APM Planner 1.1.43

Add logging system - re andrew radford
move libs
add tlog support to georef images.
experimental antenna tracking - pololu maestro
tweak "follow me" mode, better error checking
update dataflashlog format for ac2
lang change mod - re hazy
remove arduinocpp project
This commit is contained in:
Michael Oborne 2012-02-27 07:13:23 +08:00
parent f8e9fa8b61
commit 6bd3aec55f
53 changed files with 6149 additions and 1580 deletions

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega.Antenna
{
interface ITrackerOutput
{
SerialPort ComPort { get; set; }
double TrimPan { get; set; }
double TrimTilt { get; set; }
int PanStartRange { get; set; }
int TiltStartRange { get; set; }
int PanEndRange { get; set; }
int TiltEndRange { get; set; }
bool PanReverse { get; set; }
bool TiltReverse { get; set; }
bool Init();
bool Setup();
bool Pan(double Angle);
bool Tilt(double Angle);
bool PanAndTilt(double Pan,double Tilt);
bool Close();
}
}

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega.Antenna
{
class Maestro : ITrackerOutput
{
public SerialPort ComPort { get; set; }
/// <summary>
/// 0-360
/// </summary>
public double TrimPan { get; set; }
/// <summary>
/// -90 - 90
/// </summary>
public double TrimTilt { get; set; }
public int PanStartRange { get; set; }
public int TiltStartRange { get; set; }
public int PanEndRange { get; set; }
public int TiltEndRange { get; set; }
public bool PanReverse { get { return _panreverse == -1; } set { _panreverse = value == true ? -1 : 1 ; } }
public bool TiltReverse { get { return _tiltreverse == -1; } set { _tiltreverse = value == true ? -1 : 1; } }
int _panreverse = 1;
int _tiltreverse = 1;
byte PanAddress = 0;
byte TiltAddress = 1;
public bool Init()
{
if ((PanStartRange - PanEndRange) == 0)
{
System.Windows.Forms.MessageBox.Show("Invalid Pan Range", "Error");
return false;
}
if ((TiltStartRange - TiltEndRange) == 0)
{
System.Windows.Forms.MessageBox.Show("Invalid Tilt Range", "Error");
return false;
}
try
{
ComPort.Open();
}
catch (Exception ex) { System.Windows.Forms.MessageBox.Show("Connect failed " + ex.Message,"Error"); return false; }
return true;
}
public bool Setup()
{
int target = 100;
// speed
var buffer = new byte[] { 0x87, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
buffer = new byte[] { 0x87, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
// accel
target = 3;
buffer = new byte[] { 0x89, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
buffer = new byte[] { 0x89, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
double wrap_180(double input)
{
if (input > 180)
return input - 360;
if (input < -180)
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;
short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange);
byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + 127) * _panreverse);
Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
var buffer = new byte[] { 0xff,PanAddress,target};
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
public bool Tilt(double Angle)
{
double range = Math.Abs(TiltStartRange - TiltEndRange);
short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange - TrimTilt, TiltEndRange - TrimTilt);
byte target = (byte)((((PointAtAngle / range ) * 2) * 127 + 127) * _tiltreverse);
Console.WriteLine("T " + Angle + " " + target + " " + PointAtAngle);
var buffer = new byte[] { 0xff, TiltAddress, target };
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
public bool PanAndTilt(double pan, double tilt)
{
if (Tilt(tilt) && Pan(pan))
return true;
return false;
}
public bool Close()
{
ComPort.Close();
return true;
}
short Constrain(double input, double min, double max)
{
if (input < min)
return (short)min;
if (input > max)
return (short)max;
return (short)input;
}
}
}

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namespace ArdupilotMega.Antenna
{
partial class Tracker
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Tracker));
this.CMB_interface = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.CMB_baudrate = new System.Windows.Forms.ComboBox();
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.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.TRK_tilttrim = new System.Windows.Forms.TrackBar();
((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).BeginInit();
this.SuspendLayout();
//
// CMB_interface
//
this.CMB_interface.FormattingEnabled = true;
this.CMB_interface.Items.AddRange(new object[] {
"Maestro"});
this.CMB_interface.Location = new System.Drawing.Point(83, 10);
this.CMB_interface.Name = "CMB_interface";
this.CMB_interface.Size = new System.Drawing.Size(121, 21);
this.CMB_interface.TabIndex = 0;
this.CMB_interface.Text = "Maestro";
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(13, 13);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(49, 13);
this.label1.TabIndex = 1;
this.label1.Text = "Interface";
//
// CMB_baudrate
//
this.CMB_baudrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_baudrate.FormattingEnabled = true;
this.CMB_baudrate.Items.AddRange(new object[] {
"4800",
"9600",
"14400",
"19200",
"28800",
"38400",
"57600",
"115200"});
this.CMB_baudrate.Location = new System.Drawing.Point(337, 9);
this.CMB_baudrate.Name = "CMB_baudrate";
this.CMB_baudrate.Size = new System.Drawing.Size(121, 21);
this.CMB_baudrate.TabIndex = 5;
//
// CMB_serialport
//
this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_serialport.FormattingEnabled = true;
this.CMB_serialport.Location = new System.Drawing.Point(210, 10);
this.CMB_serialport.Name = "CMB_serialport";
this.CMB_serialport.Size = new System.Drawing.Size(121, 21);
this.CMB_serialport.TabIndex = 3;
//
// BUT_connect
//
this.BUT_connect.Location = new System.Drawing.Point(476, 9);
this.BUT_connect.Name = "BUT_connect";
this.BUT_connect.Size = new System.Drawing.Size(75, 23);
this.BUT_connect.TabIndex = 4;
this.BUT_connect.Text = "Connect";
this.BUT_connect.UseVisualStyleBackColor = true;
this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
//
// TRK_pantrim
//
this.TRK_pantrim.Location = new System.Drawing.Point(83, 65);
this.TRK_pantrim.Maximum = 180;
this.TRK_pantrim.Minimum = -180;
this.TRK_pantrim.Name = "TRK_pantrim";
this.TRK_pantrim.Size = new System.Drawing.Size(375, 45);
this.TRK_pantrim.TabIndex = 6;
this.TRK_pantrim.Scroll += new System.EventHandler(this.TRK_pantrim_Scroll);
//
// TXT_panstart
//
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";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(261, 49);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(38, 13);
this.label3.TabIndex = 10;
this.label3.Text = "Center";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(13, 49);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(25, 13);
this.label4.TabIndex = 11;
this.label4.Text = "Left";
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(13, 125);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(35, 13);
this.label5.TabIndex = 17;
this.label5.Text = "Down";
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(261, 125);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(38, 13);
this.label6.TabIndex = 16;
this.label6.Text = "Center";
//
// label7
//
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";
//
// TRK_tilttrim
//
this.TRK_tilttrim.Location = new System.Drawing.Point(83, 141);
this.TRK_tilttrim.Maximum = 90;
this.TRK_tilttrim.Minimum = -90;
this.TRK_tilttrim.Name = "TRK_tilttrim";
this.TRK_tilttrim.Size = new System.Drawing.Size(375, 45);
this.TRK_tilttrim.TabIndex = 12;
this.TRK_tilttrim.Value = 45;
this.TRK_tilttrim.Scroll += new System.EventHandler(this.TRK_tilttrim_Scroll);
//
// 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.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.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.TRK_pantrim);
this.Controls.Add(this.CMB_baudrate);
this.Controls.Add(this.BUT_connect);
this.Controls.Add(this.CMB_serialport);
this.Controls.Add(this.label1);
this.Controls.Add(this.CMB_interface);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "Tracker";
this.Text = "Tracker";
((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private System.Windows.Forms.ComboBox CMB_interface;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox CMB_baudrate;
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.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.TrackBar TRK_tilttrim;
}
}

