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APM Planner 1.1.47 

fix Updater
This commit is contained in:
Michael Oborne 2012-03-03 15:42:41 +08:00
parent c2fa44d24e
commit 0087d0533a
14 changed files with 331 additions and 151 deletions
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6
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -86,7 +86,7 @@
<SignManifests>false</SignManifests>
</PropertyGroup>
<PropertyGroup>
<SignAssembly>true</SignAssembly>
<SignAssembly>false</SignAssembly>
</PropertyGroup>
<PropertyGroup />
<PropertyGroup>
@ -118,6 +118,10 @@
<ApplicationManifest>Properties\app.manifest</ApplicationManifest>
</PropertyGroup>
<ItemGroup>
<Reference Include="alglibnet2, Version=0.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>Lib\alglibnet2.dll</HintPath>
</Reference>
<Reference Include="BSE.Windows.Forms">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\BSE.Windows.Forms.dll</HintPath>
</Reference>

131
Tools/ArdupilotMegaPlanner/MagCalib.cs
View File

@ -4,6 +4,7 @@ using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Collections;
namespace ArdupilotMega
{
@ -14,34 +15,12 @@ namespace ArdupilotMega
public static void doWork()
{
/*
double[,] x = new double[,] { { -1 }, { -0.8 }, { -0.6 }, { -0.4 }, { -0.2 }, { 0 }, { 0.2 }, { 0.4 }, { 0.6 }, { 0.8 }, { 1.0 } };
double[] y = new double[] { 0.223130, 0.382893, 0.582748, 0.786628, 0.941765, 1.000000, 0.941765, 0.786628, 0.582748, 0.382893, 0.223130 };
double[] c = new double[] { 0.3 };
double epsf = 0;
double epsx = 0.000001;
int maxits = 0;
int info;
alglib.lsfitstate state;
alglib.lsfitreport rep;
double diffstep = 0.0001;
//
// Fitting without weights
//
alglib.lsfitcreatef(x, y, c, diffstep, out state);
alglib.lsfitsetcond(state, epsf, epsx, maxits);
alglib.lsfitfit(state, function_cx_1_func, null, null);
alglib.lsfitresults(state, out info, out c, out rep);
System.Console.WriteLine("{0}", info); // EXPECTED: 2
System.Console.WriteLine("{0}", alglib.ap.format(c, 1)); // EXPECTED: [1.5]
*/
// based of tridge's work
Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
Hashtable filter = new Hashtable();
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "*.tlog|*.tlog";
@ -54,6 +33,8 @@ namespace ArdupilotMega
}
catch { } // incase dir doesnt exist
openFileDialog1.FileName = @"C:\Users\hog\Downloads\2012-02-05.log";
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
foreach (string logfile in openFileDialog1.FileNames)
@ -74,65 +55,97 @@ namespace ArdupilotMega
//progressBar1.Refresh();
//Application.DoEvents();
byte[] packet = mine.readPacket();
byte[] packetraw = mine.readPacket();
var pack = mine.DebugPacket(packet);
var packet = mine.DebugPacket(packetraw);
if (pack.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
if (packet == null)
continue;
if (packet.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
{
offset = new Tuple<float,float,float>(
