2011-09-08 22:31:32 -03:00
using System ;
using System.Collections.Generic ;
2012-03-06 06:27:43 -04:00
using System.Collections ;
2011-09-08 22:31:32 -03:00
using System.ComponentModel ;
using System.Data ;
using System.Drawing ;
using System.Text ;
using System.Windows.Forms ;
using System.IO.Ports ;
using System.IO ;
using System.Text.RegularExpressions ;
//using KMLib;
//using KMLib.Feature;
//using KMLib.Geometry;
//using Core.Geometry;
using ICSharpCode.SharpZipLib.Zip ;
using ICSharpCode.SharpZipLib.Checksums ;
using ICSharpCode.SharpZipLib.Core ;
using SharpKml.Base ;
using SharpKml.Dom ;
using SharpKml.Dom.GX ;
using System.Reflection ;
using System.Xml ;
2012-03-06 06:27:43 -04:00
using log4net ;
using ZedGraph ; // Graphs
2011-09-08 22:31:32 -03:00
2012-04-25 07:10:11 -03:00
using ArdupilotMega.Utilities ;
2012-04-11 20:52:57 -03:00
using System.CodeDom.Compiler ;
2011-09-08 22:31:32 -03:00
namespace ArdupilotMega
{
public partial class MavlinkLog : Form
{
2012-03-06 06:27:43 -04:00
private static readonly ILog log = LogManager . GetLogger ( System . Reflection . MethodBase . GetCurrentMethod ( ) . DeclaringType ) ;
2011-09-08 22:31:32 -03:00
List < CurrentState > flightdata = new List < CurrentState > ( ) ;
2012-03-06 06:27:43 -04:00
List < string > selection = new List < string > ( ) ;
2012-04-11 20:52:57 -03:00
List < string > options = new List < string > ( ) ;
2012-03-06 06:27:43 -04:00
2012-04-11 20:52:57 -03:00
Hashtable datappl = new Hashtable ( ) ;
Hashtable packetdata = new Hashtable ( ) ;
2012-03-26 07:21:49 -03:00
2012-04-08 21:33:57 -03:00
PointLatLngAlt homepos = new PointLatLngAlt ( ) ;
2011-09-08 22:31:32 -03:00
public MavlinkLog ( )
{
InitializeComponent ( ) ;
2012-03-26 07:21:49 -03:00
zg1 . GraphPane . YAxis . Title . IsVisible = false ;
zg1 . GraphPane . Title . IsVisible = true ;
zg1 . GraphPane . Title . Text = "Mavlink Log Graph" ;
2011-09-08 22:31:32 -03:00
}
private void writeKML ( string filename )
{
2011-12-15 09:44:31 -04:00
SharpKml . Dom . AltitudeMode altmode = SharpKml . Dom . AltitudeMode . Absolute ;
2012-05-16 09:21:27 -03:00
if ( MainV2 . cs . firmware = = MainV2 . Firmwares . ArduPlane | | MainV2 . cs . firmware = = MainV2 . Firmwares . ArduRover )
2011-12-15 09:44:31 -04:00
{
altmode = SharpKml . Dom . AltitudeMode . Absolute ;
}
else if ( MainV2 . cs . firmware = = MainV2 . Firmwares . ArduCopter2 )
{
altmode = SharpKml . Dom . AltitudeMode . RelativeToGround ;
}
2011-09-08 22:31:32 -03:00
Color [ ] colours = { Color . Red , Color . Orange , Color . Yellow , Color . Green , Color . Blue , Color . Indigo , Color . Violet , Color . Pink } ;
Document kml = new Document ( ) ;
2011-12-15 09:44:31 -04:00
Tour tour = new Tour ( ) { Name = "First Person View" } ;
2011-09-08 22:31:32 -03:00
Playlist tourplaylist = new Playlist ( ) ;
AddNamespace ( kml , "gx" , "http://www.google.com/kml/ext/2.2" ) ;
Style style = new Style ( ) ;
style . Id = "yellowLineGreenPoly" ;
style . Line = new LineStyle ( new Color32 ( HexStringToColor ( "7f00ffff" ) ) , 4 ) ;
2011-12-13 08:52:54 -04:00
2011-09-08 22:31:32 -03:00
PolygonStyle pstyle = new PolygonStyle ( ) ;
pstyle . Color = new Color32 ( HexStringToColor ( "7f00ff00" ) ) ;
style . Polygon = pstyle ;
kml . AddStyle ( style ) ;
2011-12-13 08:52:54 -04:00
Style stylet = new Style ( ) ;
stylet . Id = "track" ;
SharpKml . Dom . IconStyle ico = new SharpKml . Dom . IconStyle ( ) ;
2011-12-15 09:44:31 -04:00
LabelStyle lst = new LabelStyle ( ) ;
lst . Scale = 0 ;
2011-12-13 08:52:54 -04:00
stylet . Icon = ico ;
ico . Icon = new IconStyle . IconLink ( new Uri ( "http://earth.google.com/images/kml-icons/track-directional/track-none.png" ) ) ;
stylet . Icon . Scale = 0.5 ;
2011-12-15 09:44:31 -04:00
stylet . Label = lst ;
2011-12-13 08:52:54 -04:00
kml . AddStyle ( stylet ) ;
2011-09-08 22:31:32 -03:00
// create sub folders
Folder planes = new Folder ( ) ;
planes . Name = "Planes" ;
kml . AddFeature ( planes ) ;
2011-12-13 08:52:54 -04:00
Folder points = new Folder ( ) ;
points . Name = "Points" ;
kml . AddFeature ( points ) ;
2011-09-08 22:31:32 -03:00
// coords for line string
CoordinateCollection coords = new CoordinateCollection ( ) ;
int a = 1 ;
int c = - 1 ;
DateTime lasttime = DateTime . MaxValue ;
DateTime starttime = DateTime . MinValue ;
Color stylecolor = Color . AliceBlue ;
string mode = "" ;
if ( flightdata . Count > 0 )
{
mode = flightdata [ 0 ] . mode ;
}
foreach ( CurrentState cs in flightdata )
{
progressBar1 . Value = 50 + ( int ) ( ( float ) a / ( float ) flightdata . Count * 100.0f / 2.0f ) ;
progressBar1 . Refresh ( ) ;
if ( starttime = = DateTime . MinValue )
{
starttime = cs . datetime ;
lasttime = cs . datetime ;
}
if ( mode ! = cs . mode | | flightdata . Count = = a )
{
c + + ;
LineString ls = new LineString ( ) ;
2011-12-15 09:44:31 -04:00
ls . AltitudeMode = altmode ;
2011-09-08 22:31:32 -03:00
ls . Extrude = true ;
ls . Coordinates = coords ;
Placemark pm = new Placemark ( ) ;
pm . Name = c + " Flight Path " + mode ;
pm . StyleUrl = new Uri ( "#yellowLineGreenPoly" , UriKind . Relative ) ;
pm . Geometry = ls ;
SharpKml . Dom . TimeSpan ts = new SharpKml . Dom . TimeSpan ( ) ;
ts . Begin = starttime ;
ts . End = cs . datetime ;
pm . Time = ts ;
// setup for next line
mode = cs . mode ;
starttime = cs . datetime ;
stylecolor = colours [ c % ( colours . Length - 1 ) ] ;
Style style2 = new Style ( ) ;