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Antenna
{
public partial class Tracker : Form
{
System.Threading.Thread t12;
static bool threadrun = false;
static ITrackerOutput tracker;
public Tracker()
{
InitializeComponent();
MainV2.fixtheme(this);
CMB_serialport.DataSource = SerialPort.GetPortNames();
if (threadrun)
{
BUT_connect.Text = "Disconnect";
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (threadrun)
{
threadrun = false;
BUT_connect.Text = "Connect";
tracker.Close();
return;
}
tracker = new ArdupilotMega.Antenna.Maestro();
try
{
tracker.ComPort = new SerialPort()
{
PortName = CMB_serialport.Text,
BaudRate = int.Parse(CMB_baudrate.Text)
};
}
catch (Exception ex) { MessageBox.Show("Bad Port settings " + ex.Message); return; }
try
{
tracker.PanStartRange = int.Parse(TXT_panstart.Text);
tracker.PanEndRange = int.Parse(TXT_panstop.Text);
tracker.TrimPan = TRK_pantrim.Value;
tracker.TiltStartRange = int.Parse(TXT_tiltstart.Text);
tracker.TiltEndRange = int.Parse(TXT_tiltstop.Text);
tracker.TrimTilt = TRK_tilttrim.Value;
}
catch (Exception ex) { MessageBox.Show("Bad User input " + ex.Message); return; }
if (tracker.Init())
{
if (tracker.Setup())
{
tracker.PanAndTilt(0, 0);
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
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);
}
*/
}
}
}
void mainloop()
{
threadrun = true;
while (threadrun)
{
try
{
// 10 hz - position updates default to 3 hz on the stream rate
tracker.PanAndTilt(MainV2.cs.AZToMAV, MainV2.cs.ELToMAV);
System.Threading.Thread.Sleep(100);
}
catch { }
}
}
private void TRK_pantrim_Scroll(object sender, EventArgs e)
{
if (tracker != null)
tracker.TrimPan = TRK_pantrim.Value;
}
private void TRK_tilttrim_Scroll(object sender, EventArgs e)
{
if (tracker != null)
tracker.TrimTilt = TRK_tilttrim.Value;
}
}
}

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kf8hqoj/CNSd/wDRlf8Axor/Hcyd/3Lhwf+p7Nj/o+vV/57m0/+X5dD/k+TN/4/jzf+K5Mz/fuHH/0PW
rf8HzJT/ANCT/wDRlv8OpX//HayI/yrFn58AAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAADDC
nmAtro7/H62J/wPWmv8Ay47/AMaO/3XhxP+e6tT/mObP/5Pjy/+Q4sr/jODJ/4ffx/+C3MT/f9vC/3nb
wf9y2r7/adq7/2DauP8ZzZv/Fdae/8T/9/9WxKj/HKuI/y7IomAAAAAAAAAAAAAAAAD///8AAAAAAAAA
AAAiuZMwKKyM/x6ohf8C1Zr/AMmL/wHGjv+49OL///////////9+3ML/f9zD/4Dcwv9+28L/e9rA/3bZ
vv9w1rr/Z9S4/17Rs/9Qz63/Qcyn/3LewP////////////n///8MpH7/JbKP/zXQqUAAAAAAAAAAAP//
/wAAAAAAAAAAABymhN8dnn//BNGa/wDKjP8AxY3/sfHf/////////////////2nXt/9w1rv/c9e8/3TX
vP9x17z/a9W5/2TTtf9Y0K//SMyp/zXFoP9i07X/////////////////f/LR/wDQlf8epYT/Mb2a3wAA
AAAAAAAA////AAAAAAADlnJgFZR1/wq4iv8AzpH/AMCD/4rmzf//////////////////////WdGv/2PU
tf9p1rf/atS4/2nUtv9i0rT/Vc+u/0fKpv8zxZz/Ws+w//////////////////////8GyJL/ANCS/xLB
kv8tq4z/OMajYAAAAAD///8AAAAAAACHZt8NkW//ANKV/wDChP9i27r//////////////////////9Dx
6P9MzKn/Vc+v/17Rsv9g0rP/XNCx/1XNrv9Fyaf/McSd/1fPr///////////////////////QM2m/ynK
oP8JzJX/C9yh/ymmhf80spPfAAAAAP///wAAcUwwAHtc/wCrfP8AyIv/AMKK////////////////////
/////////////5Dgyv9Gyqb/TMyq/07Nq/9MzKn/Qcmj/y/Fnf9Wzq3//////////////////////57k
0v8av5T/Lceg/yzOo/8M05v/Hr6T/zCghf80spIw////AABoRYAAclT/AL2H/wDBhf9R1rL/////////
////////4vfw//////////////////H8+P9KzKn/Ocah/zTFnv8qwpj/Us2t////////////////////
////////DLqM/yDBlv8wxp//OM6m/xPPm/8Xz53/LZF5/y+fg4////8AAGNAvwB7Wf8Aw4j/ALyC/4bj
yP+g5tL/g93E/2HSsv9Pzqz/Us6s//////////////////////9Yzq//Gr2S/0jLp///////////////
/////////////yrDm/8SvI//JMGY/zDHn/81zKT/Is2e/xTUnf8nl3v/LJJ5v////wAAXz3vAIlg/wDA
hf8AuoD/quzZ/5Hjyv9628D/ada2/1jRsP9Jy6f/a9a4//////////////////////+Y4s7/////////
//////////////////+c4tD/AbaH/xW8kf8jwZj/LcWd/y/Jn/8kzJ3/E9Ca/yGjgf8ri3Tv////AABd
PP8Ak2b/AL6D/w/Ekv+m6tf/j+HJ/3vawP9p1rf/W9Gx/0rNqf85yJ//Nsaf////////////////////
/////////////////////////////wCwe/8AtoT/ELqP/xu+k/8jwZj/KMeb/yHKm/8QzZf/HqyG/ymI
cf////8AAF07/wCSZP8AvYL/GMWU/6Dn1P+K38f/ddi+/27Wuf+E3MX/leHN/6fm1f+l5tX/neLQ////
////////////////////////////////////////j9/J/27Vuv9Tzq7/JsKY/xa/kv8aw5T/FcaW/wvL
lf8aqoT/J4dw/////wAAXTv/AJFk/wC9gP8GwY3/mObQ/5rkz/+26dv/y/Hl/8Dt3/+06tz/pebV/5bg
zP+g5NL//////////////v///f7+//7+/v//////7fn2////////////tOnb/6Ll0v+v6Nj/jeDI/zXK
o/8IxJD/BMqS/xaqgv8lh2//////AABeO+8AgVf/AL1//wDBif/R9uv/1PPq/8Tv5P+36t3/rujY/6Lk
0v+U4cv/jt7J//j8+///////+/38//f8+//2+/r/+Pz7//3+/v/m9/P/9Pv6//D6+P9/28L/jd7J/5jj
z/+h5dL/qOvX/4Hmyf8f1J//E596/yOJcO////8AAGA8vwB3U/8p06P/hufM/8Ty5f/D7+T/s+vb/6bm
1P+c4c//j9/K/4vcyP/t+fb///7///j8/P/0+/r/8vr5//P7+f/1+/r/+/39///////i9fL/ZNO1/3HW
vP992sH/htzG/4vhyv+S5dD/mO7W/6X74v80noT/Io90v////wAAZkCAAHla/33ny/945cb/nunV/7Xr
3v+l5tT/luDN/4ndxv992cL/1vLq//v9/P/1+/n/8vv4//L69//z+/j/9Pv5/7Xo2//x+vn/////////
//+y59n/aNS3/3LWvP932r//fNzD/4Ljyf+J7ND/l/bd/yORdf8knH6A////AABuRzAAdlT/Xc6x/23o
xv9s4MH/qurZ/5jiz/+I3cb/edjA/8ju5f/3/Pv/8vv4//H6+P/y+/j/6/f0/7np3v/7/fz//v7+/6fk
1f+56tz///////////9h0bT/aNW4/23Wu/9v3L//dOLG/37w0f9m1rn/Hpt8/ymujTD///8AAAAAAACD
X98po4X/Z+7K/1vgvP+A4sf/jOHK/3rZwv+r59f/9Pv6/+/69//v+vf/8vr4/9fy6/9n0rf/VM6t/6Di
0v/N7+f/adO4/1PMrf9t1Lr/i9zI/1/Rs/9h0rX/ZNe4/2bbvf9s5sb/ePfV/z2ylf8lrozfAAAAAP//
/wAAAAAAAJNsYAWQbf9U1rP/Vee//0rYsf993sb/pebV//P7+v/s+Pb/6/f1/+749v+s5tj/Vc2u/1jP
r/9ZzrD/btW5/1bOr/9Wza//Vs6v/1fOr/9Z0LD/WdCy/1vTtP9d1rX/Xt+8/2btyP9k4L//IaaF/y7D
nmAAAAAA////AAAAAAAAAAAAD6J9zyCjgv9S68L/P9+0/2Pevv/5////7/v6/+v59//j9/L/gtvF/1PN
r/9Wz7D/Wc+x/1nQsf9Zz7H/WM6w/1fPsP9UzrD/VM+w/1TPrv9U0a//U9Oy/1Tatv9Z5sD/Y/LL/zSx
lP8qupbPAAAAAAAAAAD///8AAAAAAAAAAAAYto4wGaeE/y23lP8+5rn/6/////j////w//3/ve/i/2bV
uP9Tzq7/Vc+v/1jPsP9Z0LL/WM+w/1fOsf9Wz7D/Us2w/1HOrf9Qzq3/T9Cu/0zSr/9M2LP/TeC5/1bt
xP9HxaX/KLKQ/zTPqDAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAkvpdgG6iF/y++m//e/////P///3rl
yf9G0K3/VdKy/1bPsf9Wz7H/Vs6w/1bPsP9Sza//Ucyu/0/Nrf9NzKz/S82s/0fOrP9G0a7/QdWv/0Le
tP9I6L7/Q8Ok/yitjP8yyKJgAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAmwJlgG6iF/yK3
kP8k3q7/H9el/x7Pn/8tzKT/Q9Cs/1HQsP9Q0K7/TM6u/0nMrf9Hzaz/RMyp/0LNqf8+zqn/ONGo/zTV
qf833rD/O+S4/zvCof8orIv/MMSfYAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAA
AAAkvpdgG6iE/xukgv8gy53/HNql/xzRn/8czJz/HcmZ/yXJnP8qyp7/Lcqg/yzLn/8nypz/JMqc/yTO
n/8l1KT/KN2r/y3Tpv8nq4n/JaqJ/yzAm2AAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH
k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb
bP8AlGf/AI5k/wB/W/8AeFj/AHtb/wCHZd8ClXBgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwSzAAaESAAGI/vwBf
Pd8AXTz/AF08/wBdPP8AXz3fAGJAvwBoRIAAcUswAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
/wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
/wD///8A////AP///wD///8A/+AD//+AAP/+AAA//AAAH/gAAA/wAAAH4AAAA+AAAAPAAAABwAAAAYAA
AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA
AAf4AAAP/AAAH/4AAD//gAD//+AD//////8=
</value>
</data>
</root>

