender, EventArgs e)
{
if (MainV2.cam != null)
{
MainV2.cam.camimage += new WebCamService.CamImage(cam_camimage);
}
// QUAD
if (MainV2.comPort.MAV.param.ContainsKey("WP_SPEED_MAX"))
{
modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.MAV.param["WP_SPEED_MAX"] / 100.0);
} // plane with airspeed
else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_ENABLE")
&& MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.MAV.param["ARSPD_ENABLE"] == 1
&& (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 1)
{
modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.MAV.param["TRIM_ARSPD_CM"] / 100.0);
} // plane without airspeed
else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE")
&& (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 0)
{
modifyandSetSpeed.Value = (decimal)(float)MainV2.comPort.MAV.param["TRIM_THROTTLE"]; // percent
}
MainV2.comPort.ParamListChanged += FlightData_ParentChanged;
}
void cam_camimage(Image camimage)
{
hud1.bgimage = camimage;
}
private void BUT_Homealt_Click(object sender, EventArgs e)
{
if (MainV2.comPort.MAV.cs.altoffsethome != 0)
{
MainV2.comPort.MAV.cs.altoffsethome = 0;
}
else
{
MainV2.comPort.MAV.cs.altoffsethome = MainV2.comPort.MAV.cs.alt / MainV2.comPort.MAV.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)
{
try
{
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();
}
catch { } // ignore any invalid
}
private void tabPage1_Resize(object sender, EventArgs e)
{
int mywidth, myheight;
// localize it
Control tabGauges = sender as Control;
float scale = tabGauges.Width / (float)tabGauges.Height;
if (scale > 0.5 && scale < 1.9)
{// square
Gvspeed.Visible = true;
if (tabGauges.Height < tabGauges.Width)
myheight = tabGauges.Height / 2;
else
myheight = tabGauges.Width / 2;
Gvspeed.Height = myheight;
Gspeed.Height = myheight;
Galt.Height = myheight;
Gheading.Height = myheight;
Gvspeed.Location = new Point(0, 0);
Gspeed.Location = new Point(Gvspeed.Right, 0);
Galt.Location = new Point(0, Gspeed.Bottom);
Gheading.Location = new Point(Galt.Right, Gspeed.Bottom);
return;
}
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;
MainV2.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.MAV.param["CMD_TOTAL"] != null)
{
int wps = int.Parse(MainV2.comPort.MAV.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;
MainV2.comPort.setMode("Auto");
}
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;
MainV2.comPort.setMode("RTL");
}
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 (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
MainV2.comPort.setMode("Manual");
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
MainV2.comPort.setMode("Stabilize");
}
catch { CustomMessageBox.Show("The Command failed to execute"); }
((Button)sender).Enabled = true;
}
private void BUT_log2kml_Click(object sender, EventArgs e)
{
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)
{
//GetFormFromGuid(GetOrCreateGuid("fd_hud_guid")).Controls.Add(hud1);
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)
{
tabStatus_Resize(sender, e);
}
else
{
foreach (Control temp in tabStatus.Controls)
{
// temp.DataBindings.Clear();
// temp.Dispose();
// tabStatus.Controls.Remove(temp);
}
if (tabControl1.SelectedTab == tabQuick)
{
}
}
}
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;
}
bool 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 true;
}
}
return false;
}
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.comPort.MAV.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();
}
private void hud_UserItem(object sender, EventArgs e)
{
Form selectform = new Form()
{
Name = "select",
Width = 50,
Height = 250,
Text = "Display This"
};
int x = 10;
int y = 10;
object thisBoxed = MainV2.comPort.MAV.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();
chk_box.Text = field.Name;
chk_box.Name = field.Name;
chk_box.Tag = (sender);
chk_box.Location = new Point(x, y);
chk_box.Size = new System.Drawing.Size(100, 20);
if (hud1.CustomItems.ContainsKey(field.Name))
{
chk_box.Checked = true;
}
