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APM Planner 1.0.82 

TCP connection
joystick tweaks
SIL Prep
This commit is contained in:
Michael Oborne 2011-10-12 21:37:39 +08:00
parent a37d95634a
commit 086412ecc3
8 changed files with 240 additions and 6 deletions
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1
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
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@ -188,6 +188,7 @@
<Compile Include="CommsSerialPort.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="CommsTCPSerial.cs" />
<Compile Include="CommsUdpSerial.cs" />
<Compile Include="georefimage.cs" />
<Compile Include="HIL\Aircraft.cs" />

222
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs Normal file
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@ -0,0 +1,222 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Text;
using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
namespace System.IO.Ports
{
public class TcpSerial : ArdupilotMega.ICommsSerial
{
TcpClient client = new TcpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0];
int rbufferread = 0;
public int WriteBufferSize { get; set; }
public int WriteTimeout { get; set; }
public int ReceivedBytesThreshold { get; set; }
public bool RtsEnable { get; set; }
~TcpSerial()
{
this.Close();
client = null;
}
public TcpSerial()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
Port = "5760";
}
public string Port { get; set; }
public int ReadTimeout
{
get;// { return client.ReceiveTimeout; }
set;// { client.ReceiveTimeout = value; }
}
public int ReadBufferSize {get;set;}
public int BaudRate { get; set; }
public StopBits StopBits { get; set; }
public Parity Parity { get; set; }
public int DataBits { get; set; }
public string PortName { get; set; }
public int BytesToRead
{
get { return client.Available + rbuffer.Length - rbufferread; }
}
public bool IsOpen { get { return client.Client.Connected; } }
public bool DtrEnable
{
get;
set;
}
public void Open()
{
if (client.Client.Connected)
{
Console.WriteLine("tcpserial socket already open");
return;
}
string dest = Port;
string host = "127.0.0.1";
ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host);
ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest);
Port = dest;
client = new TcpClient(host, int.Parse(Port));
client.NoDelay = true;
client.Client.NoDelay = true;
return;
}
void VerifyConnected()
{
if (client == null || !IsOpen)
{
throw new Exception("The socket/serialproxy is closed");
}
}
public int Read(byte[] readto,int offset,int length)
{
VerifyConnected();
try
{
if (length < 1) { return 0; }
return client.Client.Receive(readto, offset, length, SocketFlags.None);
}
catch { throw new Exception("Socket Closed"); }
}
public int ReadByte()
{
VerifyConnected();
int count = 0;
while (this.BytesToRead == 0)
{
System.Threading.Thread.Sleep(1);
if (count > ReadTimeout)
throw new Exception("NetSerial Timeout on read");
count++;
}
byte[] buffer = new byte[1];
Read(buffer, 0, 1);
return buffer[0];
}
public int ReadChar()
{
return ReadByte();
}
public string ReadExisting()
{
VerifyConnected();
byte[] data = new byte[client.Available];
if (data.Length > 0)
Read(data, 0, data.Length);
string line = Encoding.ASCII.GetString(data, 0, data.Length);
return line;
}
public void WriteLine(string line)
{
VerifyConnected();
line = line + "\n";
Write(line);
}
public void Write(string line)
{
VerifyConnected();
byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
Write(data, 0, data.Length);
}
public void Write(byte[] write, int offset, int length)
{
VerifyConnected();
try
{
client.Client.Send(write, length,SocketFlags.None);
}
catch { }//throw new Exception("Comport / Socket Closed"); }
}
public void DiscardInBuffer()
{
VerifyConnected();
int size = client.Available;
byte[] crap = new byte[size];
Console.WriteLine("UdpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size);
}
public string ReadLine() {
byte[] temp = new byte[4000];
int count = 0;
int timeout = 0;
while (timeout <= 100)
{
if (!this.IsOpen) { break; }
if (this.BytesToRead > 0)
{
byte letter = (byte)this.ReadByte();
temp[count] = letter;
if (letter == '\n') // normal line
{
break;
}
count++;
if (count == temp.Length)
break;
timeout = 0;
} else {
timeout++;
System.Threading.Thread.Sleep(5);
}
}
Array.Resize<byte>(ref temp, count + 1);
return Encoding.ASCII.GetString(temp, 0, temp.Length);
}
public void Close()
{
if (client.Client.Connected)
{
client.Client.Close();
client.Close();
}
client = new TcpClient();
}
}
}

7
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
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@ -874,6 +874,11 @@ namespace ArdupilotMega.GCSViews
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)));
float xvec = aeroin.Model_fVelY - aeroin.Model_fWindVelY;
float yvec = aeroin.Model_fVelX - aeroin.Model_fWindVelX;
asp.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
}
else if (receviedbytes > 0x100)
{
@ -1251,7 +1256,7 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
Array.Copy(BitConverter.GetBytes((double)(throttle_out)), 0, AeroSimRC, 24, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8);
if (heli)
{

2
Tools/ArdupilotMegaPlanner/JoystickSetup.cs
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@ -413,7 +413,7 @@ namespace ArdupilotMega
{
try
{
if (MainV2.joystick != null)
if (MainV2.joystick != null && MainV2.joystick.enabled == false)
MainV2.joystick.UnAcquireJoyStick();
}
catch { }

7
Tools/ArdupilotMegaPlanner/MainV2.cs
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@ -120,6 +120,7 @@ namespace ArdupilotMega
comPort.BaseStream.BaudRate = 115200;
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Count > 0)
{
@ -225,6 +226,7 @@ namespace ArdupilotMega
string oldport = CMB_serialport.Text;
CMB_serialport.Items.Clear();
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Contains(oldport))
CMB_serialport.Text = oldport;
@ -564,6 +566,11 @@ namespace ArdupilotMega
}
else
{
if (CMB_serialport.Text == "TCP")
{
comPort.BaseStream = new TcpSerial();
}
else
if (CMB_serialport.Text == "UDP")
{
comPort.BaseStream = new UdpSerial();

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
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@ -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("1.0.81")]
[assembly: AssemblyFileVersion("1.0.82")]
[assembly: NeutralResourcesLanguageAttribute("")]

3
Tools/ArdupilotMegaPlanner/bin/Release/.gitignore vendored
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@ -1,4 +1,3 @@
*.pdb
*.xml
*.etag
*.xml

2
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
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@ -11,7 +11,7 @@
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
</dsig:Transforms>
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
<dsig:DigestValue>8RpxcyWYSVdJiQ8oEr1RbFKdPB8=</dsig:DigestValue>
<dsig:DigestValue>DxfINYOSh55dWio5h4coAIWRotU=</dsig:DigestValue>
</hash>
</dependentAssembly>
</dependency>