style2 . Line = new LineStyle ( new Color32 ( stylecolor ) , 4 ) ;
pm . StyleSelector = style2 ;
kml . AddFeature ( pm ) ;
coords = new CoordinateCollection ( ) ;
}
coords . Add ( new Vector ( cs . lat , cs . lng , cs . alt ) ) ;
SharpKml . Dom . Timestamp tstamp = new SharpKml . Dom . Timestamp ( ) ;
tstamp . When = cs . datetime ;
FlyTo flyto = new FlyTo ( ) ;
flyto . Duration = ( cs . datetime - lasttime ) . TotalMilliseconds / 1000.0 ;
flyto . Mode = FlyToMode . Smooth ;
2011-10-25 10:20:58 -03:00
SharpKml . Dom . Camera cam = new SharpKml . Dom . Camera ( ) ;
2011-12-15 09:44:31 -04:00
cam . AltitudeMode = altmode ;
2011-09-08 22:31:32 -03:00
cam . Latitude = cs . lat ;
cam . Longitude = cs . lng ;
cam . Altitude = cs . alt ;
cam . Heading = cs . yaw ;
cam . Roll = - cs . roll ;
cam . Tilt = ( 90 - ( cs . pitch * - 1 ) ) ;
cam . GXTimePrimitive = tstamp ;
flyto . View = cam ;
//if (Math.Abs(flyto.Duration.Value) > 0.1)
{
tourplaylist . AddTourPrimitive ( flyto ) ;
lasttime = cs . datetime ;
}
Placemark pmplane = new Placemark ( ) ;
2011-12-13 08:52:54 -04:00
pmplane . Name = "Point " + a ;
2011-09-08 22:31:32 -03:00
pmplane . Time = tstamp ;
pmplane . Visibility = false ;
SharpKml . Dom . Location loc = new SharpKml . Dom . Location ( ) ;
loc . Latitude = cs . lat ;
loc . Longitude = cs . lng ;
loc . Altitude = cs . alt ;
2011-12-13 08:52:54 -04:00
if ( loc . Altitude < 0 )
loc . Altitude = 0.01 ;
2011-09-08 22:31:32 -03:00
SharpKml . Dom . Orientation ori = new SharpKml . Dom . Orientation ( ) ;
ori . Heading = cs . yaw ;
ori . Roll = - cs . roll ;
ori . Tilt = - cs . pitch ;
SharpKml . Dom . Scale sca = new SharpKml . Dom . Scale ( ) ;
sca . X = 2 ;
sca . Y = 2 ;
sca . Z = 2 ;
Model model = new Model ( ) ;
model . Location = loc ;
model . Orientation = ori ;
2011-12-15 09:44:31 -04:00
model . AltitudeMode = altmode ;
2011-09-08 22:31:32 -03:00
model . Scale = sca ;
try
{
Description desc = new Description ( ) ;
desc . Text = @ "<![CDATA[
< table >
2011-12-13 08:52:54 -04:00
< tr > < td > Roll : " + model.Orientation.Roll.Value.ToString(" 0.00 ") + @" < / td > < / tr >
< tr > < td > Pitch : " + model.Orientation.Tilt.Value.ToString(" 0.00 ") + @" < / td > < / tr >
< tr > < td > Yaw : " + model.Orientation.Heading.Value.ToString(" 0.00 ") + @" < / td > < / tr >
< tr > < td > Time : " + cs.datetime.ToString(" HH : mm : sszzzzzz ") + @" < / td > < / tr >
2011-12-15 20:17:13 -04:00
< / table > ";
// ]]>";
2011-09-08 22:31:32 -03:00
pmplane . Description = desc ;
}
catch { }
2012-03-06 06:27:43 -04:00
SharpKml . Dom . Link link = new SharpKml . Dom . Link ( ) ;
2011-09-08 22:31:32 -03:00
link . Href = new Uri ( "block_plane_0.dae" , UriKind . Relative ) ;
model . Link = link ;
pmplane . Geometry = model ;
planes . AddFeature ( pmplane ) ;
2011-12-13 08:52:54 -04:00
///
Placemark pmt = new Placemark ( ) ;
SharpKml . Dom . Point pnt = new SharpKml . Dom . Point ( ) ;
2011-12-15 09:44:31 -04:00
pnt . AltitudeMode = altmode ;
2011-12-13 08:52:54 -04:00
pnt . Coordinate = new Vector ( cs . lat , cs . lng , cs . alt ) ;
pmt . Name = "" + a ;
pmt . Description = pmplane . Description ;
pmt . Time = tstamp ;
pmt . Geometry = pnt ;
pmt . StyleUrl = new Uri ( "#track" , UriKind . Relative ) ;
points . AddFeature ( pmt ) ;
2011-09-08 22:31:32 -03:00
a + + ;
}
tour . Playlist = tourplaylist ;
kml . AddFeature ( tour ) ;
Serializer serializer = new Serializer ( ) ;
serializer . Serialize ( kml ) ;
//Console.WriteLine(serializer.Xml);
StreamWriter sw = new StreamWriter ( filename ) ;
sw . Write ( serializer . Xml ) ;
sw . Close ( ) ;
// create kmz - aka zip file
2011-11-21 20:32:11 -04:00
FileStream fs = File . Open ( filename . Replace ( Path . GetExtension ( filename ) , ".kmz" ) , FileMode . Create ) ;
2011-09-08 22:31:32 -03:00
ZipOutputStream zipStream = new ZipOutputStream ( fs ) ;
zipStream . SetLevel ( 9 ) ; //0-9, 9 being the highest level of compression
zipStream . UseZip64 = UseZip64 . Off ; // older zipfile
// entry 1
string entryName = ZipEntry . CleanName ( Path . GetFileName ( filename ) ) ; // Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry ( entryName ) ;
newEntry . DateTime = DateTime . Now ;
zipStream . PutNextEntry ( newEntry ) ;
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte [ ] buffer = new byte [ 4096 ] ;
2011-11-21 20:32:11 -04:00
using ( FileStream streamReader = File . Open ( filename , FileMode . Open , FileAccess . Read , FileShare . ReadWrite ) )
2011-09-08 22:31:32 -03:00
{
StreamUtils . Copy ( streamReader , zipStream , buffer ) ;
}
zipStream . CloseEntry ( ) ;
filename = Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + "block_plane_0.dae" ;
// entry 2
entryName = ZipEntry . CleanName ( Path . GetFileName ( filename ) ) ; // Removes drive from name and fixes slash direction
newEntry = new ZipEntry ( entryName ) ;
newEntry . DateTime = DateTime . Now ;
zipStream . PutNextEntry ( newEntry ) ;
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
buffer = new byte [ 4096 ] ;
using ( FileStream streamReader = File . OpenRead ( filename ) )
{
StreamUtils . Copy ( streamReader , zipStream , buffer ) ;
}
zipStream . CloseEntry ( ) ;
zipStream . IsStreamOwner = true ; // Makes the Close also Close the underlying stream
zipStream . Close ( ) ;
2011-11-21 20:32:11 -04:00
2011-09-08 22:31:32 -03:00
}
static void AddNamespace ( Element element , string prefix , string uri )
{
// The Namespaces property is marked as internal.