chk_box.CheckedChanged += chk_box_hud_UserItem_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 addHudUserItem(ref HUD.Custom cust, CheckBox sender)
{
setupPropertyInfo(ref cust.Item, (sender).Name, MainV2.comPort.MAV.cs);
hud1.CustomItems.Add((sender).Name, cust);
hud1.Invalidate();
}
void chk_box_hud_UserItem_CheckedChanged(object sender, EventArgs e)
{
if (((CheckBox)sender).Checked)
{
HUD.Custom cust = new HUD.Custom();
string prefix = ((CheckBox)sender).Name + ": ";
if (MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name] != null)
prefix = (string)MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name];
Common.InputBox("Header", "Please enter your item prefix", ref prefix);
MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name] = prefix;
cust.Header = prefix;
addHudUserItem(ref cust, (CheckBox)sender);
}
else
{
if (hud1.CustomItems.ContainsKey(((CheckBox)sender).Name))
{
hud1.CustomItems.Remove(((CheckBox)sender).Name);
}
MainV2.config.Remove("hud1_useritem_" + ((CheckBox)sender).Name);
hud1.Invalidate();
}
}
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)
{
if (setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list1.Clear();
list1curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list1, Color.Red, SymbolType.None);
}
}
else if (list2item == null)
{
if (setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list2.Clear();
list2curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list2, Color.Blue, SymbolType.None);
}
}
else if (list3item == null)
{
if (setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list3.Clear();
list3curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list3, Color.Green, SymbolType.None);
}
}
else if (list4item == null)
{
if (setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list4.Clear();
list4curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list4, Color.Orange, SymbolType.None);
}
}
else if (list5item == null)
{
if (setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list5.Clear();
list5curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list5, Color.Yellow, SymbolType.None);
}
}
else if (list6item == null)
{
if (setupPropertyInfo(ref list6item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list6.Clear();
list6curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list6, Color.Magenta, SymbolType.None);
}
}
else if (list7item == null)
{
if (setupPropertyInfo(ref list7item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list7.Clear();
list7curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list7, Color.Purple, SymbolType.None);
}
}
else if (list8item == null)
{
if (setupPropertyInfo(ref list8item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list8.Clear();
list8curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list8, Color.LimeGreen, SymbolType.None);
}
}
else if (list9item == null)
{
if (setupPropertyInfo(ref list9item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list9.Clear();
list9curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list9, Color.Cyan, SymbolType.None);
}
}
else if (list10item == null)
{
if (setupPropertyInfo(ref list10item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
{
list10.Clear();
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.comPort.MAV.cs.multiplierdist).ToString("0");
Common.InputBox("Enter Alt", "Enter Target Alt (absolute)", ref alt);
int intalt = (int)(100 * MainV2.comPort.MAV.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.comPort.MAV.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
Script.Sleep(5)
Script.SendRC(5,1500,False) # stabalise
Script.SendRC(1,1500,True) # level roll
Script.Sleep(2000) # 2 sec to stabalise
Script.SendRC(3,1300,True) # throttle back to land
thro = 1350 # will decend
while cs.alt > 0.1:
Script.Sleep(300)
Script.SendRC(3,1000,False)
Script.SendRC(4,1000,True)
Script.WaitFor('DISARMING MOTORS',30000)
Script.SendRC(4,1500,True)
print 'Roll complete'
";
// CustomMessageBox.Show("This is Very ALPHA");
Form scriptedit = new Form();
scriptedit.Size = new System.Drawing.Size(500, 500);
TextBox tb = new TextBox();
tb.Dock = DockStyle.Fill;