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_x,
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_y,
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_z);
((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_x,
((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_y,
((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_z);
}
else if (pack.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
else if (packet.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
{
int div = 20;
string item = (int)(((MAVLink.__mavlink_raw_imu_t)packet).xmag / div) + "," +
(int)(((MAVLink.__mavlink_raw_imu_t)packet).ymag / div) + "," +
(int)(((MAVLink.__mavlink_raw_imu_t)packet).zmag / div);
if (filter.ContainsKey(item))
{
filter[item] = (int)filter[item] + 1;
if ((int)filter[item] > 3)
continue;
}
else
{
filter[item] = 1;
}
data.Add(new Tuple<float, float, float>(
((MAVLink.__mavlink_raw_imu_t)pack).xmag - offset.Item1,
((MAVLink.__mavlink_raw_imu_t)pack).ymag - offset.Item2,
((MAVLink.__mavlink_raw_imu_t)pack).zmag - offset.Item3));
((MAVLink.__mavlink_raw_imu_t)packet).xmag - offset.Item1,
((MAVLink.__mavlink_raw_imu_t)packet).ymag - offset.Item2,
((MAVLink.__mavlink_raw_imu_t)packet).zmag - offset.Item3));
}
}
//progressBar1.Value = 100;
Console.WriteLine("Extracted " + data.Count + " data points");
Console.WriteLine("Current offset: " + offset);
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
double[] x = new double[] { 0, 0, 0, 0 };
double epsg = 0.0000000001;
double epsf = 0;
double epsx = 0;
int maxits = 0;
alglib.minlmstate state;
alglib.minlmreport rep;
alglib.minlmcreatev(data.Count, x, 100, out state);
alglib.minlmsetcond(state, epsg, epsf, epsx, maxits);
alglib.minlmoptimize(state, sphere_error, null, data);
alglib.minlmresults(state, out x, out rep);
System.Console.WriteLine("{0}", rep.terminationtype); // EXPECTED: 4
System.Console.WriteLine("{0}", alglib.ap.format(x, 2)); // EXPECTED: [-3,+3]
//System.Console.ReadLine();
// return;
}
}
}
public static List<double> sphere_error(double[,] p, double[] data)
public static void sphere_error(double[] xi, double[] fi, object obj)
{
double xofs = p[0, 0];
double yofs = p[0, 1];
double zofs = p[0, 2];
double r = p[0, 3];
List<double> ret = new List<double>();
foreach (var d in data)
double xofs = xi[0];
double yofs = xi[1];
double zofs = xi[2];
double r = xi[3];
int a = 0;
foreach (var d in (List<Tuple<float, float, float>>)obj)
{
//double x, y, z = d;
//double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2));
//ret.Add(err);
double x = d.Item1;
double y = d.Item2;
double z = d.Item3;
double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2));
fi[a] = err;
a++;
}
return ret;
}
public static void function_cx_1_func(double[] c, double[] x, ref double func, object obj)
{
// this callback calculates f(c,x)=exp(-c0*sqr(x0))
// where x is a position on X-axis and c is adjustable parameter
func = System.Math.Exp(-c[0] * x[0] * x[0]);
}
}
}