View File

@ -1,15 +1,15 @@
using System; using System;
using System.Collections.Generic; using System.Reflection;
using System.Linq;
using System.Text;
using System.Management; using System.Management;
using System.Windows.Forms; using System.Windows.Forms;
using System.Threading; using System.Threading;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
class ArduinoDetect class ArduinoDetect
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
/// <summary> /// <summary>
/// detects STK version 1 or 2 /// detects STK version 1 or 2
/// </summary> /// </summary>
@ -27,7 +27,7 @@ namespace ArdupilotMega
serialPort.BaudRate = 57600; serialPort.BaudRate = 57600;
serialPort.Open(); serialPort.Open();
System.Threading.Thread.Sleep(100); Thread.Sleep(100);
int a = 0; int a = 0;
while (a < 20) // 20 * 50 = 1 sec while (a < 20) // 20 * 50 = 1 sec
@ -36,7 +36,7 @@ namespace ArdupilotMega
serialPort.DiscardInBuffer(); serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2); serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++; a++;
System.Threading.Thread.Sleep(50); Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead); //Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2) if (serialPort.BytesToRead >= 2)
@ -53,15 +53,15 @@ namespace ArdupilotMega
serialPort.Close(); serialPort.Close();
Console.WriteLine("Not a 1280"); log.Warn("Not a 1280");
System.Threading.Thread.Sleep(500); Thread.Sleep(500);
serialPort.DtrEnable = true; serialPort.DtrEnable = true;
serialPort.BaudRate = 115200; serialPort.BaudRate = 115200;
serialPort.Open(); serialPort.Open();
System.Threading.Thread.Sleep(100); Thread.Sleep(100);
a = 0; a = 0;
while (a < 4) while (a < 4)
@ -69,7 +69,7 @@ namespace ArdupilotMega
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 }; byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp); temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++; a++;
System.Threading.Thread.Sleep(50); Thread.Sleep(50);
try try
{ {
@ -81,11 +81,13 @@ namespace ArdupilotMega
} }
} }
catch { } catch
{
}
} }
serialPort.Close(); serialPort.Close();
Console.WriteLine("Not a 2560"); log.Warn("Not a 2560");
return ""; return "";
} }
@ -106,7 +108,7 @@ namespace ArdupilotMega
serialPort.BaudRate = 57600; serialPort.BaudRate = 57600;
serialPort.Open(); serialPort.Open();
System.Threading.Thread.Sleep(100); Thread.Sleep(100);
int a = 0; int a = 0;
while (a < 20) // 20 * 50 = 1 sec while (a < 20) // 20 * 50 = 1 sec
@ -115,7 +117,7 @@ namespace ArdupilotMega
serialPort.DiscardInBuffer(); serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2); serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++; a++;
System.Threading.Thread.Sleep(50); Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead); //Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2) if (serialPort.BytesToRead >= 2)
@ -132,15 +134,15 @@ namespace ArdupilotMega
serialPort.Close(); serialPort.Close();
Console.WriteLine("Not a 1280"); log.Warn("Not a 1280");
System.Threading.Thread.Sleep(500); Thread.Sleep(500);
serialPort.DtrEnable = true; serialPort.DtrEnable = true;
serialPort.BaudRate = 115200; serialPort.BaudRate = 115200;
serialPort.Open(); serialPort.Open();
System.Threading.Thread.Sleep(100); Thread.Sleep(100);
a = 0; a = 0;
while (a < 4) while (a < 4)
@ -148,7 +150,7 @@ namespace ArdupilotMega
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 }; byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp); temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++; a++;
System.Threading.Thread.Sleep(50); Thread.Sleep(50);
try try
{ {
@ -192,7 +194,7 @@ namespace ArdupilotMega
} }
serialPort.Close(); serialPort.Close();
Console.WriteLine("Not a 2560"); log.Warn("Not a 2560");
return ""; return "";
} }
@ -281,11 +283,11 @@ namespace ArdupilotMega
key = buffer[pos]; key = buffer[pos];
pos++; pos++;
Console.Write("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1); log.InfoFormat("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff) if (key == 0xff)
{ {
Console.WriteLine("end sentinal at {0}", pos - 2); log.InfoFormat("end sentinal at {0}", pos - 2);
break; break;
} }
@ -301,7 +303,6 @@ namespace ArdupilotMega
Console.Write(" {0:X2}", buffer[pos]); Console.Write(" {0:X2}", buffer[pos]);
pos++; pos++;
} }
Console.WriteLine();
} }
} }
@ -325,7 +326,7 @@ namespace ArdupilotMega
if (key == 0xff) if (key == 0xff)
{ {
Console.WriteLine("end sentinal at {0}", pos - 2); log.InfoFormat("end sentinal at {0}", pos - 2);
break; break;
} }
@ -341,7 +342,6 @@ namespace ArdupilotMega
Console.Write(" {0:X2}", buffer[pos]); Console.Write(" {0:X2}", buffer[pos]);
pos++; pos++;
} }
Console.WriteLine();
} }
} }
} }

View File

@ -1,8 +1,10 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Reflection;
using System.Text; using System.Text;
using System.IO.Ports; using System.IO.Ports;
using System.Threading; using System.Threading;
using log4net;
// Written by Michael Oborne // Written by Michael Oborne
@ -10,6 +12,7 @@ namespace ArdupilotMega
{ {
class ArduinoSTK : SerialPort, ArduinoComms class ArduinoSTK : SerialPort, ArduinoComms
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public event ProgressEventHandler Progress; public event ProgressEventHandler Progress;
public new void Open() public new void Open()
@ -48,7 +51,7 @@ namespace ArdupilotMega
a++; a++;
Thread.Sleep(50); Thread.Sleep(50);
Console.WriteLine("btr {0}", this.BytesToRead); log.InfoFormat("btr {0}", this.BytesToRead);
if (this.BytesToRead >= 2) if (this.BytesToRead >= 2)
{ {
byte b1 = (byte)this.ReadByte(); byte b1 = (byte)this.ReadByte();
@ -96,14 +99,14 @@ namespace ArdupilotMega
{ {
byte b1 = (byte)this.ReadByte(); byte b1 = (byte)this.ReadByte();
byte b2 = (byte)this.ReadByte(); byte b2 = (byte)this.ReadByte();
Console.WriteLine("bytes {0:X} {1:X}", b1, b2); log.DebugFormat("bytes {0:X} {1:X}", b1, b2);
if (b1 == 0x14 && b2 == 0x10) if (b1 == 0x14 && b2 == 0x10)
{ {
return true; return true;
} }
} }
Console.WriteLine("btr {0}", this.BytesToRead); log.DebugFormat("btr {0}", this.BytesToRead);
Thread.Sleep(10); Thread.Sleep(10);
a++; a++;
} }
@ -210,7 +213,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'F' }; byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'F' };
this.Write(command, 0, command.Length); this.Write(command, 0, command.Length);
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); log.Info((startfrom + (length - totalleft)) + " - " + sending);
this.Write(data, startfrom + (length - totalleft), sending); this.Write(data, startfrom + (length - totalleft), sending);
command = new byte[] { (byte)' ' }; command = new byte[] { (byte)' ' };
this.Write(command, 0, command.Length); this.Write(command, 0, command.Length);
@ -223,7 +226,7 @@ namespace ArdupilotMega
if (!sync()) if (!sync())
{ {
Console.WriteLine("No Sync"); log.Info("No Sync");
return false; return false;
} }
} }
@ -247,7 +250,7 @@ namespace ArdupilotMega
throw new Exception("Address must be an even number"); throw new Exception("Address must be an even number");
} }
Console.WriteLine("Sending address " + ((ushort)(address / 2))); log.Info("Sending address " + ((ushort)(address / 2)));
address /= 2; address /= 2;
address = (ushort)address; address = (ushort)address;
@ -295,7 +298,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'E' }; byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'E' };
this.Write(command, 0, command.Length); this.Write(command, 0, command.Length);
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); log.Info((startfrom + (length - totalleft)) + " - " + sending);
this.Write(data, startfrom + (length - totalleft), sending); this.Write(data, startfrom + (length - totalleft), sending);
command = new byte[] { (byte)' ' }; command = new byte[] { (byte)' ' };
this.Write(command, 0, command.Length); this.Write(command, 0, command.Length);
@ -304,7 +307,7 @@ namespace ArdupilotMega
if (!sync()) if (!sync())
{ {
Console.WriteLine("No Sync"); log.Info("No Sync");
return false; return false;
} }
} }