tb.ScrollBars = ScrollBars.Both;
tb.Multiline = true;
tb.Location = new Point(0, 0);
tb.Size = new System.Drawing.Size(scriptedit.Size.Width - 30, scriptedit.Size.Height - 30);
scriptedit.Controls.Add(tb);
tb.Text = myscript;
scriptedit.ShowDialog();
if (DialogResult.Yes == CustomMessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo))
{
Script scr = new Script();
scr.runScript(tb.Text);
}
}
private void CHK_autopan_CheckedChanged(object sender, EventArgs e)
{
MainV2.config["CHK_autopan"] = CHK_autopan.Checked.ToString();
}
private void NUM_playbackspeed_Scroll(object sender, EventArgs e)
{
LogPlayBackSpeed = NUM_playbackspeed.Value;
lbl_playbackspeed.Text = "x " + LogPlayBackSpeed;
}
private void setMJPEGSourceToolStripMenuItem_Click(object sender, EventArgs e)
{
string url = MainV2.config["mjpeg_url"] != null ? MainV2.config["mjpeg_url"].ToString() : @"http://127.0.0.1:56781/map.jpg";
if (DialogResult.OK == Common.InputBox("Mjpeg url", "Enter the url to the mjpeg source url", ref url))
{
MainV2.config["mjpeg_url"] = url;
Utilities.CaptureMJPEG.Stop();
Utilities.CaptureMJPEG.URL = url;
Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);
Utilities.CaptureMJPEG.runAsync();
}
else
{
Utilities.CaptureMJPEG.Stop();
}
}
void CaptureMJPEG_OnNewImage(object sender, EventArgs e)
{
GCSViews.FlightData.myhud.bgimage = (Image)sender;
}
private void setAspectRatioToolStripMenuItem_Click(object sender, EventArgs e)
{
hud1.SixteenXNine = !hud1.SixteenXNine;
hud1.doResize();
}
private void quickView_DoubleClick(object sender, EventArgs e)
{
Form selectform = new Form()
{
Name = "select",
Width = 50,
Height = 250,
Text = "Display This"
};
int x = 10;
int y = 10;
object thisBoxed = MainV2.comPort.MAV.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();
// dont change to ToString() = null exception
if (((QuickView)sender).Tag == field.Name)
chk_box.Checked = true;
chk_box.Text = field.Name;
chk_box.Name = field.Name;
chk_box.Tag = ((QuickView)sender);
chk_box.Location = new Point(x, y);
chk_box.Size = new System.Drawing.Size(100, 20);
chk_box.CheckedChanged += new EventHandler(chk_box_quickview_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_box_quickview_CheckedChanged(object sender, EventArgs e)
{
if (((CheckBox)sender).Checked)
{
// save settings
MainV2.config[((QuickView)((CheckBox)sender).Tag).Name] = ((CheckBox)sender).Name;
// set description
string desc = ((CheckBox)sender).Name;
((QuickView)((CheckBox)sender).Tag).Tag = desc;
desc = MainV2.comPort.MAV.cs.GetNameandUnit(desc);
((QuickView)((CheckBox)sender).Tag).desc = desc;
// set databinding for value
((QuickView)((CheckBox)sender).Tag).DataBindings.Clear();
((QuickView)((CheckBox)sender).Tag).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, ((CheckBox)sender).Name, true));
// close selection form
((Form)((CheckBox)sender).Parent).Close();
}
}
private void flyToHereAltToolStripMenuItem_Click(object sender, EventArgs e)
{
string alt = "100";
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
alt = (10 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
}
else
{
alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
}
if (MainV2.config.ContainsKey("guided_alt"))
alt = MainV2.config["guided_alt"].ToString();
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Guided Mode Alt", ref alt))
return;
MainV2.config["guided_alt"] = alt;
int intalt = (int)(100 * MainV2.comPort.MAV.cs.multiplierdist);
if (!int.TryParse(alt, out intalt))
{
CustomMessageBox.Show("Bad Alt");
return;
}
MainV2.comPort.MAV.GuidedMode.z = intalt;
if (MainV2.comPort.MAV.cs.mode == "Guided")
{
MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.comPort.MAV.GuidedMode.z, lat = (float)MainV2.comPort.MAV.GuidedMode.x, lng = (float)MainV2.comPort.MAV.GuidedMode.y });
}
}
private void flightPlannerToolStripMenuItem_Click(object sender, EventArgs e)
{
foreach (Control ctl in splitContainer1.Panel2.Controls)
{
ctl.Visible = false;
}
foreach (MainSwitcher.Screen sc in MainV2.View.screens)
{
if (sc.Name == "FlightPlanner")
{
MyButton but = new MyButton() { Location = new Point(splitContainer1.Panel2.Width / 2, 0), Text = "Close" };
