From a5e3f8d32491318d62ffad158ff3c0e2ea98f862 Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Wed, 29 Feb 2012 21:19:54 +0800 Subject: [PATCH] APM Planner 1.1.44 mod antenna tracker code add extra ch 6 options cleanup message dialogs better fix auto fill ch6 and ch7 mode options add progress to upload and dl wp's fix disconnect bug on mono --- Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs | 26 +- .../Antenna/Tracker.Designer.cs | 126 +++---- Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs | 29 +- .../ArdupilotMegaPlanner/ArdupilotMega.csproj | 1 + Tools/ArdupilotMegaPlanner/Common.cs | 18 +- Tools/ArdupilotMegaPlanner/CurrentState.cs | 20 +- .../GCSViews/Configuration.cs | 52 +-- .../GCSViews/FlightPlanner.cs | 308 ++++++++++-------- Tools/ArdupilotMegaPlanner/MAVLink.cs | 2 +- Tools/ArdupilotMegaPlanner/MainV2.cs | 131 ++++---- Tools/ArdupilotMegaPlanner/Program.cs | 3 + .../Properties/AssemblyInfo.cs | 2 +- Tools/ArdupilotMegaPlanner/Speech.cs | 70 ++++ .../bin/Release/ArdupilotMegaPlanner.pdb | Bin 964096 -> 968192 bytes 14 files changed, 446 insertions(+), 342 deletions(-) create mode 100644 Tools/ArdupilotMegaPlanner/Speech.cs diff --git a/Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs b/Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs index 172853c1fe..bccd3695db 100644 --- a/Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs +++ b/Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs @@ -65,7 +65,7 @@ namespace ArdupilotMega.Antenna ComPort.Write(buffer, 0, buffer.Length); // accel - target = 3; + target = 5; buffer = new byte[] { 0x89, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) }; ComPort.Write(buffer, 0, buffer.Length); @@ -84,19 +84,31 @@ namespace ArdupilotMega.Antenna return input; } + double wrap_range(double input,double range) + { + if (input > range) + return input - 360; + if (input < -range) + return input + 360; + return input; + } + public bool Pan(double Angle) { - // using a byte so it will autowrap - double range = Math.Abs(PanStartRange - PanEndRange); - double centerrange = (range / 2) - TrimPan; + // get relative center based on tracking center + double rangeleft = PanStartRange - TrimPan; + double rangeright = PanEndRange - TrimPan; + double centerpos = 127; + // get the output angle the tracker needs to point and constrain the output to the allowed options short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange); - byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + 127) * _panreverse); + // conver the angle into a 0-255 value + byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + centerpos) * _panreverse); - Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle); + //Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle); var buffer = new byte[] { 0xff,PanAddress,target}; ComPort.Write(buffer, 0, buffer.Length); @@ -108,7 +120,7 @@ namespace ArdupilotMega.Antenna { double range = Math.Abs(TiltStartRange - TiltEndRange); - short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange - TrimTilt, TiltEndRange - TrimTilt); + short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange, TiltEndRange); byte target = (byte)((((PointAtAngle / range ) * 2) * 127 + 127) * _tiltreverse); diff --git a/Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs b/Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs index b81d0f868e..361db2dea5 100644 --- a/Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs +++ b/Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs @@ -35,17 +35,15 @@ this.CMB_serialport = new System.Windows.Forms.ComboBox(); this.BUT_connect = new ArdupilotMega.MyButton(); this.TRK_pantrim = new System.Windows.Forms.TrackBar(); - this.TXT_panstart = new System.Windows.Forms.TextBox(); - this.TXT_panstop = new System.Windows.Forms.TextBox(); - this.label2 = new System.Windows.Forms.Label(); + this.TXT_panrange = new System.Windows.Forms.TextBox(); this.label3 = new System.Windows.Forms.Label(); this.label4 = new System.Windows.Forms.Label(); this.label5 = new System.Windows.Forms.Label(); this.label6 = new System.Windows.Forms.Label(); - this.label7 = new System.Windows.Forms.Label(); - this.TXT_tiltstop = new System.Windows.Forms.TextBox(); - this.TXT_tiltstart = new System.Windows.Forms.TextBox(); + this.TXT_tiltrange = new System.Windows.Forms.TextBox(); this.TRK_tilttrim = new System.Windows.Forms.TrackBar(); + this.label2 = new System.Windows.Forms.Label(); + this.label7 = new System.Windows.Forms.Label(); ((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).BeginInit(); this.SuspendLayout(); @@ -109,7 +107,7 @@ // // TRK_pantrim // - this.TRK_pantrim.Location = new System.Drawing.Point(83, 65); + this.TRK_pantrim.Location = new System.Drawing.Point(153, 65); this.TRK_pantrim.Maximum = 180; this.TRK_pantrim.Minimum = -180; this.TRK_pantrim.Name = "TRK_pantrim"; @@ -117,35 +115,18 @@ this.TRK_pantrim.TabIndex = 6; this.TRK_pantrim.Scroll += new System.EventHandler(this.TRK_pantrim_Scroll); // - // TXT_panstart + // TXT_panrange // - this.TXT_panstart.Location = new System.Drawing.Point(13, 65); - this.TXT_panstart.Name = "TXT_panstart"; - this.TXT_panstart.Size = new System.Drawing.Size(64, 20); - this.TXT_panstart.TabIndex = 7; - this.TXT_panstart.Text = "-90"; - // - // TXT_panstop - // - this.TXT_panstop.Location = new System.Drawing.Point(464, 65); - this.TXT_panstop.Name = "TXT_panstop"; - this.TXT_panstop.Size = new System.Drawing.Size(64, 20); - this.TXT_panstop.TabIndex = 8; - this.TXT_panstop.Text = "90"; - // - // label2 - // - this.label2.AutoSize = true; - this.label2.Location = new System.Drawing.Point(461, 49); - this.label2.Name = "label2"; - this.label2.Size = new System.Drawing.Size(32, 13); - this.label2.TabIndex = 9; - this.label2.Text = "Right"; + this.TXT_panrange.Location = new System.Drawing.Point(83, 65); + this.TXT_panrange.Name = "TXT_panrange"; + this.TXT_panrange.Size = new System.Drawing.Size(64, 20); + this.TXT_panrange.TabIndex = 7; + this.TXT_panrange.Text = "180"; // // label3 // this.label3.AutoSize = true; - this.label3.Location = new System.Drawing.Point(261, 49); + this.label3.Location = new System.Drawing.Point(331, 49); this.label3.Name = "label3"; this.label3.Size = new System.Drawing.Size(38, 13); this.label3.TabIndex = 10; @@ -154,58 +135,41 @@ // label4 // this.label4.AutoSize = true; - this.label4.Location = new System.Drawing.Point(13, 49); + this.label4.Location = new System.Drawing.Point(83, 49); this.label4.Name = "label4"; - this.label4.Size = new System.Drawing.Size(25, 13); + this.label4.Size = new System.Drawing.Size(56, 13); this.label4.TabIndex = 11; - this.label4.Text = "Left"; + this.label4.Text = "Range -/+"; // // label5 // this.label5.AutoSize = true; - this.label5.Location = new System.Drawing.Point(13, 125); + this.label5.Location = new System.Drawing.Point(83, 125); this.label5.Name = "label5"; - this.label5.Size = new System.Drawing.Size(35, 13); + this.label5.Size = new System.Drawing.Size(56, 13); this.label5.TabIndex = 17; - this.label5.Text = "Down"; + this.label5.Text = "Range -/+"; // // label6 // this.label6.AutoSize = true; - this.label6.Location = new System.Drawing.Point(261, 125); + this.label6.Location = new System.Drawing.Point(331, 125); this.label6.Name = "label6"; this.label6.Size = new System.Drawing.Size(38, 13); this.label6.TabIndex = 16; this.label6.Text = "Center"; // - // label7 + // TXT_tiltrange // - this.label7.AutoSize = true; - this.label7.Location = new System.Drawing.Point(461, 125); - this.label7.Name = "label7"; - this.label7.Size = new System.Drawing.Size(21, 13); - this.label7.TabIndex = 15; - this.label7.Text = "Up"; - // - // TXT_tiltstop - // - this.TXT_tiltstop.Location = new System.Drawing.Point(464, 141); - this.TXT_tiltstop.Name = "TXT_tiltstop"; - this.TXT_tiltstop.Size = new System.Drawing.Size(64, 20); - this.TXT_tiltstop.TabIndex = 14; - this.TXT_tiltstop.Text = "90"; - // - // TXT_tiltstart - // - this.TXT_tiltstart.Location = new System.Drawing.Point(13, 141); - this.TXT_tiltstart.Name = "TXT_tiltstart"; - this.TXT_tiltstart.Size = new System.Drawing.Size(64, 20); - this.TXT_tiltstart.TabIndex = 13; - this.TXT_tiltstart.Text = "0"; + this.TXT_tiltrange.Location = new System.Drawing.Point(83, 141); + this.TXT_tiltrange.Name = "TXT_tiltrange"; + this.TXT_tiltrange.Size = new System.Drawing.Size(64, 20); + this.TXT_tiltrange.TabIndex = 13; + this.TXT_tiltrange.Text = "90"; // // TRK_tilttrim // - this.TRK_tilttrim.Location = new System.Drawing.Point(83, 141); + this.TRK_tilttrim.Location = new System.Drawing.Point(153, 141); this.TRK_tilttrim.Maximum = 90; this.TRK_tilttrim.Minimum = -90; this.TRK_tilttrim.Name = "TRK_tilttrim"; @@ -214,22 +178,38 @@ this.TRK_tilttrim.Value = 45; this.TRK_tilttrim.Scroll += new System.EventHandler(this.TRK_tilttrim_Scroll); // + // label2 + // + this.label2.AutoSize = true; + this.label2.Location = new System.Drawing.Point(13, 68); + this.label2.Name = "label2"; + this.label2.Size = new System.Drawing.Size(26, 13); + this.label2.TabIndex = 18; + this.label2.Text = "Pan"; + // + // label7 + // + this.label7.AutoSize = true; + this.label7.Location = new