ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Globalization;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Windows.Forms;
using DirectShowLib;
using ArdupilotMega.Controls.BackstageView;
using ArdupilotMega.Controls;
using ArdupilotMega.Utilities;
using System.Threading;

namespace ArdupilotMega.GCSViews.ConfigurationView
{
    public partial class ConfigPlanner : UserControl, IActivate
    {
        private bool startup = false;
        private List<CultureInfo> _languages;

        public class GCSBitmapInfo
        {
            public int Width { get; set; }
            public int Height { get; set; }
            public long Fps { get; set; }
            public string Standard { get; set; }
            public AMMediaType Media { get; set; }

            public GCSBitmapInfo(int width, int height, long fps, string standard, AMMediaType media)
            {
                Width = width;
                Height = height;
                Fps = fps;
                Standard = standard;
                Media = media;
            }

            public override string ToString()
            {
                return Width.ToString() + " x " + Height.ToString() + String.Format(" {0:0.00} fps ", 10000000.0 / Fps) + Standard;
            }
        }

        public ConfigPlanner()
        {
            InitializeComponent();
        }


        private void BUT_videostart_Click(object sender, EventArgs e)
        {
            if (MainV2.MONO)
                return;

            // stop first
            BUT_videostop_Click(sender, e);

            var bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;

            try
            {
                MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);

                MainV2.cam.Start();

                MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;

                BUT_videostart.Enabled = false;
            }
            catch (Exception ex) { CustomMessageBox.Show("Camera Fail: " + ex.Message); }

        }

        private void BUT_videostop_Click(object sender, EventArgs e)
        {
            BUT_videostart.Enabled = true;
            if (MainV2.cam != null)
            {
                MainV2.cam.Dispose();
                MainV2.cam = null;
            }
        }

        private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
        {
            if (MainV2.MONO)
                return;

            // the reason why i dont populate this list is because on linux/mac this call will fail.
            WebCamService.Capture capt = new WebCamService.Capture();

            List<string> devices = WebCamService.Capture.getDevices();

            CMB_videosources.DataSource = devices;

            capt.Dispose();
        }

        private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (MainV2.MONO)
                return;

            int hr;
            int count;
            int size;
            object o;
            IBaseFilter capFilter = null;
            ICaptureGraphBuilder2 capGraph = null;
            AMMediaType media = null;
            VideoInfoHeader v;
            VideoStreamConfigCaps c;
            List<GCSBitmapInfo> modes = new List<GCSBitmapInfo>();

            // Get the ICaptureGraphBuilder2
            capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
            IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();

            DsDevice[] capDevices;
            capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);

            // Add the video device
            hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
            try
            {
                DsError.ThrowExceptionForHR(hr);
            }
            catch (Exception ex)
            {
                CustomMessageBox.Show("Can not add video source\n" + ex.ToString());
                return;
            }

            // Find the stream config interface
            hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
            DsError.ThrowExceptionForHR(hr);

            IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
            if (videoStreamConfig == null)
            {
                throw new Exception("Failed to get IAMStreamConfig");
            }

            hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
            DsError.ThrowExceptionForHR(hr);
            IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
            for (int i = 0; i < count; i++)
            {
                IntPtr ptr = IntPtr.Zero;

                hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
                v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
                c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
                modes.Add(new GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
            }
            Marshal.FreeCoTaskMem(TaskMemPointer);
            DsUtils.FreeAMMediaType(media);

            CMB_videoresolutions.DataSource = modes;

            if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
            {
                try
                {
                    CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
                }
                catch { } // ignore bad entries
            }
        }

        private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
        {
            GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;
        }

        private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
        {
            MainV2.speechEnable = CHK_enablespeech.Checked;
            MainV2.config["speechenable"] = CHK_enablespeech.Checked;
            if (MainV2.speechEngine != null)
                MainV2.speechEngine.SpeakAsyncCancelAll();
        }

        private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.instance.changelanguage((CultureInfo)CMB_language.SelectedItem);

#if !DEBUG
                MessageBox.Show("Please Restart the Planner");

                Application.Exit();
#endif
        }

        private void CMB_osdcolor_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            if (CMB_osdcolor.Text != "")
            {
                MainV2.config["hudcolor"] = CMB_osdcolor.Text;
                GCSViews.FlightData.myhud.hudcolor = Color.FromKnownColor((KnownColor)Enum.Parse(typeof(KnownColor), CMB_osdcolor.Text));
            }
        }

        private void CHK_speechwaypoint_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speechwaypointenabled"] = ((CheckBox)sender).Checked.ToString();

            if (((CheckBox)sender).Checked)
            {
                string speechstring = "Heading to Waypoint {wpn}";
                if (MainV2.config["speechwaypoint"] != null)
                    speechstring = MainV2.config["speechwaypoint"].ToString();
                Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
                MainV2.config["speechwaypoint"] = speechstring;
            }
        }