View File

@ -1,8 +1,10 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Reflection;
using System.Text; using System.Text;
using System.IO.Ports; using System.IO.Ports;
using System.Threading; using System.Threading;
using log4net;
// Written by Michael Oborne // Written by Michael Oborne
@ -10,6 +12,7 @@ namespace ArdupilotMega
{ {
class ArduinoSTKv2 : SerialPort,ArduinoComms class ArduinoSTKv2 : SerialPort,ArduinoComms
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public event ProgressEventHandler Progress; public event ProgressEventHandler Progress;
public new void Open() public new void Open()
@ -250,7 +253,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)0x13, (byte)(sending >> 8), (byte)(sending & 0xff) }; byte[] command = new byte[] { (byte)0x13, (byte)(sending >> 8), (byte)(sending & 0xff) };
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); log.InfoFormat((startfrom + (length - totalleft)) + " - " + sending);
Array.Resize<byte>(ref command, sending + 10); // sending + head Array.Resize<byte>(ref command, sending + 10); // sending + head
@ -266,7 +269,7 @@ namespace ArdupilotMega
if (command[1] != 0) if (command[1] != 0)
{ {
Console.WriteLine("No Sync"); log.InfoFormat("No Sync");
return false; return false;
} }
} }
@ -290,7 +293,7 @@ namespace ArdupilotMega
throw new Exception("Address must be an even number"); throw new Exception("Address must be an even number");
} }
Console.WriteLine("Sending address " + ((address / 2))); log.InfoFormat("Sending address " + ((address / 2)));
int tempstart = address / 2; // words int tempstart = address / 2; // words
byte[] temp = new byte[] { 0x6, (byte)((tempstart >> 24) & 0xff), (byte)((tempstart >> 16) & 0xff), (byte)((tempstart >> 8) & 0xff), (byte)((tempstart >> 0) & 0xff) }; byte[] temp = new byte[] { 0x6, (byte)((tempstart >> 24) & 0xff), (byte)((tempstart >> 16) & 0xff), (byte)((tempstart >> 8) & 0xff), (byte)((tempstart >> 0) & 0xff) };
@ -342,7 +345,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)0x15, (byte)(sending >> 8), (byte)(sending & 0xff) }; byte[] command = new byte[] { (byte)0x15, (byte)(sending >> 8), (byte)(sending & 0xff) };
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); log.InfoFormat((startfrom + (length - totalleft)) + " - " + sending);
Array.Resize<byte>(ref command, sending + 10); // sending + head Array.Resize<byte>(ref command, sending + 10); // sending + head
@ -358,7 +361,7 @@ namespace ArdupilotMega
if (command[1] != 0) if (command[1] != 0)
{ {
Console.WriteLine("No Sync"); log.InfoFormat("No Sync");
return false; return false;
} }
} }

View File

@ -147,6 +147,10 @@
<Reference Include="KMLib"> <Reference Include="KMLib">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath> <HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath>
</Reference> </Reference>
<Reference Include="log4net, Version=1.2.11.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>Lib\log4net.dll</HintPath>
</Reference>
<Reference Include="MetaDataExtractor"> <Reference Include="MetaDataExtractor">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\MetaDataExtractor.dll</HintPath> <HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\MetaDataExtractor.dll</HintPath>
</Reference> </Reference>
@ -225,6 +229,14 @@
</Reference> </Reference>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="Antenna\ITrackerOutput.cs" />
<Compile Include="Antenna\Maestro.cs" />
<Compile Include="Antenna\Tracker.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Antenna\Tracker.Designer.cs">
<DependentUpon>Tracker.cs</DependentUpon>
</Compile>
<Compile Include="Controls\ProgressReporterDialogue.cs"> <Compile Include="Controls\ProgressReporterDialogue.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
@ -445,7 +457,10 @@
<DependentUpon>temp.cs</DependentUpon> <DependentUpon>temp.cs</DependentUpon>
</Compile> </Compile>
<Compile Include="Radio\Uploader.cs" /> <Compile Include="Radio\Uploader.cs" />
<Compile Include="Utility.cs" /> <Compile Include="LangUtility.cs" />
<EmbeddedResource Include="Antenna\Tracker.resx">
<DependentUpon>Tracker.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ProgressReporterDialogue.resx"> <EmbeddedResource Include="Controls\ProgressReporterDialogue.resx">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon> <DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>

View File

@ -11,6 +11,6 @@
<UpdateUrlHistory /> <UpdateUrlHistory />
</PropertyGroup> </PropertyGroup>
<PropertyGroup> <PropertyGroup>
<ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\</ReferencePath> <ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\;C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\Lib\</ReferencePath>
</PropertyGroup> </PropertyGroup>
</Project> </Project>

View File

@ -5,8 +5,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ArdupilotMega", "ArdupilotM
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Updater", "Updater\Updater.csproj", "{E64A1A41-A5B0-458E-8284-BB63705354DA}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Updater", "Updater\Updater.csproj", "{E64A1A41-A5B0-458E-8284-BB63705354DA}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ArduinoCPP", "..\..\ArduinoCPP\ArduinoCPP.csproj", "{C38A02C5-3179-4047-8DC3-945341008A74}"
EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU Debug|Any CPU = Debug|Any CPU
@ -43,18 +41,6 @@ Global
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|Win32.ActiveCfg = Release|x86 {E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|Win32.ActiveCfg = Release|x86
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.ActiveCfg = Release|x86 {E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.ActiveCfg = Release|x86
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.Build.0 = Release|x86 {E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.Build.0 = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Any CPU.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Mixed Platforms.Build.0 = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Win32.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|x86.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|x86.Build.0 = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Any CPU.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Mixed Platforms.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Mixed Platforms.Build.0 = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Win32.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|x86.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|x86.Build.0 = Release|x86
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE

View File

@ -28,6 +28,7 @@
/// </summary> /// </summary>
private void InitializeComponent() private void InitializeComponent()
{ {
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Camera));
this.num_agl = new System.Windows.Forms.NumericUpDown(); this.num_agl = new System.Windows.Forms.NumericUpDown();
this.label2 = new System.Windows.Forms.Label(); this.label2 = new System.Windows.Forms.Label();
this.num_focallength = new System.Windows.Forms.NumericUpDown(); this.num_focallength = new System.Windows.Forms.NumericUpDown();
@ -74,15 +75,13 @@
0, 0,
0, 0,
0}); 0});
this.num_agl.Location = new System.Drawing.Point(12, 38); resources.ApplyResources(this.num_agl, "num_agl");
this.num_agl.Maximum = new decimal(new int[] { this.num_agl.Maximum = new decimal(new int[] {
10000, 10000,
0, 0,
0, 0,
0}); 0});
this.num_agl.Name = "num_agl"; this.num_agl.Name = "num_agl";
this.num_agl.Size = new System.Drawing.Size(64, 20);
this.num_agl.TabIndex = 1;
this.num_agl.Value = new decimal(new int[] { this.num_agl.Value = new decimal(new int[] {
200, 200,
0, 0,
@ -92,12 +91,8 @@
// //
// label2 // label2
// //
this.label2.AutoSize = true; resources.ApplyResources(this.label2, "label2");
this.label2.Location = new System.Drawing.Point(82, 40);
this.label2.Name = "label2"; this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(72, 13);
this.label2.TabIndex = 4;
this.label2.Text = "Height m (agl)";
// //
// num_focallength // num_focallength
// //
@ -107,7 +102,7 @@
0, 0,
0, 0,
65536}); 65536});
this.num_focallength.Location = new System.Drawing.Point(12, 64); resources.ApplyResources(this.num_focallength, "num_focallength");
this.num_focallength.Maximum = new decimal(new int[] { this.num_focallength.Maximum = new decimal(new int[] {
180, 180,
0, 0,
@ -119,8 +114,6 @@
0, 0,
0}); 0});
this.num_focallength.Name = "num_focallength"; this.num_focallength.Name = "num_focallength";
this.num_focallength.Size = new System.Drawing.Size(64, 20);
this.num_focallength.TabIndex = 6;
this.num_focallength.Value = new decimal(new int[] { this.num_focallength.Value = new decimal(new int[] {
5, 5,
0, 0,
@ -130,181 +123,113 @@
// //
// TXT_fovH // TXT_fovH
// //
this.TXT_fovH.Location = new System.Drawing.Point(361, 12); resources.ApplyResources(this.TXT_fovH, "TXT_fovH");
this.TXT_fovH.Name = "TXT_fovH"; this.TXT_fovH.Name = "TXT_fovH";
this.TXT_fovH.Size = new System.Drawing.Size(100, 20);
this.TXT_fovH.TabIndex = 10;
// //
// TXT_fovV // TXT_fovV
// //
this.TXT_fovV.Location = new System.Drawing.Point(361, 39); resources.ApplyResources(this.TXT_fovV, "TXT_fovV");
this.TXT_fovV.Name = "TXT_fovV"; this.TXT_fovV.Name = "TXT_fovV";
this.TXT_fovV.Size = new System.Drawing.Size(100, 20);
this.TXT_fovV.TabIndex = 11;
// //
// TXT_fovAV // TXT_fovAV
// //
this.TXT_fovAV.Location = new System.Drawing.Point(361, 92); resources.ApplyResources(this.TXT_fovAV, "TXT_fovAV");
this.TXT_fovAV.Name = "TXT_fovAV"; this.TXT_fovAV.Name = "TXT_fovAV";
this.TXT_fovAV.Size = new System.Drawing.Size(100, 20);
this.TXT_fovAV.TabIndex = 14;
// //
// TXT_fovAH // TXT_fovAH
// //
this.TXT_fovAH.Location = new System.Drawing.Point(361, 65); resources.ApplyResources(this.TXT_fovAH, "TXT_fovAH");
this.TXT_fovAH.Name = "TXT_fovAH"; this.TXT_fovAH.Name = "TXT_fovAH";
this.TXT_fovAH.Size = new System.Drawing.Size(100, 20);
this.TXT_fovAH.TabIndex = 13;
// //
// TXT_cmpixel // TXT_cmpixel
// //
this.TXT_cmpixel.Location = new System.Drawing.Point(361, 118); resources.ApplyResources(this.TXT_cmpixel, "TXT_cmpixel");
this.TXT_cmpixel.Name = "TXT_cmpixel"; this.TXT_cmpixel.Name = "TXT_cmpixel";
this.TXT_cmpixel.Size = new System.Drawing.Size(100, 20);
this.TXT_cmpixel.TabIndex = 16;
// //
// TXT_imgwidth // TXT_imgwidth
// //
this.TXT_imgwidth.Location = new System.Drawing.Point(12, 90); resources.ApplyResources(this.TXT_imgwidth, "TXT_imgwidth");
this.TXT_imgwidth.Name = "TXT_imgwidth"; this.TXT_imgwidth.Name = "TXT_imgwidth";
this.TXT_imgwidth.Size = new System.Drawing.Size(64, 20);
this.TXT_imgwidth.TabIndex = 17;
this.TXT_imgwidth.Text = "4608";
this.TXT_imgwidth.TextChanged += new System.EventHandler(this.TXT_imgwidth_TextChanged); this.TXT_imgwidth.TextChanged += new System.EventHandler(this.TXT_imgwidth_TextChanged);
// //
// TXT_imgheight // TXT_imgheight
// //
this.TXT_imgheight.Location = new System.Drawing.Point(12, 116); resources.ApplyResources(this.TXT_imgheight, "TXT_imgheight");
this.TXT_imgheight.Name = "TXT_imgheight"; this.TXT_imgheight.Name = "TXT_imgheight";
this.TXT_imgheight.Size = new System.Drawing.Size(64, 20);
this.TXT_imgheight.TabIndex = 18;
this.TXT_imgheight.Text = "3456";
this.TXT_imgheight.TextChanged += new System.EventHandler(this.TXT_imgheight_TextChanged); this.TXT_imgheight.TextChanged += new System.EventHandler(this.TXT_imgheight_TextChanged);
// //
// label1 // label1
// //
this.label1.AutoSize = true; resources.ApplyResources(this.label1, "label1");
this.label1.Location = new System.Drawing.Point(82, 71);
this.label1.Name = "label1"; this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(69, 13);
this.label1.TabIndex = 19;
this.label1.Text = "Focal Length";
// //
// label6 // label6
// //
this.label6.AutoSize = true; resources.ApplyResources(this.label6, "label6");
this.label6.Location = new System.Drawing.Point(298, 19);
this.label6.Name = "label6"; this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(56, 13);
this.label6.TabIndex = 21;
this.label6.Text = "FOV H (m)";
// //
// label7 // label7
// //
this.label7.AutoSize = true; resources.ApplyResources(this.label7, "label7");
this.label7.Location = new System.Drawing.Point(299, 72);
this.label7.Name = "label7"; this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(45, 13);
this.label7.TabIndex = 22;
this.label7.Text = "Angle H";
// //
// label8 // label8
// //
this.label8.AutoSize = true; resources.ApplyResources(this.label8, "label8");
this.label8.Location = new System.Drawing.Point(300, 99);
this.label8.Name = "label8"; this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(44, 13);
this.label8.TabIndex = 23;
this.label8.Text = "Angle V";
// //
// label10 // label10
// //
this.label10.AutoSize = true; resources.ApplyResources(this.label10, "label10");
this.label10.Location = new System.Drawing.Point(299, 46);
this.label10.Name = "label10"; this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(55, 13);
this.label10.TabIndex = 25;
this.label10.Text = "FOV V (m)";
// //
// label12 // label12
// //
this.label12.AutoSize = true; resources.ApplyResources(this.label12, "label12");
this.label12.Location = new System.Drawing.Point(299, 125);
this.label12.Name = "label12"; this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(50, 13);
this.label12.TabIndex = 27;
this.label12.Text = "CM/Pixel";
// //
// label13 // label13
// //
this.label13.AutoSize = true; resources.ApplyResources(this.label13, "label13");
this.label13.Location = new System.Drawing.Point(82, 93);
this.label13.Name = "label13"; this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(60, 13);
this.label13.TabIndex = 28;
this.label13.Text = "Pixel Width";
// //
// label14 // label14
// //
this.label14.AutoSize = true; resources.ApplyResources(this.label14, "label14");
this.label14.Location = new System.Drawing.Point(82, 119);
this.label14.Name = "label14"; this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(63, 13);
this.label14.TabIndex = 29;
this.label14.Text = "Pixel Height";
// //
// label3 // label3
// //
this.label3.AutoSize = true; resources.ApplyResources(this.label3, "label3");
this.label3.Location = new System.Drawing.Point(82, 171);
this.label3.Name = "label3"; this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(74, 13);
this.label3.TabIndex = 33;
this.label3.Text = "Sensor Height";
// //
// label4 // label4
// //