PropertyInfo property = typeof ( Element ) . GetProperty (
"Namespaces" ,
BindingFlags . Instance | BindingFlags . NonPublic ) ;
var namespaces = ( XmlNamespaceManager ) property . GetValue ( element , null ) ;
namespaces . AddNamespace ( prefix , uri ) ;
}
private void Log_FormClosing ( object sender , FormClosingEventArgs e )
{
}
private void BUT_redokml_Click ( object sender , EventArgs e )
{
OpenFileDialog openFileDialog1 = new OpenFileDialog ( ) ;
openFileDialog1 . Filter = "*.tlog|*.tlog" ;
openFileDialog1 . FilterIndex = 2 ;
openFileDialog1 . RestoreDirectory = true ;
openFileDialog1 . Multiselect = true ;
try
{
openFileDialog1 . InitialDirectory = Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" + Path . DirectorySeparatorChar ;
}
catch { } // incase dir doesnt exist
if ( openFileDialog1 . ShowDialog ( ) = = DialogResult . OK )
{
foreach ( string logfile in openFileDialog1 . FileNames )
{
MAVLink mine = new MAVLink ( ) ;
2012-03-14 20:10:31 -03:00
try
{
mine . logplaybackfile = new BinaryReader ( File . Open ( logfile , FileMode . Open , FileAccess . Read , FileShare . Read ) ) ;
}
catch ( Exception ex ) { log . Debug ( ex . ToString ( ) ) ; CustomMessageBox . Show ( "Log Can not be opened. Are you still connected?" ) ; return ; }
2011-09-08 22:31:32 -03:00
mine . logreadmode = true ;
2011-10-23 06:48:00 -03:00
mine . packets . Initialize ( ) ; // clear
2011-09-08 22:31:32 -03:00
CurrentState cs = new CurrentState ( ) ;
2012-03-28 09:45:16 -03:00
float oldlatlngsum = 0 ;
2011-09-08 22:31:32 -03:00
2012-03-06 06:27:43 -04:00
int appui = 0 ;
2011-12-17 05:22:40 -04:00
2011-09-08 22:31:32 -03:00
while ( mine . logplaybackfile . BaseStream . Position < mine . logplaybackfile . BaseStream . Length )
{
// bar moves to 50 % in this step
progressBar1 . Value = ( int ) ( ( float ) mine . logplaybackfile . BaseStream . Position / ( float ) mine . logplaybackfile . BaseStream . Length * 100.0f / 2.0f ) ;
2011-12-17 05:22:40 -04:00
progressBar1 . Invalidate ( ) ;
2011-09-08 22:31:32 -03:00
progressBar1 . Refresh ( ) ;
byte [ ] packet = mine . readPacket ( ) ;
cs . datetime = mine . lastlogread ;
2011-10-29 00:34:38 -03:00
cs . UpdateCurrentSettings ( null , true , mine ) ;
2011-09-08 22:31:32 -03:00
2012-03-06 06:27:43 -04:00
if ( appui ! = DateTime . Now . Second )
2011-12-13 08:52:54 -04:00
{
2011-12-17 05:22:40 -04:00
// cant do entire app as mixes with flightdata timer
this . Refresh ( ) ;
2012-03-06 06:27:43 -04:00
appui = DateTime . Now . Second ;
2011-12-13 08:52:54 -04:00
}
2011-09-08 22:31:32 -03:00
try
{
2012-03-18 20:26:20 -03:00
if ( MainV2 . speechEngine ! = null )
MainV2 . speechEngine . SpeakAsyncCancelAll ( ) ;
2011-09-08 22:31:32 -03:00
}
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
2012-03-28 09:45:16 -03:00
if ( ( float ) ( cs . lat + cs . lng ) ! = oldlatlngsum
2011-09-08 22:31:32 -03:00
& & cs . lat ! = 0 & & cs . lng ! = 0 )
{
2012-03-28 09:45:16 -03:00
Console . WriteLine ( cs . lat + " " + cs . lng + " " + cs . alt + " lah " + ( float ) ( cs . lat + cs . lng ) + "!=" + oldlatlngsum ) ;
2011-09-08 22:31:32 -03:00
CurrentState cs2 = ( CurrentState ) cs . Clone ( ) ;
flightdata . Add ( cs2 ) ;
2012-03-28 09:45:16 -03:00
oldlatlngsum = ( cs . lat + cs . lng ) ;
2011-09-08 22:31:32 -03:00
}
}
mine . logreadmode = false ;
mine . logplaybackfile . Close ( ) ;
mine . logplaybackfile = null ;
2011-12-17 05:22:40 -04:00
Application . DoEvents ( ) ;
2011-09-08 22:31:32 -03:00
2012-05-16 09:21:27 -03:00
switch ( mine . aptype )
{
case MAVLink . MAV_TYPE . MAV_FIXED_WING :
MainV2 . cs . firmware = MainV2 . Firmwares . ArduPlane ;
break ;
case MAVLink . MAV_TYPE . MAV_QUADROTOR :
MainV2 . cs . firmware = MainV2 . Firmwares . ArduCopter2 ;
break ;
case MAVLink . MAV_TYPE . MAV_GROUND :
MainV2 . cs . firmware = MainV2 . Firmwares . ArduRover ;
break ;
default :
break ;
}
2012-03-28 09:45:16 -03:00
writeGPX ( logfile ) ;
2011-09-08 22:31:32 -03:00
writeKML ( logfile + ".kml" ) ;
2012-03-28 09:45:16 -03:00
flightdata . Clear ( ) ;
2011-10-29 00:34:38 -03:00
progressBar1 . Value = 100 ;
2011-09-08 22:31:32 -03:00
}
}
}
2012-03-28 09:45:16 -03:00
private void writeGPX ( string filename )
{
System . Xml . XmlTextWriter xw = new System . Xml . XmlTextWriter ( Path . GetDirectoryName ( filename ) + Path . DirectorySeparatorChar + Path . GetFileNameWithoutExtension ( filename ) + ".gpx" , Encoding . ASCII ) ;
xw . WriteStartElement ( "gpx" ) ;