        private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();

            if (((CheckBox)sender).Checked)
            {
                string speechstring = "Mode changed to {mode}";
                if (MainV2.config["speechmode"] != null)
                    speechstring = MainV2.config["speechmode"].ToString();
                Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
                MainV2.config["speechmode"] = speechstring;
            }
        }

        private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();

            if (((CheckBox)sender).Checked)
            {
                string speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
                if (MainV2.config["speechcustom"] != null)
                    speechstring = MainV2.config["speechcustom"].ToString();
                Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
                MainV2.config["speechcustom"] = speechstring;
            }
        }

        private void BUT_rerequestparams_Click(object sender, EventArgs e)
        {
            if (!MainV2.comPort.BaseStream.IsOpen)
                return;
            ((MyButton)sender).Enabled = false;
            try
            {

                MainV2.comPort.getParamList();




            }
            catch { CustomMessageBox.Show("Error: getting param list"); }


            ((MyButton)sender).Enabled = true;
            startup = true;

            

            startup = false;
        }

        private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();

            if (((CheckBox)sender).Checked)
            {
                string speechstring = "WARNING, Battery at {batv} Volt";
                if (MainV2.config["speechbattery"] != null)
                    speechstring = MainV2.config["speechbattery"].ToString();
                Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
                MainV2.config["speechbattery"] = speechstring;

                speechstring = "9.6";
                if (MainV2.config["speechbatteryvolt"] != null)
                    speechstring = MainV2.config["speechbatteryvolt"].ToString();
                Common.InputBox("Battery Level", "What Voltage do you want to warn at?", ref speechstring);
                MainV2.config["speechbatteryvolt"] = speechstring;

            }
        }

        private void BUT_Joystick_Click(object sender, EventArgs e)
        {
            Form joy = new JoystickSetup();
            ThemeManager.ApplyThemeTo(joy);
            joy.Show();
        }

        private void CMB_distunits_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["distunits"] = CMB_distunits.Text;
            MainV2.instance.ChangeUnits();
        }

        private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speedunits"] = CMB_speedunits.Text;
            MainV2.instance.ChangeUnits();
        }

        private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
            MainV2.comPort.MAV.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);

            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
        }

        private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
            MainV2.comPort.MAV.cs.rateposition = byte.Parse(((ComboBox)sender).Text);

            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
        }

        private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
            MainV2.comPort.MAV.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);

            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
        }

        private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
            MainV2.comPort.MAV.cs.raterc = byte.Parse(((ComboBox)sender).Text);

            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info 
        }

        private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
            MainV2.comPort.MAV.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);

            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
        }

        private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
        {
            MainV2.comPort.debugmavlink = CHK_mavdebug.Checked;
        }

        private void CHK_resetapmonconnect_CheckedChanged(object sender, EventArgs e)
        {
            MainV2.config[((CheckBox)sender).Name] = ((CheckBox)sender).Checked.ToString();
        }

        private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();

            if (((CheckBox)sender).Checked)
            {
                string speechstring = "WARNING, low altitude {alt}";
                if (MainV2.config["speechalt"] != null)
                    speechstring = MainV2.config["speechalt"].ToString();
                Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
                MainV2.config["speechalt"] = speechstring;

                speechstring = "2";
                if (MainV2.config["speechaltheight"] != null)
                    speechstring = MainV2.config["speechaltheight"].ToString();
                Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
                MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.comPort.MAV.cs.multiplierdist).ToString(); // save as m

            }
        }

        private void NUM_tracklength_ValueChanged(object sender, EventArgs e)
        {
            MainV2.config["NUM_tracklength"] = NUM_tracklength.Value.ToString();

        }

        private void CHK_loadwponconnect_CheckedChanged(object sender, EventArgs e)
        {
            MainV2.config["loadwpsonconnect"] = CHK_loadwponconnect.Checked.ToString();
        }

        private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            CustomMessageBox.Show("You need to restart the planner for this to take effect");
            MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
        }

        // This load handler now only contains code that should execute once
        // on start up. See Activate() for the remainder
        private void ConfigPlanner_Load(object sender, EventArgs e)
        {
            startup = true;


            startup = false;
        }

        private void CMB_osdcolor_DrawItem(object sender, DrawItemEventArgs e)
        {
            if (e.Index < 0)
                return;