but.Click += new EventHandler(but_Click);
splitContainer1.Panel2.Controls.Add(but);
splitContainer1.Panel2.Controls.Add(sc.Control);
ThemeManager.ApplyThemeTo(sc.Control);
sc.Control.Dock = DockStyle.Fill;
sc.Control.Visible = true;
if (sc.Control is IActivate)
{
((IActivate)(sc.Control)).Activate();
}
but.BringToFront();
break;
}
}
}
void but_Click(object sender, EventArgs e)
{
foreach (MainSwitcher.Screen sc in MainV2.View.screens)
{
if (sc.Name == "FlightPlanner")
{
splitContainer1.Panel2.Controls.Remove(sc.Control);
splitContainer1.Panel2.Controls.Remove((Control)sender);
sc.Control.Visible = false;
if (sc.Control is IDeactivate)
{
((IDeactivate)(sc.Control)).Deactivate();
}
break;
}
}
foreach (Control ctl in splitContainer1.Panel2.Controls)
{
ctl.Visible = true;
}
}
private void tabQuick_Resize(object sender, EventArgs e)
{
int height = ((Control)sender).Height / 6;
quickView1.Size = new System.Drawing.Size(tabQuick.Width, height);
quickView2.Size = new System.Drawing.Size(tabQuick.Width, height);
quickView3.Size = new System.Drawing.Size(tabQuick.Width, height);
quickView4.Size = new System.Drawing.Size(tabQuick.Width, height);
quickView5.Size = new System.Drawing.Size(tabQuick.Width, height);
quickView6.Size = new System.Drawing.Size(tabQuick.Width, height);
}
private void hud1_Resize(object sender, EventArgs e)
{
Console.WriteLine("HUD resize " + hud1.Width + " " + hud1.Height);
SubMainLeft.SplitterDistance = hud1.Height;
try
{
// dockContainer1.SetHeight(dockhud, hud1.Height);
}
catch { }
}
private void resetToolStripMenuItem_Click(object sender, EventArgs e)
{
//dockContainer1.Clear();
//SetupDocking();
this.Refresh();
}
private void BUT_ARM_Click(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
return;
// arm the MAV
try
{
bool ans = MainV2.comPort.doARM(MainV2.comPort.MAV.cs.armed);
if (ans == false)
CustomMessageBox.Show("Error: Arm message rejected by MAV");
}
catch { CustomMessageBox.Show("Error: No responce from MAV"); }
}
private void modifyandSetAlt_Click(object sender, EventArgs e)
{
int newalt = (int)modifyandSetAlt.Value;
try
{
MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt / MainV2.comPort.MAV.cs.multiplierdist });
}
catch { CustomMessageBox.Show("Error sending new Alt"); }
//MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.comPort.MAV.cs.wpno, newalt);
}
private void gMapControl1_MouseLeave(object sender, EventArgs e)
{
if (marker != null)
{
if (routes.Markers.Contains(marker))
routes.Markers.Remove(marker);
}
}
private void modifyandSetSpeed_Click(object sender, EventArgs e)
{
// QUAD
if (MainV2.comPort.MAV.param.ContainsKey("WP_SPEED_MAX"))
{
try
{
MainV2.comPort.setParam("WP_SPEED_MAX", ((float)modifyandSetSpeed.Value * 100.0f));
}
catch { CustomMessageBox.Show("Error sending WP_SPEED_MAX command"); }
} // plane with airspeed
else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_ENABLE")
&& MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.MAV.param["ARSPD_ENABLE"] == 1
&& (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 1)
{
try
{
MainV2.comPort.setParam("TRIM_ARSPD_CM", ((float)modifyandSetSpeed.Value * 100.0f));
}
catch { CustomMessageBox.Show("Error sending TRIM_ARSPD_CM command"); }
} // plane without airspeed
else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE")
&& (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 0)
{
try
{
MainV2.comPort.setParam("TRIM_THROTTLE", (float)modifyandSetSpeed.Value);
}
catch { CustomMessageBox.Show("Error sending TRIM_THROTTLE command"); }
}
}
private void modifyandSetSpeed_ParentChanged(object sender, EventArgs e)
{
}
private void triggerCameraToolStripMenuItem_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setDigicamControl(true);
}
catch { CustomMessageBox.Show("Error sending command"); }
}
private void TRK_zoom_Scroll(object sender, EventArgs e)
{
try
{
if (gMapControl1.MaxZoom + 1 == (double)TRK_zoom.Value)
{
gMapControl1.Zoom = (double)TRK_zoom.Value - .1;
}
else
{
gMapControl1.Zoom = (double)TRK_zoom.Value;
}
}
catch { }
}
}
}