xw . WriteStartElement ( "trk" ) ;
xw . WriteStartElement ( "trkseg" ) ;
foreach ( CurrentState cs in flightdata )
{
xw . WriteStartElement ( "trkpt" ) ;
xw . WriteAttributeString ( "lat" , cs . lat . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
xw . WriteAttributeString ( "lon" , cs . lng . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
xw . WriteElementString ( "ele" , cs . alt . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
xw . WriteElementString ( "time" , cs . datetime . ToString ( "yyyy-MM-ddTHH:mm:sszzzzzz" ) ) ;
xw . WriteElementString ( "course" , ( cs . yaw ) . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
xw . WriteElementString ( "roll" , cs . roll . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
xw . WriteElementString ( "pitch" , cs . pitch . ToString ( new System . Globalization . CultureInfo ( "en-US" ) ) ) ;
//xw.WriteElementString("speed", mod.model.Orientation.);
//xw.WriteElementString("fix", cs.altitude);
xw . WriteEndElement ( ) ;
}
xw . WriteEndElement ( ) ;
xw . WriteEndElement ( ) ;
xw . WriteEndElement ( ) ;
xw . Close ( ) ;
}
2011-09-08 22:31:32 -03:00
public static Color HexStringToColor ( string hexColor )
{
string hc = ( hexColor ) ;
if ( hc . Length ! = 8 )
{
// you can choose whether to throw an exception
//throw new ArgumentException("hexColor is not exactly 6 digits.");
return Color . Empty ;
}
string a = hc . Substring ( 0 , 2 ) ;
string r = hc . Substring ( 6 , 2 ) ;
string g = hc . Substring ( 4 , 2 ) ;
string b = hc . Substring ( 2 , 2 ) ;
Color color = Color . Empty ;
try
{
int ai
= Int32 . Parse ( a , System . Globalization . NumberStyles . HexNumber ) ;
int ri
= Int32 . Parse ( r , System . Globalization . NumberStyles . HexNumber ) ;
int gi
= Int32 . Parse ( g , System . Globalization . NumberStyles . HexNumber ) ;
int bi
= Int32 . Parse ( b , System . Globalization . NumberStyles . HexNumber ) ;
color = Color . FromArgb ( ai , ri , gi , bi ) ;
}
catch
{
// you can choose whether to throw an exception
//throw new ArgumentException("Conversion failed.");
return Color . Empty ;
}
return color ;
}
private void BUT_humanreadable_Click ( object sender , EventArgs e )
{
OpenFileDialog openFileDialog1 = new OpenFileDialog ( ) ;
openFileDialog1 . Filter = "*.tlog|*.tlog" ;
openFileDialog1 . FilterIndex = 2 ;
openFileDialog1 . RestoreDirectory = true ;
openFileDialog1 . Multiselect = true ;
try
{
openFileDialog1 . InitialDirectory = Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" + Path . DirectorySeparatorChar ;
}
catch { } // incase dir doesnt exist
if ( openFileDialog1 . ShowDialog ( ) = = DialogResult . OK )
{
foreach ( string logfile in openFileDialog1 . FileNames )
{
MAVLink mine = new MAVLink ( ) ;
mine . logplaybackfile = new BinaryReader ( File . Open ( logfile , FileMode . Open , FileAccess . Read , FileShare . Read ) ) ;
mine . logreadmode = true ;
2011-10-23 06:48:00 -03:00
mine . packets . Initialize ( ) ; // clear
2011-09-08 22:31:32 -03:00
StreamWriter sw = new StreamWriter ( Path . GetDirectoryName ( logfile ) + Path . DirectorySeparatorChar + Path . GetFileNameWithoutExtension ( logfile ) + ".txt" ) ;
while ( mine . logplaybackfile . BaseStream . Position < mine . logplaybackfile . BaseStream . Length )
{
// bar moves to 100 % in this step
progressBar1 . Value = ( int ) ( ( float ) mine . logplaybackfile . BaseStream . Position / ( float ) mine . logplaybackfile . BaseStream . Length * 100.0f / 1.0f ) ;
2011-09-17 10:22:07 -03:00
progressBar1 . Refresh ( ) ;
//Application.DoEvents();
2011-09-08 22:31:32 -03:00
byte [ ] packet = mine . readPacket ( ) ;
string text = "" ;
mine . DebugPacket ( packet , ref text ) ;
2011-09-17 10:22:07 -03:00
sw . Write ( mine . lastlogread + " " + text ) ;
2011-09-08 22:31:32 -03:00
}
sw . Close ( ) ;
progressBar1 . Value = 100 ;
mine . logreadmode = false ;
mine . logplaybackfile . Close ( ) ;
mine . logplaybackfile = null ;
}
}
}
2012-03-03 03:42:41 -04:00
private void BUT_graphmavlog_Click ( object sender , EventArgs e )
{
2012-03-06 06:27:43 -04:00
//http://devreminder.wordpress.com/net/net-framework-fundamentals/c-dynamic-math-expression-evaluation/
//http://www.c-sharpcorner.com/UploadFile/mgold/CodeDomCalculator08082005003253AM/CodeDomCalculator.aspx
//string mathExpression = "(1+1)*3";
//Console.WriteLine(String.Format("{0}={1}",mathExpression, Evaluate(mathExpression)));
2012-03-03 03:42:41 -04:00