            Graphics g = e.Graphics;
            Rectangle rect = e.Bounds;
            Brush brush = null;

            if ((e.State & DrawItemState.Selected) == 0)
                brush = new SolidBrush(CMB_osdcolor.BackColor);
            else
                brush = SystemBrushes.Highlight;

            g.FillRectangle(brush, rect);

            brush = new SolidBrush(Color.FromName((string)CMB_osdcolor.Items[e.Index]));

            g.FillRectangle(brush, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
            g.DrawRectangle(Pens.Black, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);

            if ((e.State & DrawItemState.Selected) == 0)
                brush = new SolidBrush(CMB_osdcolor.ForeColor);
            else
                brush = SystemBrushes.HighlightText;
            g.DrawString(CMB_osdcolor.Items[e.Index].ToString(),
                CMB_osdcolor.Font, brush, rect.X + 35, rect.Top + rect.Height - CMB_osdcolor.Font.Height);
        }

        private void CMB_videosources_Click(object sender, EventArgs e)
        {
            if (MainV2.MONO)
                return;
            // the reason why i dont populate this list is because on linux/mac this call will fail.
            WebCamService.Capture capt = new WebCamService.Capture();

            List<string> devices = WebCamService.Capture.getDevices();

            CMB_videosources.DataSource = devices;

            capt.Dispose();
        }

        private void CHK_maprotation_CheckedChanged(object sender, EventArgs e)
        {
            if (startup)
                return;
            MainV2.config["CHK_maprotation"] = CHK_maprotation.Checked.ToString();
        }
        // Called every time that this control is made current in the backstage view
        public void Activate()
        {
            startup = true; // flag to ignore changes while we programatically populate controls


            CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));

            // set distance/speed unit states
            CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
            CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));

            // setup language selection
            var cultureCodes = new[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES","de-DE" };

            _languages = cultureCodes
                .Select(CultureInfoEx.GetCultureInfo)
                .Where(c => c != null)
                .ToList();

            CMB_language.DisplayMember = "DisplayName";
            CMB_language.DataSource = _languages;
            var currentUiCulture = Thread.CurrentThread.CurrentUICulture;

            for (int i = 0; i < _languages.Count; i++)
            {
                if (currentUiCulture.IsChildOf(_languages[i]))
                {
                    try
                    {
                        CMB_language.SelectedIndex = i;
                    }
                    catch { }
                    break;
                }
            }

            // setup up camera button states
            if (MainV2.cam != null)
            {
                BUT_videostart.Enabled = false;
                CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
            }
            else
            {
                BUT_videostart.Enabled = true;
            }

            // setup speech states
            SetCheckboxFromConfig("speechenable", CHK_enablespeech);
            SetCheckboxFromConfig("speechwaypointenabled", CHK_speechwaypoint);
            SetCheckboxFromConfig("speechmodeenabled", CHK_speechmode);
            SetCheckboxFromConfig("speechcustomenabled", CHK_speechcustom);
            SetCheckboxFromConfig("speechbatteryenabled", CHK_speechbattery);
            SetCheckboxFromConfig("speechaltenabled", CHK_speechaltwarning);

            // this can't fail because it set at startup
            NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());

            // get wps on connect
            SetCheckboxFromConfig("loadwpsonconnect", CHK_loadwponconnect);

            // setup other config state
            SetCheckboxFromConfig("CHK_resetapmonconnect", CHK_resetapmonconnect);

            CMB_rateattitude.Text = MainV2.comPort.MAV.cs.rateattitude.ToString();
            CMB_rateposition.Text = MainV2.comPort.MAV.cs.rateposition.ToString();
            CMB_raterc.Text = MainV2.comPort.MAV.cs.raterc.ToString();
            CMB_ratestatus.Text = MainV2.comPort.MAV.cs.ratestatus.ToString();
            CMB_ratesensors.Text = MainV2.comPort.MAV.cs.ratesensors.ToString();

            SetCheckboxFromConfig("CHK_GDIPlus", CHK_GDIPlus);
            SetCheckboxFromConfig("CHK_maprotation", CHK_maprotation);

            SetCheckboxFromConfig("CHK_disttohomeflightdata", CHK_disttohomeflightdata);

            //set hud color state
            string hudcolor = (string)MainV2.config["hudcolor"];
            int index = CMB_osdcolor.Items.IndexOf(hudcolor ?? "White");
            try
            {
                CMB_osdcolor.SelectedIndex = index;
            }
            catch { }


            if (MainV2.config["distunits"] != null)
                CMB_distunits.Text = MainV2.config["distunits"].ToString();
            if (MainV2.config["speedunits"] != null)
                CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
        }


        
        private static void SetCheckboxFromConfig(string configKey, CheckBox chk)
        {
            if (MainV2.config[configKey] != null)
                chk.Checked = bool.Parse(MainV2.config[configKey].ToString());
        }

        private void CHK_disttohomeflightdata_CheckedChanged(object sender, EventArgs e)
        {
            MainV2.config["CHK_disttohomeflightdata"] = CHK_disttohomeflightdata.Checked.ToString();
        }
    }
}