System.Drawing.Point(13, 144); + this.label7.Name = "label7"; + this.label7.Size = new System.Drawing.Size(21, 13); + this.label7.TabIndex = 19; + this.label7.Text = "Tilt"; + // // Tracker // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.ClientSize = new System.Drawing.Size(569, 195); + this.Controls.Add(this.label7); + this.Controls.Add(this.label2); this.Controls.Add(this.label5); this.Controls.Add(this.label6); - this.Controls.Add(this.label7); - this.Controls.Add(this.TXT_tiltstop); - this.Controls.Add(this.TXT_tiltstart); + this.Controls.Add(this.TXT_tiltrange); this.Controls.Add(this.TRK_tilttrim); this.Controls.Add(this.label4); this.Controls.Add(this.label3); - this.Controls.Add(this.label2); - this.Controls.Add(this.TXT_panstop); - this.Controls.Add(this.TXT_panstart); + this.Controls.Add(this.TXT_panrange); this.Controls.Add(this.TRK_pantrim); this.Controls.Add(this.CMB_baudrate); this.Controls.Add(this.BUT_connect); @@ -254,16 +234,14 @@ private MyButton BUT_connect; private System.Windows.Forms.ComboBox CMB_serialport; private System.Windows.Forms.TrackBar TRK_pantrim; - private System.Windows.Forms.TextBox TXT_panstart; - private System.Windows.Forms.TextBox TXT_panstop; - private System.Windows.Forms.Label label2; + private System.Windows.Forms.TextBox TXT_panrange; private System.Windows.Forms.Label label3; private System.Windows.Forms.Label label4; private System.Windows.Forms.Label label5; private System.Windows.Forms.Label label6; - private System.Windows.Forms.Label label7; - private System.Windows.Forms.TextBox TXT_tiltstop; - private System.Windows.Forms.TextBox TXT_tiltstart; + private System.Windows.Forms.TextBox TXT_tiltrange; private System.Windows.Forms.TrackBar TRK_tilttrim; + private System.Windows.Forms.Label label2; + private System.Windows.Forms.Label label7; } } \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs b/Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs index 5f5635c41e..ad65cecda1 100644 --- a/Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs +++ b/Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs @@ -39,6 +39,11 @@ namespace ArdupilotMega.Antenna return; } + if (tracker != null && tracker.ComPort != null && tracker.ComPort.IsOpen) + { + tracker.ComPort.Close(); + } + tracker = new ArdupilotMega.Antenna.Maestro(); try @@ -53,12 +58,12 @@ namespace ArdupilotMega.Antenna try { - tracker.PanStartRange = int.Parse(TXT_panstart.Text); - tracker.PanEndRange = int.Parse(TXT_panstop.Text); + tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 2 * -1; + tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 2; tracker.TrimPan = TRK_pantrim.Value; - tracker.TiltStartRange = int.Parse(TXT_tiltstart.Text); - tracker.TiltEndRange = int.Parse(TXT_tiltstop.Text); + tracker.TiltStartRange = int.Parse(TXT_tiltrange.Text) / 2 * -1; + tracker.TiltEndRange = int.Parse(TXT_tiltrange.Text) / 2; tracker.TrimTilt = TRK_tilttrim.Value; } @@ -75,21 +80,7 @@ namespace ArdupilotMega.Antenna IsBackground = true, Name = "Antenna Tracker" }; - t12.Start(); - - /* - for (int a = ting.PanStartRange; a < ting.PanEndRange; a++) - { - System.Threading.Thread.Sleep(100); - ting.Pan(a); - } - - for (int a = ting.TiltStartRange; a < ting.TiltEndRange; a++) - { - System.Threading.Thread.Sleep(100); - ting.Tilt(a); - } - */ + t12.Start(); } } } diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj index 46560d91e3..5806ac70d5 100644 --- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj +++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj @@ -442,6 +442,7 @@ Setup.cs + Form diff --git a/Tools/ArdupilotMegaPlanner/Common.cs b/Tools/ArdupilotMegaPlanner/Common.cs index ed1c1a99c9..2e16ee37a8 100644 --- a/Tools/ArdupilotMegaPlanner/Common.cs +++ b/Tools/ArdupilotMegaPlanner/Common.cs @@ -379,7 +379,9 @@ namespace ArdupilotMega CH6_OPTFLOW_KI = 18, CH6_OPTFLOW_KD = 19, - CH6_NAV_I = 20 + CH6_NAV_I = 20, + + CH6_LOITER_RATE_P = 22 } @@ -706,7 +708,11 @@ namespace ArdupilotMega MainV2.fixtheme(form); - return form.ShowDialog(); + DialogResult dialogResult =form.ShowDialog(); + + form.Dispose(); + + return dialogResult; } static void chk_CheckStateChanged(object sender, EventArgs e) @@ -756,11 +762,17 @@ namespace ArdupilotMega MainV2.fixtheme(form); - DialogResult dialogResult = form.ShowDialog(); + DialogResult dialogResult = DialogResult.Cancel; + + dialogResult = form.ShowDialog(); + if (dialogResult == DialogResult.OK) { value = textBox.Text; } + + form.Dispose(); + return dialogResult; } diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs index 9f1c63087f..2ac2a6abe6 100644 --- a/Tools/ArdupilotMegaPlanner/CurrentState.cs +++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs @@ -197,7 +197,7 @@ namespace ArdupilotMega public float DistToMAV { get - { + { // shrinking factor for longitude going to poles direction double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925; double scaleLongDown = Math.Cos(rads); @@ -227,7 +227,7 @@ namespace ArdupilotMega public float AZToMAV { get - { + { // shrinking factor for longitude going to poles direction double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925; double scaleLongDown = Math.Cos(rads); @@ -317,11 +317,11 @@ namespace ArdupilotMega try { - while (messages.Count > 5) - { - messages.RemoveAt(0); - } - messages.Add(logdata + "\n"); + while (messages.Count > 5) + { + messages.RemoveAt(0); + } + messages.Add(logdata + "\n"); } catch { } @@ -581,7 +581,7 @@ namespace ArdupilotMega packetdropremote = sysstatus.packet_drop; - if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True") + if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True") { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode"))); } @@ -732,7 +732,7 @@ namespace ArdupilotMega wpno = wpcur.seq; - if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True") + if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True") { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint"))); } @@ -901,4 +901,4 @@ namespace ArdupilotMega //low pass the outputs for better results! } } -} +} \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs index ff0a1614a0..6ef519fefa 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs @@ -95,6 +95,10 @@ namespace ArdupilotMega.GCSViews if (tooltips.Count == 0) readToolTips(); + // ensure the fields are populated before setting them + CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes)); + TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes)); + // prefill all fields param = MainV2.comPort.param; processToScreen(); @@ -165,9 +169,6 @@ namespace ArdupilotMega.GCSViews CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances)); CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds)); - CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes)); - TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes)); - if (MainV2.config["distunits"] != null) CMB_distunits.Text = MainV2.config["distunits"].ToString(); if (MainV2.config["speedunits"] != null) @@ -184,13 +185,13 @@ namespace ArdupilotMega.GCSViews CMB_language.DisplayMember = "DisplayName"; CMB_language.DataSource = languages; - ci = Thread.CurrentThread.CurrentUICulture; + ci = Thread.CurrentThread.CurrentUICulture; for (int i = 0; i < languages.Count; i++) - { + { if (ci.IsChildOf(languages[i])) - { - CMB_language.SelectedIndex = i; - break; + { + CMB_language.SelectedIndex = i; + break; } } CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged; @@ -555,23 +556,23 @@ namespace ArdupilotMega.GCSViews if (text.Length > 0) { if (text[0].GetType() == typeof(NumericUpDown)) - { - decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); - ((NumericUpDown)text[0]).Value = option; - ((NumericUpDown)text[0]).BackColor = Color.Green; - } + { + decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); + ((NumericUpDown)text[0]).Value = option; + ((NumericUpDown)text[0]).BackColor = Color.Green; + } else if (text[0].GetType() == typeof(ComboBox)) - { - int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); - ((ComboBox)text[0]).SelectedIndex = option; - ((ComboBox)text[0]).BackColor = Color.Green; - } + { + int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); + ((ComboBox)text[0]).SelectedIndex = option; + ((ComboBox)text[0]).BackColor = Color.Green; + } } } catch { ((Control)text[0]).BackColor = Color.Red; } Params.Focus(); - } + } private void BUT_load_Click(object sender, EventArgs e) { @@ -599,12 +600,12 @@ namespace ArdupilotMega.GCSViews continue; if (index2 != -1) - line = line.Replace(',','.'); + line = line.Replace(',', '.'); string name = line.Substring(0, index); float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US")); - MAVLink.modifyParamForDisplay(true,name,ref value); + MAVLink.modifyParamForDisplay(true, name, ref value); // set param table as well foreach (DataGridViewRow row in Params.Rows) @@ -815,9 +816,10 @@ namespace ArdupilotMega.GCSViews { DsError.ThrowExceptionForHR(hr); } - catch (Exception ex) { - MessageBox.Show("Can not add video source\n" + ex.ToString()); - return; + catch (Exception ex) + { + MessageBox.Show("Can not add video source\n" + ex.ToString()); + return; } // Find the stream config