OpenFileDialog openFileDialog1 = new OpenFileDialog ( ) ;
try
{
2012-04-08 21:33:57 -03:00
// openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
2012-03-03 03:42:41 -04:00
}
catch { } // incase dir doesnt exist
2012-04-08 21:33:57 -03:00
openFileDialog1 . Filter = "*.tlog|*.tlog" ;
openFileDialog1 . FilterIndex = 2 ;
openFileDialog1 . RestoreDirectory = true ;
openFileDialog1 . Multiselect = false ;
2012-03-03 03:42:41 -04:00
if ( openFileDialog1 . ShowDialog ( ) = = DialogResult . OK )
{
2012-03-06 06:27:43 -04:00
List < string > fields = GetLogFileValidFields ( openFileDialog1 . FileName ) ;
zg1 . GraphPane . CurveList . Clear ( ) ;
2012-03-26 07:21:49 -03:00
//GetLogFileData(zg1, openFileDialog1.FileName, fields);
2012-03-06 06:27:43 -04:00
try
2012-03-03 03:42:41 -04:00
{
2012-03-06 06:27:43 -04:00
// fix new line types
ThemeManager . ApplyThemeTo ( this ) ;
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
zg1 . Invalidate ( ) ;
zg1 . AxisChange ( ) ;
}
catch { }
}
}
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
static int [ ] ColourValues = new int [ ] {
0xFF0000 , 0x00FF00 , 0x0000FF , 0xFFFF00 , 0xFF00FF , 0x00FFFF , 0x000000 ,
0x800000 , 0x008000 , 0x000080 , 0x808000 , 0x800080 , 0x008080 , 0x808080 ,
0xC00000 , 0x00C000 , 0x0000C0 , 0xC0C000 , 0xC000C0 , 0x00C0C0 , 0xC0C0C0 ,
0x400000 , 0x004000 , 0x000040 , 0x404000 , 0x400040 , 0x004040 , 0x404040 ,
0x200000 , 0x002000 , 0x000020 , 0x202000 , 0x200020 , 0x002020 , 0x202020 ,
0x600000 , 0x006000 , 0x000060 , 0x606000 , 0x600060 , 0x006060 , 0x606060 ,
0xA00000 , 0x00A000 , 0x0000A0 , 0xA0A000 , 0xA000A0 , 0x00A0A0 , 0xA0A0A0 ,
0xE00000 , 0x00E000 , 0x0000E0 , 0xE0E000 , 0xE000E0 , 0x00E0E0 , 0xE0E0E0 ,
} ;
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
private List < string > GetLogFileValidFields ( string logfile )
{
Form selectform = SelectDataToGraphForm ( ) ;
Hashtable seenIt = new Hashtable ( ) ;
2012-03-26 07:21:49 -03:00
selection = new List < string > ( ) ;
2012-04-11 20:52:57 -03:00
options = new List < string > ( ) ;
2012-03-26 07:21:49 -03:00
2012-04-11 20:52:57 -03:00
this . datappl . Clear ( ) ;
this . packetdata . Clear ( ) ;
2012-03-26 07:21:49 -03:00
colorStep = 0 ;
2012-03-06 06:27:43 -04:00
{
2012-03-26 07:21:49 -03:00
MAVLink MavlinkInterface = new MAVLink ( ) ;
MavlinkInterface . logplaybackfile = new BinaryReader ( File . Open ( logfile , FileMode . Open , FileAccess . Read , FileShare . Read ) ) ;
MavlinkInterface . logreadmode = true ;
MavlinkInterface . packets . Initialize ( ) ; // clear
2012-04-08 21:33:57 -03:00
CurrentState cs = new CurrentState ( ) ;
2012-03-26 07:21:49 -03:00
// to get first packet time
MavlinkInterface . readPacket ( ) ;
2012-03-06 06:27:43 -04:00
2012-03-26 07:21:49 -03:00
DateTime startlogtime = MavlinkInterface . lastlogread ;
2012-03-06 06:27:43 -04:00
2012-03-26 07:21:49 -03:00
while ( MavlinkInterface . logplaybackfile . BaseStream . Position < MavlinkInterface . logplaybackfile . BaseStream . Length )
2012-03-06 06:27:43 -04:00
{
2012-03-26 07:21:49 -03:00
progressBar1 . Value = ( int ) ( ( float ) MavlinkInterface . logplaybackfile . BaseStream . Position / ( float ) MavlinkInterface . logplaybackfile . BaseStream . Length * 100.0f ) ;
progressBar1 . Refresh ( ) ;
2012-03-06 06:27:43 -04:00
2012-03-26 07:21:49 -03:00
byte [ ] packet = MavlinkInterface . readPacket ( ) ;
2012-03-06 06:27:43 -04:00
2012-04-08 21:33:57 -03:00
cs . datetime = MavlinkInterface . lastlogread ;
cs . UpdateCurrentSettings ( null , true , MavlinkInterface ) ;
2012-03-26 07:21:49 -03:00
object data = MavlinkInterface . DebugPacket ( packet , false ) ;
2012-03-06 06:27:43 -04:00
2012-04-05 21:50:04 -03:00
if ( data = = null )
{
log . Info ( "No info on packet" ) ;
continue ;
}
2012-03-06 06:27:43 -04:00
Type test = data . GetType ( ) ;
2012-04-11 20:52:57 -03:00
if ( true ) {
string packetname = test . Name . Replace ( "mavlink_" , "" ) . Replace ( "_t" , "" ) . ToUpper ( ) ;
if ( ! packetdata . ContainsKey ( packetname ) )
{
packetdata [ packetname ] = new Dictionary < double , object > ( ) ;
}
Dictionary < double , object > temp = ( Dictionary < double , object > ) packetdata [ packetname ] ;
double time = ( MavlinkInterface . lastlogread - startlogtime ) . TotalMilliseconds / 1000.0 ;
temp [ time ] = data ;
}
2012-03-06 06:27:43 -04:00
foreach ( var field in test . GetFields ( ) )
{
// field.Name has the field's name.