this.label4.AutoSize = true; resources.ApplyResources(this.label4, "label4");
this.label4.Location = new System.Drawing.Point(82, 145);
this.label4.Name = "label4"; this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(71, 13);
this.label4.TabIndex = 32;
this.label4.Text = "Sensor Width";
// //
// TXT_sensheight // TXT_sensheight
// //
this.TXT_sensheight.Location = new System.Drawing.Point(12, 168); resources.ApplyResources(this.TXT_sensheight, "TXT_sensheight");
this.TXT_sensheight.Name = "TXT_sensheight"; this.TXT_sensheight.Name = "TXT_sensheight";
this.TXT_sensheight.Size = new System.Drawing.Size(64, 20);
this.TXT_sensheight.TabIndex = 31;
this.TXT_sensheight.Text = "4.62";
this.TXT_sensheight.TextChanged += new System.EventHandler(this.TXT_sensheight_TextChanged); this.TXT_sensheight.TextChanged += new System.EventHandler(this.TXT_sensheight_TextChanged);
// //
// TXT_senswidth // TXT_senswidth
// //
this.TXT_senswidth.Location = new System.Drawing.Point(12, 142); resources.ApplyResources(this.TXT_senswidth, "TXT_senswidth");
this.TXT_senswidth.Name = "TXT_senswidth"; this.TXT_senswidth.Name = "TXT_senswidth";
this.TXT_senswidth.Size = new System.Drawing.Size(64, 20);
this.TXT_senswidth.TabIndex = 30;
this.TXT_senswidth.Text = "6.16";
this.TXT_senswidth.TextChanged += new System.EventHandler(this.TXT_senswidth_TextChanged); this.TXT_senswidth.TextChanged += new System.EventHandler(this.TXT_senswidth_TextChanged);
// //
// label5 // label5
// //
this.label5.AutoSize = true; resources.ApplyResources(this.label5, "label5");
this.label5.Location = new System.Drawing.Point(82, 201);
this.label5.Name = "label5"; this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(44, 13);
this.label5.TabIndex = 35;
this.label5.Text = "Overlap";
// //
// num_overlap // num_overlap
// //
this.num_overlap.DecimalPlaces = 1; this.num_overlap.DecimalPlaces = 1;
this.num_overlap.Location = new System.Drawing.Point(12, 194); resources.ApplyResources(this.num_overlap, "num_overlap");
this.num_overlap.Name = "num_overlap"; this.num_overlap.Name = "num_overlap";
this.num_overlap.Size = new System.Drawing.Size(64, 20);
this.num_overlap.TabIndex = 34;
this.num_overlap.Value = new decimal(new int[] { this.num_overlap.Value = new decimal(new int[] {
60, 60,
0, 0,
@ -314,20 +239,14 @@
// //
// label15 // label15
// //
this.label15.AutoSize = true; resources.ApplyResources(this.label15, "label15");
this.label15.Location = new System.Drawing.Point(82, 227);
this.label15.Name = "label15"; this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(42, 13);
this.label15.TabIndex = 37;
this.label15.Text = "Sidelap";
// //
// num_sidelap // num_sidelap
// //
this.num_sidelap.DecimalPlaces = 1; this.num_sidelap.DecimalPlaces = 1;
this.num_sidelap.Location = new System.Drawing.Point(12, 220); resources.ApplyResources(this.num_sidelap, "num_sidelap");
this.num_sidelap.Name = "num_sidelap"; this.num_sidelap.Name = "num_sidelap";
this.num_sidelap.Size = new System.Drawing.Size(64, 20);
this.num_sidelap.TabIndex = 36;
this.num_sidelap.Value = new decimal(new int[] { this.num_sidelap.Value = new decimal(new int[] {
30, 30,
0, 0,
@ -337,73 +256,51 @@
// //
// CHK_camdirection // CHK_camdirection
// //
this.CHK_camdirection.AutoSize = true; resources.ApplyResources(this.CHK_camdirection, "CHK_camdirection");
this.CHK_camdirection.Checked = true; this.CHK_camdirection.Checked = true;
this.CHK_camdirection.CheckState = System.Windows.Forms.CheckState.Checked; this.CHK_camdirection.CheckState = System.Windows.Forms.CheckState.Checked;
this.CHK_camdirection.Location = new System.Drawing.Point(13, 247);
this.CHK_camdirection.Name = "CHK_camdirection"; this.CHK_camdirection.Name = "CHK_camdirection";
this.CHK_camdirection.Size = new System.Drawing.Size(150, 17);
this.CHK_camdirection.TabIndex = 38;
this.CHK_camdirection.Text = "Camera top facing forward";
this.CHK_camdirection.UseVisualStyleBackColor = true; this.CHK_camdirection.UseVisualStyleBackColor = true;
this.CHK_camdirection.CheckedChanged += new System.EventHandler(this.CHK_camdirection_CheckedChanged); this.CHK_camdirection.CheckedChanged += new System.EventHandler(this.CHK_camdirection_CheckedChanged);
// //
// label9 // label9
// //
this.label9.AutoSize = true; resources.ApplyResources(this.label9, "label9");
this.label9.Location = new System.Drawing.Point(261, 198);
this.label9.Name = "label9"; this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(86, 13);
this.label9.TabIndex = 42;
this.label9.Text = "Across Flight line";
// //
// label11 // label11
// //
this.label11.AutoSize = true; resources.ApplyResources(this.label11, "label11");
this.label11.Location = new System.Drawing.Point(261, 171);
this.label11.Name = "label11"; this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(94, 13);
this.label11.TabIndex = 41;
this.label11.Text = "Flight line distance";
// //
// TXT_distacflphotos // TXT_distacflphotos
// //
this.TXT_distacflphotos.Location = new System.Drawing.Point(361, 195); resources.ApplyResources(this.TXT_distacflphotos, "TXT_distacflphotos");
this.TXT_distacflphotos.Name = "TXT_distacflphotos"; this.TXT_distacflphotos.Name = "TXT_distacflphotos";
this.TXT_distacflphotos.Size = new System.Drawing.Size(100, 20);
this.TXT_distacflphotos.TabIndex = 40;
// //
// TXT_distflphotos // TXT_distflphotos
// //
this.TXT_distflphotos.Location = new System.Drawing.Point(361, 168); resources.ApplyResources(this.TXT_distflphotos, "TXT_distflphotos");
this.TXT_distflphotos.Name = "TXT_distflphotos"; this.TXT_distflphotos.Name = "TXT_distflphotos";
this.TXT_distflphotos.Size = new System.Drawing.Size(100, 20);
this.TXT_distflphotos.TabIndex = 39;
// //
// CMB_camera // CMB_camera
// //
this.CMB_camera.FormattingEnabled = true; this.CMB_camera.FormattingEnabled = true;
this.CMB_camera.Location = new System.Drawing.Point(13, 13); resources.ApplyResources(this.CMB_camera, "CMB_camera");
this.CMB_camera.Name = "CMB_camera"; this.CMB_camera.Name = "CMB_camera";
this.CMB_camera.Size = new System.Drawing.Size(143, 21);
this.CMB_camera.TabIndex = 43;
this.CMB_camera.SelectedIndexChanged += new System.EventHandler(this.CMB_camera_SelectedIndexChanged); this.CMB_camera.SelectedIndexChanged += new System.EventHandler(this.CMB_camera_SelectedIndexChanged);
// //
// BUT_save // BUT_save
// //
this.BUT_save.Location = new System.Drawing.Point(163, 10); resources.ApplyResources(this.BUT_save, "BUT_save");
this.BUT_save.Name = "BUT_save"; this.BUT_save.Name = "BUT_save";
this.BUT_save.Size = new System.Drawing.Size(75, 23);
this.BUT_save.TabIndex = 44;
this.BUT_save.Text = "Save";
this.BUT_save.UseVisualStyleBackColor = true; this.BUT_save.UseVisualStyleBackColor = true;
this.BUT_save.Click += new System.EventHandler(this.BUT_save_Click); this.BUT_save.Click += new System.EventHandler(this.BUT_save_Click);
// //
// Camera // Camera
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); resources.ApplyResources(this, "$this");
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(473, 275);
this.Controls.Add(this.BUT_save); this.Controls.Add(this.BUT_save);
this.Controls.Add(this.CMB_camera); this.Controls.Add(this.CMB_camera);
this.Controls.Add(this.label9); this.Controls.Add(this.label9);
@ -438,7 +335,6 @@
this.Controls.Add(this.label2); this.Controls.Add(this.label2);
this.Controls.Add(this.num_agl); this.Controls.Add(this.num_agl);
this.Name = "Camera"; this.Name = "Camera";
this.Text = "Camera";
this.Load += new System.EventHandler(this.Camera_Load); this.Load += new System.EventHandler(this.Camera_Load);
((System.ComponentModel.ISupportInitialize)(this.num_agl)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.num_agl)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.num_focallength)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.num_focallength)).EndInit();

