From 0087d0533a0ea10ffddd3a38805aa18a5717ca0f Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Sat, 3 Mar 2012 15:42:41 +0800 Subject: [PATCH] APM Planner 1.1.47 fix Updater --- .../ArdupilotMegaPlanner/ArdupilotMega.csproj | 6 +- Tools/ArdupilotMegaPlanner/MagCalib.cs | 131 ++++++++------- Tools/ArdupilotMegaPlanner/MainV2.cs | 149 ++++++++++-------- .../MavlinkLog.Designer.cs | 10 ++ Tools/ArdupilotMegaPlanner/MavlinkLog.cs | 83 ++++++++++ Tools/ArdupilotMegaPlanner/MavlinkLog.resx | 39 ++++- Tools/ArdupilotMegaPlanner/Program.cs | 11 +- .../Properties/AssemblyInfo.cs | 2 +- Tools/ArdupilotMegaPlanner/Script.cs | 28 +++- Tools/ArdupilotMegaPlanner/Updater/Program.cs | 16 +- Tools/ArdupilotMegaPlanner/app.config | 2 +- .../bin/Release/.gitignore | 3 +- .../Release/ArdupilotMegaPlanner.exe.config | 2 +- .../bin/Release/ArdupilotMegaPlanner.pdb | Bin 972288 -> 974336 bytes 14 files changed, 331 insertions(+), 151 deletions(-) diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj index c76303df54..f14a442d90 100644 --- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj +++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj @@ -86,7 +86,7 @@ false - true + false @@ -118,6 +118,10 @@ Properties\app.manifest + + False + Lib\alglibnet2.dll + ..\..\..\..\..\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\BSE.Windows.Forms.dll diff --git a/Tools/ArdupilotMegaPlanner/MagCalib.cs b/Tools/ArdupilotMegaPlanner/MagCalib.cs index 5edd807b18..3db2921682 100644 --- a/Tools/ArdupilotMegaPlanner/MagCalib.cs +++ b/Tools/ArdupilotMegaPlanner/MagCalib.cs @@ -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 offset = new Tuple(0, 0, 0); List> data = new List>(); + 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( - ((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( - ((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 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 ret = new List(); - 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>)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]); - } - - } } \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index 3ab2c80f11..4e66490df6 100644 --- a/Tools/ArdupilotMegaPlanner/MainV2.cs +++ b/Tools/ArdupilotMegaPlanner/MainV2.cs @@ -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 files = new List(); @@ -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) diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs index 29e1be3f92..38356beb49 100644 --- a/Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs +++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs @@ -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; } } \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs index 21963759d9..381a0a0463 100644 --- a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs +++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs @@ -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; + + } + } + } + } } \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.resx b/Tools/ArdupilotMegaPlanner/MavlinkLog.resx index 9067a963f6..7aadc69694 100644 --- a/Tools/ArdupilotMegaPlanner/MavlinkLog.resx +++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.resx @@ -135,19 +135,19 @@ BUT_redokml - ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c + ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null $this - 2 + 3 10, 42 - 313, 26 + 432, 26 9 @@ -162,7 +162,7 @@ $this - 1 + 2 @@ -184,12 +184,39 @@ BUT_humanreadable - ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c + ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null $this + 1 + + + NoControl + + + 289, 13 + + + 116, 23 + + + 11 + + + Graph Log + + + BUT_graphmavlog + + + ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null + + + $this + + 0 @@ -199,7 +226,7 @@ 6, 13 - 335, 82 + 456, 82 diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs index a0792ca57c..fb7e6f2e71 100644 --- a/Tools/ArdupilotMegaPlanner/Program.cs +++ b/Tools/ArdupilotMegaPlanner/Program.cs @@ -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"; diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index 798018a819..d6bbc81952 100644 --- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs +++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs @@ -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("")] diff --git a/Tools/ArdupilotMegaPlanner/Script.cs b/Tools/ArdupilotMegaPlanner/Script.cs index 617c49ef31..82b7c9346e 100644 --- a/Tools/ArdupilotMegaPlanner/Script.cs +++ b/Tools/ArdupilotMegaPlanner/Script.cs @@ -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; } } -} +} \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/Updater/Program.cs b/Tools/ArdupilotMegaPlanner/Updater/Program.cs index be5c260020..ef47cba3ec 100644 --- a/Tools/ArdupilotMegaPlanner/Updater/Program.cs +++ b/Tools/ArdupilotMegaPlanner/Updater/Program.cs @@ -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 { diff --git a/Tools/ArdupilotMegaPlanner/app.config b/Tools/ArdupilotMegaPlanner/app.config index 6368d93fef..063dfdef78 100644 --- a/Tools/ArdupilotMegaPlanner/app.config +++ b/Tools/ArdupilotMegaPlanner/app.config @@ -19,7 +19,7 @@ - + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/.gitignore b/Tools/ArdupilotMegaPlanner/bin/Release/.gitignore index b09e38ab43..f792876120 100644 --- a/Tools/ArdupilotMegaPlanner/bin/Release/.gitignore +++ b/Tools/ArdupilotMegaPlanner/bin/Release/.gitignore @@ -1 +1,2 @@ -*.pdb \ No newline at end of file +*.pdb +*.etag \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config index 6368d93fef..063dfdef78 100644 --- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config +++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config @@ -19,7 +19,7 @@ - + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb index 55b77aa8312582e870d5ec5997310ad613dcd35e..b5e4392f1ecc3da666804ebced2b469df070f5e0 100644 GIT binary patch delta 158586 zcma%^3z$w-+xYj|d*+#gna7M7#vF~)7^g89=fR9qlbk~mLWq*%Bnh+C#1I<7k|d%? 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