interface @@ -947,7 +949,7 @@ namespace ArdupilotMega.GCSViews - + } catch { MessageBox.Show("Error: getting param list"); } diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs index d6d4d55d5a..8a446a2516 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs @@ -1195,69 +1195,82 @@ namespace ArdupilotMega.GCSViews /// /// internal void BUT_read_Click(object sender, EventArgs e) + { + Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue + { + StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen, + Text = "Receiving WP's" + }; + + frmProgressReporter.DoWork += getWPs; + frmProgressReporter.UpdateProgressAndStatus(-1, "Receiving WP's"); + + MainV2.fixtheme(frmProgressReporter); + + frmProgressReporter.RunBackgroundOperationAsync(); + } + + void getWPs(object sender, Controls.ProgressWorkerEventArgs e) { List cmds = new List(); int error = 0; - System.Threading.Thread t12 = new System.Threading.Thread(delegate() + try { - try + MAVLink port = MainV2.comPort; + + if (!port.BaseStream.IsOpen) { - MAVLink port = MainV2.comPort; - - if (!port.BaseStream.IsOpen) - { - throw new Exception("Please Connect First!"); - } - - MainV2.givecomport = true; - - param = port.param; - - log.Info("Getting WP #"); - int cmdcount = port.getWPCount(); - - for (ushort a = 0; a < cmdcount; a++) - { - log.Info("Getting WP" + a); - cmds.Add(port.getWP(a)); - } - - port.setWPACK(); - - log.Info("Done"); + throw new Exception("Please Connect First!"); } - catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); } - try + + MainV2.givecomport = true; + + param = port.param; + + log.Info("Getting WP #"); + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Getting WP count"); + + int cmdcount = port.getWPCount(); + + for (ushort a = 0; a < cmdcount; a++) { - this.BeginInvoke((System.Threading.ThreadStart)delegate() + log.Info("Getting WP" + a); + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / cmdcount, "Getting WP " + a); + cmds.Add(port.getWP(a)); + } + + port.setWPACK(); + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done"); + + log.Info("Done"); + } + catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); } + try + { + this.BeginInvoke((System.Threading.ThreadStart)delegate() + { + if (error == 0) { - if (error == 0) + try { - try - { - processToScreen(cmds); - } - catch (Exception exx) { log.Info(exx.ToString()); } + processToScreen(cmds); } + catch (Exception exx) { log.Info(exx.ToString()); } + } - MainV2.givecomport = false; + MainV2.givecomport = false; - BUT_read.Enabled = true; + BUT_read.Enabled = true; - writeKML(); + writeKML(); - }); - } - catch (Exception exx) { log.Info(exx.ToString()); } - }); - t12.IsBackground = true; - t12.Name = "Read wps"; - t12.Start(); - MainV2.threads.Add(t12); - - BUT_read.Enabled = false; + }); + } + catch (Exception exx) { log.Info(exx.ToString()); } } /// @@ -1292,111 +1305,118 @@ namespace ArdupilotMega.GCSViews } } - System.Threading.Thread t12 = new System.Threading.Thread(delegate() + Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue { - try - { - MAVLink port = MainV2.comPort; + StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen, + Text = "Sending WP's" + }; - if (!port.BaseStream.IsOpen) - { - throw new Exception("Please Connect First!"); - } + frmProgressReporter.DoWork += saveWPs; + frmProgressReporter.UpdateProgressAndStatus(-1, "Sending WP's"); - MainV2.givecomport = true; + MainV2.fixtheme(frmProgressReporter); - Locationwp home = new Locationwp(); + frmProgressReporter.RunBackgroundOperationAsync(); - try - { - home.id = (byte)MAVLink.MAV_CMD.WAYPOINT; - home.lat = (float.Parse(TXT_homelat.Text)); - home.lng = (float.Parse(TXT_homelng.Text)); - home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home - } - catch { throw new Exception("Your home location is invalid"); } - - port.setWPTotal((ushort)(Commands.Rows.Count + 1)); // + home - - port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0); - - MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; - - // process grid to memory eeprom - for (int a = 0; a < Commands.Rows.Count - 0; a++) - { - Locationwp temp = new Locationwp(); - temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false); - temp.p1 = float.