149
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -22,6 +22,7 @@ using System.Threading;
using System.Net.Sockets;
using IronPython.Hosting;
using log4net;
using ArdupilotMega.Controls;
namespace ArdupilotMega
{
@ -1629,12 +1630,12 @@ namespace ArdupilotMega
}
public static void updatecheck(Label loadinglabel)
public static void updatecheck(ProgressReporterDialogue frmProgressReporter)
{
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
try
{
bool update = updatecheck(loadinglabel, baseurl, "");
bool update = updatecheck(frmProgressReporter, baseurl, "");
var process = new Process();
string exePath = Path.GetDirectoryName(Application.ExecutablePath);
if (MONO)
@ -1659,17 +1660,20 @@ namespace ArdupilotMega
log.Error("Exception during update", ex);
}
}
if (loadinglabel != null)
UpdateLabel(loadinglabel, "Starting Updater");
if (frmProgressReporter != null)
frmProgressReporter.UpdateProgressAndStatus(-1, "Starting Updater");
log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments);
process.Start();
log.Info("Quitting existing process");
try
{
Application.Exit();
MainV2.instance.BeginInvoke((MethodInvoker)delegate() {
Application.Exit();
});
}
catch
{
Application.Exit();
}
}
catch (Exception ex)
@ -1719,10 +1723,25 @@ namespace ArdupilotMega
{
var fi = new FileInfo(path);
log.Info(response.Headers[HttpResponseHeader.ETag]);
string CurrentEtag = "";
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
if (File.Exists(path + ".etag"))
{
using (Stream fs = File.OpenRead(path + ".etag"))
{
using (StreamReader sr = new StreamReader(fs))
{
CurrentEtag = sr.ReadLine();
sr.Close();
}
fs.Close();
}
}
if (fi.Length != response.ContentLength && response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
{
log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
using (var sw = new StreamWriter(path + ".etag"))
{
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
@ -1757,46 +1776,28 @@ namespace ArdupilotMega
public static void DoUpdate()
{
var loading = new Form
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue()
{
Width = 400,
Height = 150,
StartPosition = FormStartPosition.CenterScreen,
TopMost = true,
MinimizeBox = false,
MaximizeBox = false
Text = "Check for Updates",
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen
};
var resources = new ComponentResourceManager(typeof(MainV2));
loading.Icon = ((Icon)(resources.GetObject("$this.Icon")));
var loadinglabel = new Label
{
Location = new System.Drawing.Point(50, 40),
Name = "load",
AutoSize = true,
Text = "Checking...",
Size = new System.Drawing.Size(100, 20)
};
MainV2.fixtheme(frmProgressReporter);
loading.Controls.Add(loadinglabel);
loading.Show();
frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork);
try
{
MainV2.updatecheck(loadinglabel);
}
catch (Exception ex)
{
log.Error("Error in updatecheck", ex);
}
//);
//t12.Name = "Update check thread";
//t12.Start();
//MainV2.threads.Add(t12);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync();
}
private static bool updatecheck(Label loadinglabel, string baseurl, string subdir)
static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
MainV2.updatecheck((ProgressReporterDialogue)sender);
}
private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
{
bool update = false;
List<string> files = new List<string>();
@ -1845,17 +1846,23 @@ namespace ArdupilotMega
Directory.CreateDirectory(dir);
foreach (string file in files)
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
throw new Exception("Cancel");
}
if (file.Equals("/"))
{
continue;
}
if (file.EndsWith("/"))
{
update = updatecheck(loadinglabel, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
continue;
}
if (loadinglabel != null)
UpdateLabel(loadinglabel, "Checking " + file);
if (frmProgressReporter != null)
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking " + file);
string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file;
@ -1876,26 +1883,44 @@ namespace ArdupilotMega
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
bool getfile = false;
bool updateThisFile = false;
if (File.Exists(path))
{
FileInfo fi = new FileInfo(path);
log.Info(response.Headers[HttpResponseHeader.ETag]);
//log.Info(response.Headers[HttpResponseHeader.ETag]);
string CurrentEtag = "";
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
if (File.Exists(path + ".etag"))
{
StreamWriter sw = new StreamWriter(path + ".etag");
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
getfile = true;
using (Stream fs = File.OpenRead(path + ".etag"))
{
using (StreamReader sr = new StreamReader(fs))
{
CurrentEtag = sr.ReadLine();
sr.Close();
}
fs.Close();
}
}
if (fi.Length != response.ContentLength && response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
{
log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
using (StreamWriter sw = new StreamWriter(path + ".etag"))
{
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
}
updateThisFile = true;
log.Info("NEW FILE " + file);
}
}
else
{
getfile = true;
updateThisFile = true;
log.Info("NEW FILE " + file);
// get it
}
@ -1904,7 +1929,7 @@ namespace ArdupilotMega
//dataStream.Close();
response.Close();
if (getfile)
if (updateThisFile)
{
if (!update)
{
@ -1918,16 +1943,21 @@ namespace ArdupilotMega
// return;
}
}
if (loadinglabel != null)
UpdateLabel(loadinglabel, "Getting " + file);
if (frmProgressReporter != null)
frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
// from head
long bytes = response.ContentLength;
// Create a request using a URL that can receive a post.
request = WebRequest.Create(baseurl + file);
request = HttpWebRequest.Create(baseurl + file);
// Set the Method property of the request to POST.
request.Method = "GET";
((HttpWebRequest)request).AutomaticDecompression = DecompressionMethods.GZip | DecompressionMethods.Deflate;
request.Headers.Add("Accept-Encoding", "gzip,deflate");
// Get the response.
response = request.GetResponse();
// Display the status.
@ -1951,8 +1981,8 @@ namespace ArdupilotMega
{
if (dt.Second != DateTime.Now.Second)
{
if (loadinglabel != null)
UpdateLabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
if (frmProgressReporter != null)
frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
dt = DateTime.Now;
}
}
@ -1978,11 +2008,6 @@ namespace ArdupilotMega
return update;
}
private void toolStripMenuItem3_Click(object sender, EventArgs e)
{
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)