object fieldValue = field . GetValue ( data ) ; // Get value
if ( field . FieldType . IsArray )
{
}
else
{
if ( ! seenIt . ContainsKey ( field . DeclaringType . Name + "." + field . Name ) )
{
seenIt [ field . DeclaringType . Name + "." + field . Name ] = 1 ;
2012-03-26 07:21:49 -03:00
//AddDataOption(selectform, field.Name + " " + field.DeclaringType.Name);
options . Add ( field . DeclaringType . Name + "." + field . Name ) ;
}
2012-04-11 20:52:57 -03:00
if ( ! this . datappl . ContainsKey ( field . Name + " " + field . DeclaringType . Name ) )
this . datappl [ field . Name + " " + field . DeclaringType . Name ] = new PointPairList ( ) ;
2012-03-26 07:21:49 -03:00
2012-04-11 20:52:57 -03:00
PointPairList list = ( ( PointPairList ) this . datappl [ field . Name + " " + field . DeclaringType . Name ] ) ;
2012-03-26 07:21:49 -03:00
object value = fieldValue ;
// seconds scale
double time = ( MavlinkInterface . lastlogread - startlogtime ) . TotalMilliseconds / 1000.0 ;
if ( value . GetType ( ) = = typeof ( Single ) )
{
list . Add ( time , ( Single ) field . GetValue ( data ) ) ;
}
else if ( value . GetType ( ) = = typeof ( short ) )
{
list . Add ( time , ( short ) field . GetValue ( data ) ) ;
}
else if ( value . GetType ( ) = = typeof ( ushort ) )
{
list . Add ( time , ( ushort ) field . GetValue ( data ) ) ;
}
else if ( value . GetType ( ) = = typeof ( byte ) )
{
list . Add ( time , ( byte ) field . GetValue ( data ) ) ;
}
else if ( value . GetType ( ) = = typeof ( Int32 ) )
{
list . Add ( time , ( Int32 ) field . GetValue ( data ) ) ;
2012-03-06 06:27:43 -04:00
}
2012-04-11 20:52:57 -03:00
else if ( value . GetType ( ) = = typeof ( ulong ) )
{
list . Add ( time , ( ulong ) field . GetValue ( data ) ) ;
}
else
{
}
2012-03-03 03:42:41 -04:00
}
}
2012-03-06 06:27:43 -04:00
}
2012-03-03 03:42:41 -04:00
2012-03-26 07:21:49 -03:00
MavlinkInterface . logreadmode = false ;
MavlinkInterface . logplaybackfile . Close ( ) ;
MavlinkInterface . logplaybackfile = null ;
2012-03-29 19:17:06 -03:00
try
{
2012-04-11 20:52:57 -03:00
dospecial ( "GPS_RAW" ) ;
2012-03-29 19:17:06 -03:00
2012-04-11 20:52:57 -03:00
addMagField ( ) ;
addDistHome ( ) ;
2012-04-08 21:33:57 -03:00
2012-03-29 19:17:06 -03:00
}
catch ( Exception ex ) { log . Info ( ex . ToString ( ) ) ; }
2012-03-26 07:21:49 -03:00
// custom sort based on packet name
//options.Sort(delegate(string c1, string c2) { return String.Compare(c1.Substring(0,c1.IndexOf('.')),c2.Substring(0,c2.IndexOf('.')));});
2012-03-03 03:42:41 -04:00
2012-03-26 07:21:49 -03:00
// this needs sorting
2012-04-08 21:33:57 -03:00
string lastitem = "" ;
2012-03-26 07:21:49 -03:00
foreach ( string item in options )
{
var items = item . Split ( '.' ) ;
2012-04-08 21:33:57 -03:00
if ( items [ 0 ] ! = lastitem )
AddHeader ( selectform , items [ 0 ] . Replace ( "mavlink_" , "" ) . Replace ( "_t" , "" ) . ToUpper ( ) ) ;
2012-03-26 07:21:49 -03:00
AddDataOption ( selectform , items [ 1 ] + " " + items [ 0 ] ) ;
2012-04-08 21:33:57 -03:00
lastitem = items [ 0 ] ;
2012-03-26 07:21:49 -03:00
}
selectform . Show ( ) ;
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
progressBar1 . Value = 100 ;
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
}
2012-03-03 03:42:41 -04:00
2012-03-06 06:27:43 -04:00
return selection ;
}
2012-04-11 20:52:57 -03:00
public static T Cast < T > ( object o )
{
return ( T ) o ;
}
2012-04-08 21:33:57 -03:00
void dospecial ( string PacketName )
{
2012-04-11 20:52:57 -03:00
Dictionary < double , object > temp = null ;
try
{
temp = ( Dictionary < double , object > ) packetdata [ PacketName ] ;
}
catch
{
CustomMessageBox . Show ( "Bad PacketName" ) ;
return ;
}
string code = @ "
public double stage ( object inp ) {
return getAltAboveHome ( ( MAVLink . mavlink_gps_raw_t ) inp ) ;
}
public double getAltAboveHome ( MAVLink . mavlink_gps_raw_t gps )
{
if ( customforusenumber = = - 1 & & gps . fix_type ! = 2 )
customforusenumber = gps . alt ;
return gps . alt - customforusenumber ;
}
2012-04-08 21:33:57 -03:00
";
2012-04-11 20:52:57 -03:00
// build the class using codedom
CodeGen . BuildClass ( code ) ;
// compile the class into an in-memory assembly.