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString()); - if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME) - { - if (CHK_altmode.Checked) - { - frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL; - } - else - { - frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; - } - } - - temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist); - temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString())); - temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString())); - - temp.p2 = (float)(double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString())); - temp.p3 = (float)(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString())); - temp.p4 = (float)(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString())); - - port.setWP(temp, (ushort)(a + 1), frame, 0); - } - - port.setWPACK(); - - - if (CHK_holdalt.Checked) - { - port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist); - } - else - { - port.setParam("ALT_HOLD_RTL", -1); - } - - port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist); - - try - { - port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist)); - } - catch - { - port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist); - } - - } - catch (Exception ex) { MessageBox.Show("Error : " + ex.ToString()); } - - MainV2.givecomport = false; - - try - { - this.BeginInvoke((System.Threading.ThreadStart)delegate() - { - BUT_write.Enabled = true; - }); - } - catch { } - - }); - t12.IsBackground = true; - t12.Name = "Write wps"; - t12.Start(); - MainV2.threads.Add(t12); MainMap.Focus(); - BUT_write.Enabled = false; + } + + void saveWPs(object sender, Controls.ProgressWorkerEventArgs e) + { + try + { + MAVLink port = MainV2.comPort; + + if (!port.BaseStream.IsOpen) + { + throw new Exception("Please Connect First!"); + } + + MainV2.givecomport = true; + + Locationwp home = new Locationwp(); + + try + { + home.id = (byte)MAVLink.MAV_CMD.WAYPOINT; + home.lat = (float.Parse(TXT_homelat.Text)); + home.lng = (float.Parse(TXT_homelng.Text)); + home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home + } + catch { throw new Exception("Your home location is invalid"); } + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Total WPs "); + + port.setWPTotal((ushort)(Commands.Rows.Count + 1)); // + home + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Home"); + + port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0); + + MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; + + // process grid to memory eeprom + for (int a = 0; a < Commands.Rows.Count - 0; a++) + { + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / Commands.Rows.Count, "Setting WP " + a); + + Locationwp temp = new Locationwp(); + temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false); + temp.p1 = float.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString()); + if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME) + { + if (CHK_altmode.Checked) + { + frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL; + } + else + { + frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; + } + } + + temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist); + temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString())); + temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString())); + + temp.p2 = (float)(double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString())); + temp.p3 = (float)(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString())); + temp.p4 = (float)(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString())); + + port.setWP(temp, (ushort)(a + 1), frame, 0); + } + + port.setWPACK(); + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(95, "Setting Params"); + + if (CHK_holdalt.Checked) + { + port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist); + } + else + { + port.setParam("ALT_HOLD_RTL", -1); + } + + port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist); + + try + { + port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist)); + } + catch + { + port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist); + } + + ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done."); + } + catch (Exception ex) { MainV2.givecomport = false; throw ex; } + + MainV2.givecomport = false; } /// diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs index 0256f119ea..e5cb32bc07 100644 --- a/Tools/ArdupilotMegaPlanner/MAVLink.cs +++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs @@ -308,7 +308,7 @@ namespace ArdupilotMega // Progress(-1, "Connect Failed\n" + e.Message); if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage)) progressWorkerEventArgs.ErrorMessage = "Connect Failed"; - throw; + throw e; } //frmProgressReporter.Close(); MainV2.givecomport = false; diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index bbd83439a3..89af4071ef 100644 --- a/Tools/ArdupilotMegaPlanner/MainV2.cs +++ b/Tools/ArdupilotMegaPlanner/MainV2.cs @@ -27,7 +27,7 @@ namespace ArdupilotMega { public partial class MainV2 : Form { - private static readonly ILog log = + private static readonly ILog log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); [DllImport("user32.dll")] public static extern int FindWindow(string szClass, string szTitle); @@ -45,7 +45,7 @@ namespace ArdupilotMega public static bool MONO = false; public static bool speechenable = false; - public static SpeechSynthesizer talk = new SpeechSynthesizer(); + public static Speech talk = null; public static Joystick joystick = null; DateTime lastjoystick = DateTime.Now; @@ -105,6 +105,9 @@ namespace ArdupilotMega var t = Type.GetType("Mono.Runtime"); MONO = (t != null); + if (!MONO) + talk = new Speech(); + //talk.SpeakAsync("Welcome to APM Planner"); MyRenderer.currentpressed = MenuFlightData; @@ -261,7 +264,7 @@ namespace ArdupilotMega if (Directory.Exists("/dev/")) { if (Directory.Exists("/dev/serial/by-id/")) - devs = Directory.GetFiles("/dev/serial/by-id/","*usb*"); + devs = Directory.GetFiles("/dev/serial/by-id/", "*usb*"); devs = Directory.GetFiles("/dev/", "*ACM*"); devs = Directory.GetFiles("/dev/", "ttyUSB*"); } @@ -667,8 +670,12 @@ namespace ArdupilotMega { try { - if (talk != null) // cancel all pending speech - talk.SpeakAsyncCancelAll(); + try + { + if (talk != null) // cancel all pending speech + talk.SpeakAsyncCancelAll(); + } + catch { } if (comPort.logfile != null) comPort.logfile.Close(); @@ -676,7 +683,7 @@ namespace ArdupilotMega comPort.BaseStream.DtrEnable = false; comPort.Close(); } - catch { } + catch (Exception ex) { log.Debug(ex.ToString()); } this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect; } @@ -789,6 +796,7 @@ namespace ArdupilotMega } } catch { } + log.Debug(ex.ToString()); //MessageBox.Show("Can not establish a connection\n\n" + ex.ToString()); return; } @@ -1281,15 +1289,15 @@ namespace ArdupilotMega t11.Start(); if (Debugger.IsAttached) - { + { log.Info("Skipping update test as it appears we are debugging"); } else { - try - { + try + { CheckForUpdate(); - } + } catch (Exception ex) { log.Error("Update check failed", ex); @@ -1466,12 +1474,19 @@ namespace ArdupilotMega pmplane.Geometry = model; - SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt() - { Altitude = loc.Altitude.Value, Latitude = loc.Latitude.Value, Longitude = loc.Longitude.Value, Tilt = 80, - Heading = cs.yaw, AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, Range = 50}; + SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt() + { + Altitude = loc.Altitude.Value, + Latitude = loc.Latitude.Value, + Longitude = loc.Longitude.Value, + Tilt = 80, + Heading = cs.yaw, + AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, + Range = 50 + }; kml.Viewpoint = la; - + kml.AddFeature(pmplane); SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer(); @@ -1645,7 +1660,7 @@ namespace ArdupilotMega } } if (loadinglabel != null) - UpdateLabel(loadinglabel,"Starting Updater"); + UpdateLabel(loadinglabel, "Starting Updater"); log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments); process.Start(); log.Info("Quitting existing process"); @@ -1677,81 +1692,81 @@ namespace ArdupilotMega private static void CheckForUpdate() { var baseurl = ConfigurationManager.AppSettings["UpdateLocation"]; - string path = Path.GetFileNameWithoutExtension(Application.ExecutablePath) + ".exe"; + string path = Path.GetFileName(Application.ExecutablePath); - // Create a request using a URL that can receive a post. + // Create a request using a URL that can receive a post. string requestUriString = baseurl + path; log.Debug("Checking for update at: " + requestUriString); var webRequest = WebRequest.Create(requestUriString); webRequest.Timeout = 5000; - // Set the Method property of the request to POST. + // Set the Method property of the request to POST. webRequest.Method = "HEAD"; ((HttpWebRequest)webRequest).IfModifiedSince = File.GetLastWriteTimeUtc(path); - // Get the response. + // Get the response. var response = webRequest.GetResponse(); - // Display the status. + // Display the status. log.Debug("Response status: " + ((HttpWebResponse)response).StatusDescription); - // Get the stream containing content returned by the server. - //dataStream = response.GetResponseStream(); - // Open the stream using a StreamReader for easy access. + // Get the stream containing content returned by the server. + //dataStream = response.GetResponseStream(); + // Open the stream using a StreamReader for easy access. bool shouldGetFile = false; - if (File.Exists(path)) - { + if (File.Exists(path)) + { var fi = new