10
Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs generated
View File

@ -32,6 +32,7 @@
this.BUT_redokml = new ArdupilotMega.MyButton();
this.progressBar1 = new System.Windows.Forms.ProgressBar();
this.BUT_humanreadable = new ArdupilotMega.MyButton();
this.BUT_graphmavlog = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// BUT_redokml
@ -53,10 +54,18 @@
this.BUT_humanreadable.UseVisualStyleBackColor = true;
this.BUT_humanreadable.Click += new System.EventHandler(this.BUT_humanreadable_Click);
//
// BUT_graphmavlog
//
resources.ApplyResources(this.BUT_graphmavlog, "BUT_graphmavlog");
this.BUT_graphmavlog.Name = "BUT_graphmavlog";
this.BUT_graphmavlog.UseVisualStyleBackColor = true;
this.BUT_graphmavlog.Click += new System.EventHandler(this.BUT_graphmavlog_Click);
//
// MavlinkLog
//
resources.ApplyResources(this, "$this");
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.BUT_graphmavlog);
this.Controls.Add(this.BUT_humanreadable);
this.Controls.Add(this.progressBar1);
this.Controls.Add(this.BUT_redokml);
@ -71,5 +80,6 @@
private MyButton BUT_redokml;
private System.Windows.Forms.ProgressBar progressBar1;
private MyButton BUT_humanreadable;
private MyButton BUT_graphmavlog;
}
}

83
Tools/ArdupilotMegaPlanner/MavlinkLog.cs
View File

@ -512,5 +512,88 @@ namespace ArdupilotMega
}
}
private void BUT_graphmavlog_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
CurrentState cs = new CurrentState();
float oldlatlngalt = 0;
DateTime appui = DateTime.Now;
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);
progressBar1.Invalidate();
progressBar1.Refresh();
byte[] packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
if (appui != DateTime.Now)
{
// cant do entire app as mixes with flightdata timer
this.Refresh();
appui = DateTime.Now;
}
try
{
if (MainV2.talk != null)
MainV2.talk.SpeakAsyncCancelAll();
}
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
if ((float)(cs.lat + cs.lng) != oldlatlngalt
&& cs.lat != 0 && cs.lng != 0)
{
Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + " lah " + (float)(cs.lat + cs.lng) + "!=" + oldlatlngalt);
CurrentState cs2 = (CurrentState)cs.Clone();
flightdata.Add(cs2);
oldlatlngalt = (cs.lat + cs.lng);
}
}
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
Application.DoEvents();
//writeKML(logfile + ".kml");
progressBar1.Value = 100;
}
}
}
}
}

39
Tools/ArdupilotMegaPlanner/MavlinkLog.resx
View File

@ -135,19 +135,19 @@
<value>BUT_redokml</value>
</data>
<data name="&gt;&gt;BUT_redokml.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_redokml.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;BUT_redokml.ZOrder" xml:space="preserve">
<value>2</value>
<value>3</value>
</data>
<data name="progressBar1.Location" type="System.Drawing.Point, System.Drawing">
<value>10, 42</value>
</data>
<data name="progressBar1.Size" type="System.Drawing.Size, System.Drawing">
<value>313, 26</value>
<value>432, 26</value>
</data>
<data name="progressBar1.TabIndex" type="System.Int32, mscorlib">
<value>9</value>
@ -162,7 +162,7 @@
<value>$this</value>
</data>
<data name="&gt;&gt;progressBar1.ZOrder" xml:space="preserve">
<value>1</value>
<value>2</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="BUT_humanreadable.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
@ -184,12 +184,39 @@
<value>BUT_humanreadable</value>
</data>
<data name="&gt;&gt;BUT_humanreadable.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_humanreadable.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;BUT_humanreadable.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="BUT_graphmavlog.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
<data name="BUT_graphmavlog.Location" type="System.Drawing.Point, System.Drawing">
<value>289, 13</value>
</data>
<data name="BUT_graphmavlog.Size" type="System.Drawing.Size, System.Drawing">
<value>116, 23</value>
</data>
<data name="BUT_graphmavlog.TabIndex" type="System.Int32, mscorlib">
<value>11</value>
</data>
<data name="BUT_graphmavlog.Text" xml:space="preserve">
<value>Graph Log</value>
</data>
<data name="&gt;&gt;BUT_graphmavlog.Name" xml:space="preserve">
<value>BUT_graphmavlog</value>
</data>
<data name="&gt;&gt;BUT_graphmavlog.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_graphmavlog.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;BUT_graphmavlog.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@ -199,7 +226,7 @@
<value>6, 13</value>
</data>
<data name="$this.ClientSize" type="System.Drawing.Size, System.Drawing">
<value>335, 82</value>
<value>456, 82</value>
</data>
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>