// if it doesn't compile, show errors in the window
CompilerResults results = CodeGen . CompileAssembly ( ) ;
if ( results ! = null & & results . CompiledAssembly ! = null )
{
string field = "Custom Custom" ; // reverse bellow
options . Add ( "Custom.Custom" ) ;
this . datappl [ field ] = new PointPairList ( ) ;
MethodInfo mi = RunCode ( results ) ;
// from here
PointPairList result = ( PointPairList ) this . datappl [ field ] ;
object assemblyInstance = results . CompiledAssembly . CreateInstance ( "ExpressionEvaluator.Calculator" ) ;
foreach ( double time in temp . Keys )
{
result . Add ( time , ( double ) mi . Invoke ( assemblyInstance , new object [ ] { temp [ time ] } ) ) ;
}
}
else
{
CustomMessageBox . Show ( "Compile Failed" ) ;
return ;
}
object answer = CodeGen . runCode ( code ) ;
2012-04-08 21:33:57 -03:00
Console . WriteLine ( answer ) ;
}
2012-04-11 20:52:57 -03:00
public MethodInfo RunCode ( CompilerResults results )
{
Assembly executingAssembly = results . CompiledAssembly ;
try
{
//cant call the entry method if the assembly is null
if ( executingAssembly ! = null )
{
object assemblyInstance = executingAssembly . CreateInstance ( "ExpressionEvaluator.Calculator" ) ;
//Use reflection to call the static Main function
Module [ ] modules = executingAssembly . GetModules ( false ) ;
Type [ ] types = modules [ 0 ] . GetTypes ( ) ;
//loop through each class that was defined and look for the first occurrance of the entry point method
foreach ( Type type in types )
{
MethodInfo [ ] mis = type . GetMethods ( ) ;
foreach ( MethodInfo mi in mis )
{
if ( mi . Name = = "stage" )
{
return mi ;
//object result = mi.Invoke(assemblyInstance, null);
//return result.ToString();
}
}
}
}
}
catch ( Exception ex )
{
Console . WriteLine ( "Error: An exception occurred while executing the script" , ex ) ;
}
return null ;
}
2012-04-08 21:33:57 -03:00
PointPairList GetValuesForField ( string name )
{
// eg RAW_IMU.xmag to "xmag mavlink_raw_imu_t"
string [ ] items = name . ToLower ( ) . Split ( new char [ ] { '.' , ' ' } ) ;
2012-04-11 20:52:57 -03:00
PointPairList list = ( ( PointPairList ) this . datappl [ items [ 1 ] + " mavlink_" + items [ 0 ] + "_t" ] ) ;
2012-04-08 21:33:57 -03:00
return list ;
}
2012-04-11 20:52:57 -03:00
void addMagField ( )
2012-03-29 19:17:06 -03:00
{
string field = "mag_field Custom" ;
options . Add ( "Custom.mag_field" ) ;
2012-04-11 20:52:57 -03:00
this . datappl [ field ] = new PointPairList ( ) ;
2012-03-29 19:17:06 -03:00
2012-04-11 20:52:57 -03:00
PointPairList list = ( ( PointPairList ) this . datappl [ field ] ) ;
2012-03-29 19:17:06 -03:00
2012-04-11 20:52:57 -03:00
PointPairList listx = ( ( PointPairList ) this . datappl [ "xmag mavlink_raw_imu_t" ] ) ;
PointPairList listy = ( ( PointPairList ) this . datappl [ "ymag mavlink_raw_imu_t" ] ) ;
PointPairList listz = ( ( PointPairList ) this . datappl [ "zmag mavlink_raw_imu_t" ] ) ;
2012-03-29 19:17:06 -03:00
//(float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2));
for ( int a = 0 ; a < listx . Count ; a + + )
{
double ans = Math . Sqrt ( Math . Pow ( listx [ a ] . Y , 2 ) + Math . Pow ( listy [ a ] . Y , 2 ) + Math . Pow ( listz [ a ] . Y , 2 ) ) ;
//Console.WriteLine("{0} {1} {2} {3}", ans, listx[a].Y, listy[a].Y, listz[a].Y);
list . Add ( listx [ a ] . X , ans ) ;
}
}
2012-04-11 20:52:57 -03:00
void addDistHome ( )
2012-04-08 21:33:57 -03:00
{
string field = "dist_home Custom" ;
options . Add ( "Custom.dist_home" ) ;
2012-04-11 20:52:57 -03:00
this . datappl [ field ] = new PointPairList ( ) ;
2012-04-08 21:33:57 -03:00
PointLatLngAlt home = new PointLatLngAlt ( ) ;
2012-04-11 20:52:57 -03:00
PointPairList list = ( ( PointPairList ) this . datappl [ field ] ) ;
2012-04-08 21:33:57 -03:00
2012-04-11 20:52:57 -03:00
PointPairList listfix = ( ( PointPairList ) this . datappl [ "fix_type mavlink_gps_raw_t" ] ) ;
PointPairList listx = ( ( PointPairList ) this . datappl [ "lat mavlink_gps_raw_t" ] ) ;
PointPairList listy = ( ( PointPairList ) this . datappl [ "lon mavlink_gps_raw_t" ] ) ;
PointPairList listz = ( ( PointPairList ) this . datappl [ "alt mavlink_gps_raw_t" ] ) ;
2012-04-08 21:33:57 -03:00
for ( int a = 0 ; a < listfix . Count ; a + + )
{
if ( listfix [ a ] . Y = = 2 )
{
home = new PointLatLngAlt ( listx [ a ] . Y , listy [ a ] . Y , listz [ a ] . Y , "Home" ) ;
break ;
}
}
//(float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2));
for ( int a = 0 ; a < listx . Count ; a + + )
{
double ans = home . GetDistance ( new PointLatLngAlt ( listx [ a ] . Y , listy [ a ] . Y , listz [ a ] . Y , "Point" ) ) ;
//Console.WriteLine("{0} {1} {2} {3}", ans, listx[a].Y, listy[a].Y, listz[a].Y);
list . Add ( listx [ a ] . X , ans ) ;
}
}
private void AddHeader ( Form selectform , string Name )
{
System . Windows . Forms . Label lbl_head = new System . Windows . Forms . Label ( ) ;
log . Info ( "Add Header " + Name ) ;
lbl_head . Text = Name ;
lbl_head . Name = Name ;
lbl_head . Location = new System . Drawing . Point ( x , y ) ;
lbl_head . Size = new System . Drawing . Size ( 100 , 20 ) ;
selectform . Controls . Add ( lbl_head ) ;
Application . DoEvents ( ) ;
x + = 0 ;
y + = 20 ;
if ( y > selectform . Height - 60 )
{
x + = 100 ;
y = 10 ;
selectform . Width = x + 100 ;
}
}
2012-03-06 06:27:43 -04:00
private void AddDataOption ( Form selectform , string Name )
{
CheckBox chk_box = new CheckBox ( ) ;
log . Info ( "Add Option " + Name ) ;
chk_box . Text = Name ;
chk_box . Name = Name ;
chk_box . Location = new System . Drawing . Point ( x , y ) ;
chk_box . Size = new System . Drawing . Size ( 100 , 20 ) ;