FileInfo(path); log.Info(response.Headers[HttpResponseHeader.ETag]); - if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0") - { + if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0") + { using (var sw = new StreamWriter(path + ".etag")) { sw.WriteLine(response.Headers[HttpResponseHeader.ETag]); sw.Close(); } shouldGetFile = true; - log.Info("Newer file found: " + path); - } + log.Info("Newer file found: " + path + " " + fi.Length + " vs " + response.ContentLength); + } + } + else + { + shouldGetFile = true; + log.Info("File does not exist: Getting " + path); + // get it + } + + response.Close(); + + if (shouldGetFile) + { + var dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo); + if (dr == DialogResult.Yes) + { + DoUpdate(); } else { - shouldGetFile = true; - log.Info("Newer file found: " + path); - // get it - } - - response.Close(); - - if (shouldGetFile) - { - var dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo); - if (dr == DialogResult.Yes) - { - DoUpdate(); - } - else - { - return; - } + return; } + } } public static void DoUpdate() { var loading = new Form - { + { - Width = 400, - Height = 150, - StartPosition = FormStartPosition.CenterScreen, - TopMost = true, - MinimizeBox = false, - MaximizeBox = false - }; + Width = 400, + Height = 150, + StartPosition = FormStartPosition.CenterScreen, + TopMost = true, + MinimizeBox = false, + MaximizeBox = false + }; var resources = new ComponentResourceManager(typeof(MainV2)); loading.Icon = ((Icon)(resources.GetObject("$this.Icon"))); @@ -1774,7 +1789,7 @@ namespace ArdupilotMega catch (Exception ex) { log.Error("Error in updatecheck", ex); - } + } //); //t12.Name = "Update check thread"; //t12.Start(); @@ -1836,7 +1851,7 @@ namespace ArdupilotMega } if (file.EndsWith("/")) { - update = updatecheck(loadinglabel, baseurl + file, subdir.Replace("/", "\\") + file) && update; + update = updatecheck(loadinglabel, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update; continue; } if (loadinglabel != null) @@ -1919,7 +1934,7 @@ namespace ArdupilotMega log.Info(((HttpWebResponse)response).StatusDescription); // Get the stream containing content returned by the server. dataStream = response.GetResponseStream(); - + long contlen = bytes; byte[] buf1 = new byte[1024]; diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs index a5e6e44931..4dd0cef969 100644 --- a/Tools/ArdupilotMegaPlanner/Program.cs +++ b/Tools/ArdupilotMegaPlanner/Program.cs @@ -57,6 +57,9 @@ namespace ArdupilotMega static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e) { Exception ex = e.Exception; + + log.Debug(ex.ToString()); + if (ex.Message == "The port is closed.") { MessageBox.Show("Serial connection has been lost"); return; diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index 30ef544ee3..d8f39f2103 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("1.1.43")] +[assembly: AssemblyFileVersion("1.1.44")] [assembly: NeutralResourcesLanguageAttribute("")] diff --git a/Tools/ArdupilotMegaPlanner/Speech.cs b/Tools/ArdupilotMegaPlanner/Speech.cs new file mode 100644 index 0000000000..7e5c50ba87 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/Speech.cs @@ -0,0 +1,70 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Speech.Synthesis; + +namespace ArdupilotMega +{ + public class Speech + { + SpeechSynthesizer _speechwindows; + System.Diagnostics.Process _speechlinux; + + bool MONO = false; + + public SynthesizerState State { + get { + if (MONO) + { + return SynthesizerState.Ready; + } + else + { + return _speechwindows.State; + } + } + private set { } + } + + public Speech() + { + var t = Type.GetType("Mono.Runtime"); + MONO = (t != null); + + if (MONO) + { + _speechlinux = new System.Diagnostics.Process(); + _speechlinux.StartInfo.FileName = "festival"; + } + else + { + _speechwindows = new SpeechSynthesizer(); + } + } + + public void SpeakAsync(string text) + { + if (MONO) + { + + } + else + { + _speechwindows.SpeakAsync(text); + } + } + + public void SpeakAsyncCancelAll() + { + if (MONO) + { + + } + else + { + _speechwindows.SpeakAsyncCancelAll(); + } + } + } +} \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb index 74eff8d1e24c53f28a6e6207ca6c18239d9d80db..39326966bce269b353513e8b6549884de3dfa5d9 100644 GIT binary patch delta 222368 zcmb5X37k*W|M-8;dC$DfjF~ZGhS|-GWf<#>ke#vAkY#8?$TnmrRMvSbS&Bk9vJR;b zLTOqEr9N5|rG;cENg_)~LjULM-us?;*YETBJ|6$~!}Yx9yk2LyXMLS>m+_r#?3>+W zZncR1r7Wvjnq~hUEXvs$`H9-9f7RyieWin63)WF;zBe}PL+kIqgHZAKiY}^6 zARYgoN}W0@JfEyG|M{J{M{}0HR43y013eGDmK;_yC~DHlHy*m@+x)Pf>o2+xQR{sF 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