11
Tools/ArdupilotMegaPlanner/Program.cs
View File

@ -21,8 +21,11 @@ namespace ArdupilotMega
[STAThread]
static void Main()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
Application.SetCompatibleTextRenderingDefault(false);
Application.ThreadException += Application_ThreadException;
@ -36,10 +39,6 @@ namespace ArdupilotMega
//Common.linearRegression();
Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
Application.SetCompatibleTextRenderingDefault(false);
try
{
Thread.CurrentThread.Name = "Base Thread";

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.46")]
[assembly: AssemblyFileVersion("1.1.47")]
[assembly: NeutralResourcesLanguageAttribute("")]

28
Tools/ArdupilotMegaPlanner/Script.cs
View File

@ -24,11 +24,12 @@ namespace ArdupilotMega
if (engine != null)
engine.Runtime.Shutdown();
engine = Python.CreateEngine(options);
engine = Python.CreateEngine(options);
scope = engine.CreateScope();
scope.SetVariable("cs", MainV2.cs);
scope.SetVariable("Script", this);
scope.SetVariable("mavutil", this);
engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
@ -54,8 +55,22 @@ namespace ArdupilotMega
}
}
public object mavlink_connection(string device, int baud = 115200, int source_system = 255,
bool write = false, bool append = false,
bool robust_parsing = true, bool notimestamps = false, bool input = true)
{
public void Sleep(int ms) {
return null;
}
public object recv_match(string condition = null, string type = null, bool blocking = false)
{
return null;
}
public void Sleep(int ms)
{
System.Threading.Thread.Sleep(ms);
}
@ -104,7 +119,8 @@ namespace ArdupilotMega
public bool WaitFor(string message, int timeout)
{
int timein = 0;
while (!MainV2.cs.message.Contains(message)) {
while (!MainV2.cs.message.Contains(message))
{
System.Threading.Thread.Sleep(5);
timein += 5;
if (timein > timeout)
@ -113,8 +129,8 @@ namespace ArdupilotMega
return true;
}
public bool SendRC(int channel, ushort pwm,bool sendnow)
public bool SendRC(int channel, ushort pwm, bool sendnow)
{
switch (channel)
{
@ -166,4 +182,4 @@ namespace ArdupilotMega
return true;
}
}
}
}

16
Tools/ArdupilotMegaPlanner/Updater/Program.cs
View File

@ -26,16 +26,18 @@ namespace Updater
string path = Path.GetDirectoryName(Application.ExecutablePath);
UpdateFiles(path);
// give 4 seconds grace
System.Threading.Thread.Sleep(5000);
//if (!UpdateFiles(path))
//UpdateFiles(path);
if (!UpdateFiles(path))
{
// this fails on mac
//Console.WriteLine("Update failed, please try it later.");
//Console.WriteLine("Press any key to continue.");
//Console.ReadKey();
Console.WriteLine("Update failed, please try it later.");
Console.WriteLine("Press any key to continue.");
Console.ReadKey();
}
//else
else
{
try
{

2
Tools/ArdupilotMegaPlanner/app.config
View File

@ -19,7 +19,7 @@
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maximumFileSize value="500KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />

3
Tools/ArdupilotMegaPlanner/bin/Release/.gitignore vendored
View File

@ -1 +1,2 @@
*.pdb
*.pdb
*.etag

2
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config
View File

@ -19,7 +19,7 @@
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maximumFileSize value="500KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
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