View File

@ -117,4 +117,828 @@
<resheader name="writer"> <resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader> </resheader>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="num_agl.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 38</value>
</data>
<data name="num_agl.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="num_agl.TabIndex" type="System.Int32, mscorlib">
<value>1</value>
</data>
<data name="&gt;&gt;num_agl.Name" xml:space="preserve">
<value>num_agl</value>
</data>
<data name="&gt;&gt;num_agl.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_agl.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_agl.ZOrder" xml:space="preserve">
<value>32</value>
</data>
<data name="label2.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label2.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 40</value>
</data>
<data name="label2.Size" type="System.Drawing.Size, System.Drawing">
<value>72, 13</value>
</data>
<data name="label2.TabIndex" type="System.Int32, mscorlib">
<value>4</value>
</data>
<data name="label2.Text" xml:space="preserve">
<value>Height m (agl)</value>
</data>
<data name="&gt;&gt;label2.Name" xml:space="preserve">
<value>label2</value>
</data>
<data name="&gt;&gt;label2.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label2.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
<value>31</value>
</data>
<data name="num_focallength.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 64</value>
</data>
<data name="num_focallength.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_focallength.TabIndex" type="System.Int32, mscorlib">
<value>6</value>
</data>
<data name="&gt;&gt;num_focallength.Name" xml:space="preserve">
<value>num_focallength</value>
</data>
<data name="&gt;&gt;num_focallength.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_focallength.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_focallength.ZOrder" xml:space="preserve">
<value>30</value>
</data>
<data name="TXT_fovH.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 12</value>
</data>
<data name="TXT_fovH.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovH.TabIndex" type="System.Int32, mscorlib">
<value>10</value>
</data>
<data name="&gt;&gt;TXT_fovH.Name" xml:space="preserve">
<value>TXT_fovH</value>
</data>
<data name="&gt;&gt;TXT_fovH.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovH.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovH.ZOrder" xml:space="preserve">
<value>29</value>
</data>
<data name="TXT_fovV.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 39</value>
</data>
<data name="TXT_fovV.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovV.TabIndex" type="System.Int32, mscorlib">
<value>11</value>
</data>
<data name="&gt;&gt;TXT_fovV.Name" xml:space="preserve">
<value>TXT_fovV</value>
</data>
<data name="&gt;&gt;TXT_fovV.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovV.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovV.ZOrder" xml:space="preserve">
<value>28</value>
</data>
<data name="TXT_fovAV.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 92</value>
</data>
<data name="TXT_fovAV.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovAV.TabIndex" type="System.Int32, mscorlib">
<value>14</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Name" xml:space="preserve">
<value>TXT_fovAV</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovAV.ZOrder" xml:space="preserve">
<value>26</value>
</data>
<data name="TXT_fovAH.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 65</value>
</data>
<data name="TXT_fovAH.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovAH.TabIndex" type="System.Int32, mscorlib">
<value>13</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Name" xml:space="preserve">
<value>TXT_fovAH</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovAH.ZOrder" xml:space="preserve">
<value>27</value>
</data>
<data name="TXT_cmpixel.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 118</value>
</data>
<data name="TXT_cmpixel.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_cmpixel.TabIndex" type="System.Int32, mscorlib">
<value>16</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Name" xml:space="preserve">
<value>TXT_cmpixel</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.ZOrder" xml:space="preserve">
<value>25</value>
</data>
<data name="TXT_imgwidth.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 90</value>
</data>
<data name="TXT_imgwidth.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_imgwidth.TabIndex" type="System.Int32, mscorlib">
<value>17</value>
</data>
<data name="TXT_imgwidth.Text" xml:space="preserve">
<value>4608</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Name" xml:space="preserve">
<value>TXT_imgwidth</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.ZOrder" xml:space="preserve">
<value>24</value>
</data>
<data name="TXT_imgheight.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 116</value>
</data>
<data name="TXT_imgheight.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_imgheight.TabIndex" type="System.Int32, mscorlib">
<value>18</value>
</data>
<data name="TXT_imgheight.Text" xml:space="preserve">
<value>3456</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Name" xml:space="preserve">
<value>TXT_imgheight</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_imgheight.ZOrder" xml:space="preserve">
<value>23</value>
</data>
<data name="label1.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 71</value>
</data>
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
<value>69, 13</value>
</data>
<data name="label1.TabIndex" type="System.Int32, mscorlib">
<value>19</value>
</data>
<data name="label1.Text" xml:space="preserve">
<value>Focal Length</value>
</data>
<data name="&gt;&gt;label1.Name" xml:space="preserve">
<value>label1</value>
</data>
<data name="&gt;&gt;label1.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label1.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
<value>22</value>
</data>
<data name="label6.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label6.Location" type="System.Drawing.Point, System.Drawing">
<value>298, 19</value>
</data>
<data name="label6.Size" type="System.Drawing.Size, System.Drawing">
<value>56, 13</value>
</data>
<data name="label6.TabIndex" type="System.Int32, mscorlib">
<value>21</value>
</data>
<data name="label6.Text" xml:space="preserve">
<value>FOV H (m)</value>
</data>
<data name="&gt;&gt;label6.Name" xml:space="preserve">
<value>label6</value>
</data>
<data name="&gt;&gt;label6.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label6.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label6.ZOrder" xml:space="preserve">
<value>21</value>
</data>
<data name="label7.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label7.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 72</value>
</data>
<data name="label7.Size" type="System.Drawing.Size, System.Drawing">
<value>45, 13</value>
</data>
<data name="label7.TabIndex" type="System.Int32, mscorlib">
<value>22</value>
</data>
<data name="label7.Text" xml:space="preserve">
<value>Angle H</value>
</data>
<data name="&gt;&gt;label7.Name" xml:space="preserve">
<value>label7</value>
</data>
<data name="&gt;&gt;label7.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label7.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
<value>20</value>
</data>
<data name="label8.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label8.Location" type="System.Drawing.Point, System.Drawing">
<value>300, 99</value>
</data>
<data name="label8.Size" type="System.Drawing.Size, System.Drawing">
<value>44, 13</value>
</data>
<data name="label8.TabIndex" type="System.Int32, mscorlib">
<value>23</value>
</data>
<data name="label8.Text" xml:space="preserve">
<value>Angle V</value>
</data>
<data name="&gt;&gt;label8.Name" xml:space="preserve">
<value>label8</value>
</data>
<data name="&gt;&gt;label8.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label8.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
<value>19</value>
</data>
<data name="label10.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label10.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 46</value>
</data>
<data name="label10.Size" type="System.Drawing.Size, System.Drawing">
<value>55, 13</value>
</data>
<data name="label10.TabIndex" type="System.Int32, mscorlib">
<value>25</value>
</data>
<data name="label10.Text" xml:space="preserve">
<value>FOV V (m)</value>
</data>
<data name="&gt;&gt;label10.Name" xml:space="preserve">
<value>label10</value>
</data>
<data name="&gt;&gt;label10.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label10.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
<value>18</value>
</data>
<data name="label12.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label12.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 125</value>
</data>
<data name="label12.Size" type="System.Drawing.Size, System.Drawing">
<value>50, 13</value>
</data>
<data name="label12.TabIndex" type="System.Int32, mscorlib">
<value>27</value>
</data>
<data name="label12.Text" xml:space="preserve">
<value>CM/Pixel</value>
</data>
<data name="&gt;&gt;label12.Name" xml:space="preserve">
<value>label12</value>
</data>
<data name="&gt;&gt;label12.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label12.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label12.ZOrder" xml:space="preserve">
<value>17</value>
</data>
<data name="label13.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label13.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 93</value>
</data>
<data name="label13.Size" type="System.Drawing.Size, System.Drawing">
<value>60, 13</value>
</data>
<data name="label13.TabIndex" type="System.Int32, mscorlib">
<value>28</value>
</data>
<data name="label13.Text" xml:space="preserve">
<value>Pixel Width</value>
</data>
<data name="&gt;&gt;label13.Name" xml:space="preserve">
<value>label13</value>
</data>
<data name="&gt;&gt;label13.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label13.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label13.ZOrder" xml:space="preserve">
<value>16</value>
</data>
<data name="label14.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label14.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 119</value>
</data>
<data name="label14.Size" type="System.Drawing.Size, System.Drawing">
<value>63, 13</value>
</data>
<data name="label14.TabIndex" type="System.Int32, mscorlib">
<value>29</value>
</data>
<data name="label14.Text" xml:space="preserve">
<value>Pixel Height</value>
</data>
<data name="&gt;&gt;label14.Name" xml:space="preserve">
<value>label14</value>
</data>
<data name="&gt;&gt;label14.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label14.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label14.ZOrder" xml:space="preserve">
<value>15</value>
</data>
<data name="label3.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 171</value>
</data>
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
<value>74, 13</value>
</data>
<data name="label3.TabIndex" type="System.Int32, mscorlib">
<value>33</value>
</data>
<data name="label3.Text" xml:space="preserve">
<value>Sensor Height</value>
</data>
<data name="&gt;&gt;label3.Name" xml:space="preserve">
<value>label3</value>
</data>
<data name="&gt;&gt;label3.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label3.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
<value>11</value>
</data>
<data name="label4.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label4.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 145</value>
</data>
<data name="label4.Size" type="System.Drawing.Size, System.Drawing">
<value>71, 13</value>
</data>
<data name="label4.TabIndex" type="System.Int32, mscorlib">
<value>32</value>
</data>
<data name="label4.Text" xml:space="preserve">
<value>Sensor Width</value>
</data>
<data name="&gt;&gt;label4.Name" xml:space="preserve">
<value>label4</value>
</data>
<data name="&gt;&gt;label4.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label4.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
<value>12</value>
</data>
<data name="TXT_sensheight.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 168</value>
</data>
<data name="TXT_sensheight.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_sensheight.TabIndex" type="System.Int32, mscorlib">
<value>31</value>
</data>
<data name="TXT_sensheight.Text" xml:space="preserve">
<value>4.62</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Name" xml:space="preserve">
<value>TXT_sensheight</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_sensheight.ZOrder" xml:space="preserve">
<value>13</value>
</data>
<data name="TXT_senswidth.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 142</value>
</data>
<data name="TXT_senswidth.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_senswidth.TabIndex" type="System.Int32, mscorlib">
<value>30</value>
</data>
<data name="TXT_senswidth.Text" xml:space="preserve">
<value>6.16</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Name" xml:space="preserve">
<value>TXT_senswidth</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_senswidth.ZOrder" xml:space="preserve">
<value>14</value>
</data>
<data name="label5.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label5.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 201</value>
</data>
<data name="label5.Size" type="System.Drawing.Size, System.Drawing">
<value>44, 13</value>
</data>
<data name="label5.TabIndex" type="System.Int32, mscorlib">
<value>35</value>
</data>
<data name="label5.Text" xml:space="preserve">
<value>Overlap</value>
</data>
<data name="&gt;&gt;label5.Name" xml:space="preserve">
<value>label5</value>
</data>
<data name="&gt;&gt;label5.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label5.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
<value>9</value>
</data>
<data name="num_overlap.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 194</value>
</data>
<data name="num_overlap.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_overlap.TabIndex" type="System.Int32, mscorlib">
<value>34</value>
</data>
<data name="&gt;&gt;num_overlap.Name" xml:space="preserve">
<value>num_overlap</value>
</data>
<data name="&gt;&gt;num_overlap.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_overlap.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_overlap.ZOrder" xml:space="preserve">
<value>10</value>
</data>
<data name="label15.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label15.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 227</value>
</data>
<data name="label15.Size" type="System.Drawing.Size, System.Drawing">
<value>42, 13</value>
</data>
<data name="label15.TabIndex" type="System.Int32, mscorlib">
<value>37</value>
</data>
<data name="label15.Text" xml:space="preserve">
<value>Sidelap</value>
</data>
<data name="&gt;&gt;label15.Name" xml:space="preserve">
<value>label15</value>
</data>
<data name="&gt;&gt;label15.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label15.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label15.ZOrder" xml:space="preserve">
<value>7</value>
</data>
<data name="num_sidelap.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 220</value>
</data>
<data name="num_sidelap.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_sidelap.TabIndex" type="System.Int32, mscorlib">
<value>36</value>
</data>
<data name="&gt;&gt;num_sidelap.Name" xml:space="preserve">
<value>num_sidelap</value>
</data>
<data name="&gt;&gt;num_sidelap.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_sidelap.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_sidelap.ZOrder" xml:space="preserve">
<value>8</value>
</data>
<data name="CHK_camdirection.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="CHK_camdirection.Location" type="System.Drawing.Point, System.Drawing">
<value>13, 247</value>
</data>
<data name="CHK_camdirection.Size" type="System.Drawing.Size, System.Drawing">
<value>150, 17</value>
</data>
<data name="CHK_camdirection.TabIndex" type="System.Int32, mscorlib">
<value>38</value>
</data>
<data name="CHK_camdirection.Text" xml:space="preserve">
<value>Camera top facing forward</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Name" xml:space="preserve">
<value>CHK_camdirection</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Type" xml:space="preserve">
<value>System.Windows.Forms.CheckBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;CHK_camdirection.ZOrder" xml:space="preserve">
<value>6</value>
</data>
<data name="label9.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label9.Location" type="System.Drawing.Point, System.Drawing">
<value>261, 198</value>
</data>
<data name="label9.Size" type="System.Drawing.Size, System.Drawing">
<value>86, 13</value>
</data>
<data name="label9.TabIndex" type="System.Int32, mscorlib">
<value>42</value>
</data>
<data name="label9.Text" xml:space="preserve">
<value>Across Flight line</value>
</data>
<data name="&gt;&gt;label9.Name" xml:space="preserve">
<value>label9</value>
</data>
<data name="&gt;&gt;label9.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label9.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="label11.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label11.Location" type="System.Drawing.Point, System.Drawing">
<value>261, 171</value>
</data>
<data name="label11.Size" type="System.Drawing.Size, System.Drawing">
<value>94, 13</value>
</data>
<data name="label11.TabIndex" type="System.Int32, mscorlib">
<value>41</value>
</data>
<data name="label11.Text" xml:space="preserve">
<value>Flight line distance</value>
</data>
<data name="&gt;&gt;label11.Name" xml:space="preserve">
<value>label11</value>
</data>
<data name="&gt;&gt;label11.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label11.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="TXT_distacflphotos.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 195</value>
</data>
<data name="TXT_distacflphotos.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_distacflphotos.TabIndex" type="System.Int32, mscorlib">
<value>40</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Name" xml:space="preserve">
<value>TXT_distacflphotos</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="TXT_distflphotos.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 168</value>
</data>
<data name="TXT_distflphotos.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_distflphotos.TabIndex" type="System.Int32, mscorlib">
<value>39</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Name" xml:space="preserve">
<value>TXT_distflphotos</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.ZOrder" xml:space="preserve">
<value>5</value>
</data>
<data name="CMB_camera.Location" type="System.Drawing.Point, System.Drawing">
<value>13, 13</value>
</data>
<data name="CMB_camera.Size" type="System.Drawing.Size, System.Drawing">
<value>143, 21</value>
</data>
<data name="CMB_camera.TabIndex" type="System.Int32, mscorlib">
<value>43</value>
</data>
<data name="&gt;&gt;CMB_camera.Name" xml:space="preserve">
<value>CMB_camera</value>
</data>
<data name="&gt;&gt;CMB_camera.Type" xml:space="preserve">
<value>System.Windows.Forms.ComboBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;CMB_camera.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;CMB_camera.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="BUT_save.Location" type="System.Drawing.Point, System.Drawing">
<value>163, 10</value>
</data>
<data name="BUT_save.Size" type="System.Drawing.Size, System.Drawing">
<value>75, 23</value>
</data>
<data name="BUT_save.TabIndex" type="System.Int32, mscorlib">
<value>44</value>
</data>
<data name="BUT_save.Text" xml:space="preserve">
<value>Save</value>
</data>
<data name="&gt;&gt;BUT_save.Name" xml:space="preserve">
<value>BUT_save</value>
</data>
<data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;BUT_save.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
<value>6, 13</value>
</data>
<data name="$this.ClientSize" type="System.Drawing.Size, System.Drawing">
<value>473, 275</value>
</data>
<data name="$this.Text" xml:space="preserve">
<value>Camera</value>
</data>
<data name="&gt;&gt;$this.Name" xml:space="preserve">
<value>Camera</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.Form, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
</root> </root>