chk_box . CheckedChanged + = new EventHandler ( chk_box_CheckedChanged ) ;
2012-04-08 21:33:57 -03:00
chk_box . MouseUp + = new MouseEventHandler ( chk_box_MouseUp ) ;
2012-03-06 06:27:43 -04:00
selectform . Controls . Add ( chk_box ) ;
Application . DoEvents ( ) ;
x + = 0 ;
y + = 20 ;
2012-04-08 21:33:57 -03:00
if ( y > selectform . Height - 60 )
2012-03-06 06:27:43 -04:00
{
x + = 100 ;
y = 10 ;
selectform . Width = x + 100 ;
2012-03-03 03:42:41 -04:00
}
}
2012-04-08 21:33:57 -03:00
void chk_box_MouseUp ( object sender , MouseEventArgs e )
{
if ( e . Button = = System . Windows . Forms . MouseButtons . Right )
{
// dont action a already draw item
if ( ! ( ( CheckBox ) sender ) . Checked )
{
rightclick = true ;
( ( CheckBox ) sender ) . Checked = true ;
}
else
{
( ( CheckBox ) sender ) . Checked = false ;
}
rightclick = false ;
}
}
2012-03-26 07:21:49 -03:00
int colorStep = 0 ;
2012-04-08 21:33:57 -03:00
bool rightclick = false ;
2012-03-26 07:21:49 -03:00
2012-03-06 06:27:43 -04:00
void chk_box_CheckedChanged ( object sender , EventArgs e )
{
if ( ( ( CheckBox ) sender ) . Checked )
{
selection . Add ( ( ( CheckBox ) sender ) . Name ) ;
2012-03-26 07:21:49 -03:00
LineItem myCurve ;
int colorvalue = ColourValues [ colorStep % ColourValues . Length ] ;
colorStep + + ;
2012-04-11 20:52:57 -03:00
myCurve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name . Replace ( "mavlink_" , "" ) , ( PointPairList ) datappl [ ( ( CheckBox ) sender ) . Name ] , Color . FromArgb ( unchecked ( colorvalue + ( int ) 0xff000000 ) ) , SymbolType . None ) ;
2012-03-26 07:21:49 -03:00
myCurve . Tag = ( ( CheckBox ) sender ) . Name ;
2012-04-05 21:50:04 -03:00
if ( myCurve . Tag . ToString ( ) = = "roll mavlink_attitude_t" | |
myCurve . Tag . ToString ( ) = = "pitch mavlink_attitude_t" | |
myCurve . Tag . ToString ( ) = = "yaw mavlink_attitude_t" )
2012-03-26 07:21:49 -03:00
{
2012-04-11 20:52:57 -03:00
PointPairList ppl = new PointPairList ( ( PointPairList ) datappl [ ( ( CheckBox ) sender ) . Name ] ) ;
2012-03-26 07:21:49 -03:00
for ( int a = 0 ; a < ppl . Count ; a + + )
{
ppl [ a ] . Y = ppl [ a ] . Y * ( 180.0 / Math . PI ) ;
}
myCurve . Points = ppl ;
}
double xMin , xMax , yMin , yMax ;
myCurve . GetRange ( out xMin , out xMax , out yMin , out yMax , true , false , zg1 . GraphPane ) ;
2012-04-08 21:33:57 -03:00
if ( rightclick | | ( yMin > 850 & & yMax < 2100 & & yMin < 2100 ) )
2012-03-26 07:21:49 -03:00
{
myCurve . IsY2Axis = true ;
myCurve . YAxisIndex = 0 ;
zg1 . GraphPane . Y2Axis . IsVisible = true ;
2012-04-08 21:33:57 -03:00
myCurve . Label . Text = myCurve . Label . Text + "-R" ;
2012-03-26 07:21:49 -03:00
}
2012-03-06 06:27:43 -04:00
}
else
{
selection . Remove ( ( ( CheckBox ) sender ) . Name ) ;
2012-03-26 07:21:49 -03:00
foreach ( var item in zg1 . GraphPane . CurveList )
{
2012-03-29 19:17:06 -03:00
if ( item . Tag . ToString ( ) = = ( ( CheckBox ) sender ) . Name )
2012-03-26 07:21:49 -03:00
{
zg1 . GraphPane . CurveList . Remove ( item ) ;
break ;
}
}
}
try
{
// fix new line types
ThemeManager . ApplyThemeTo ( this ) ;
2012-04-08 21:33:57 -03:00
zg1 . GraphPane . XAxis . AxisGap = 0 ;
2012-03-26 07:21:49 -03:00
zg1 . Invalidate ( ) ;
zg1 . AxisChange ( ) ;
2012-03-06 06:27:43 -04:00
}
2012-03-26 07:21:49 -03:00
catch { }
2012-03-06 06:27:43 -04:00
}
int x = 10 ;
int y = 10 ;
private Form SelectDataToGraphForm ( )
{
Form selectform = new Form ( )
{
Name = "select" ,
Width = 50 ,
Height = 500 ,
2012-03-26 07:21:49 -03:00
Text = "Graph This" ,
TopLevel = true
2012-03-06 06:27:43 -04:00
} ;
x = 10 ;
y = 10 ;
2012-04-08 21:33:57 -03:00
AddHeader ( selectform , "Left Click" ) ;
AddHeader ( selectform , "Left Axis" ) ;
AddHeader ( selectform , "Right Click" ) ;
AddHeader ( selectform , "Right Axis" ) ;
2012-03-06 06:27:43 -04:00
ThemeManager . ApplyThemeTo ( selectform ) ;
return selectform ;
}
2012-05-13 07:56:42 -03:00
private void BUT_convertcsv_Click ( object sender , EventArgs e )
{
OpenFileDialog openFileDialog1 = new OpenFileDialog ( ) ;
openFileDialog1 . Filter = "*.tlog|*.tlog" ;
openFileDialog1 . FilterIndex = 2 ;
openFileDialog1 . RestoreDirectory = true ;
openFileDialog1 . Multiselect = true ;
try
{
openFileDialog1 . InitialDirectory = Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" + Path . DirectorySeparatorChar ;
}
catch { } // incase dir doesnt exist
if ( openFileDialog1 . ShowDialog ( ) = = DialogResult . OK )
{
foreach ( string logfile in openFileDialog1 . FileNames )
{
MAVLink mine = new MAVLink ( ) ;
mine . logplaybackfile = new BinaryReader ( File . Open ( logfile , FileMode . Open , FileAccess . Read , FileShare . Read ) ) ;
mine . logreadmode = true ;
mine . packets . Initialize ( ) ; // clear
StreamWriter sw = new StreamWriter ( Path . GetDirectoryName ( logfile ) + Path . DirectorySeparatorChar + Path . GetFileNameWithoutExtension ( logfile ) + ".csv" ) ;
while ( mine . logplaybackfile . BaseStream . Position < mine . logplaybackfile . BaseStream . Length )
{
// bar moves to 100 % in this step
progressBar1 . Value = ( int ) ( ( float ) mine . logplaybackfile . BaseStream . Position / ( float ) mine . logplaybackfile . BaseStream . Length * 100.0f / 1.0f ) ;
progressBar1 . Refresh ( ) ;
//Application.DoEvents();
byte [ ] packet = mine . readPacket ( ) ;
string text = "" ;
mine . DebugPacket ( packet , ref text , true , "," ) ;
sw . Write ( mine . lastlogread + "," + text ) ;
}
sw . Close ( ) ;
progressBar1 . Value = 100 ;
mine . logreadmode = false ;
mine . logplaybackfile . Close ( ) ;
mine . logplaybackfile = null ;
}
}
}
2011-09-08 22:31:32 -03:00
}
}