View File

@ -18,6 +18,7 @@ using System.Net;
using System.Net.Sockets; using System.Net.Sockets;
using System.Xml; // config file using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports using System.Runtime.InteropServices; // dll imports
using log4net;
using ZedGraph; // Graphs using ZedGraph; // Graphs
using ArdupilotMega; using ArdupilotMega;
using System.Reflection; using System.Reflection;
@ -213,6 +214,13 @@ namespace ArdupilotMega
this.Lng = pll.Lng; this.Lng = pll.Lng;
} }
public PointLatLngAlt(Locationwp locwp)
{
this.Lat = locwp.lat;
this.Lng = locwp.lng;
this.Alt = locwp.alt;
}
public PointLatLngAlt(PointLatLngAlt plla) public PointLatLngAlt(PointLatLngAlt plla)
{ {
this.Lat = plla.Lat; this.Lat = plla.Lat;
@ -280,6 +288,7 @@ namespace ArdupilotMega
public class Common public class Common
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public enum distances public enum distances
{ {
Meters, Meters,
@ -323,6 +332,57 @@ namespace ArdupilotMega
OF_LOITER = 10 OF_LOITER = 10
} }
public enum ac2ch7modes
{
CH7_DO_NOTHING = 0,
CH7_SET_HOVER = 1,
CH7_FLIP = 2,
CH7_SIMPLE_MODE = 3,
CH7_RTL = 4,
CH7_AUTO_TRIM = 5,
CH7_ADC_FILTER = 6,
CH7_SAVE_WP = 7
}
public enum ac2ch6modes
{
// CH_6 Tuning
// -----------
CH6_NONE = 0,
// Attitude
CH6_STABILIZE_KP = 1,
CH6_STABILIZE_KI = 2,
CH6_YAW_KP = 3,
// Rate
CH6_RATE_KP = 4,
CH6_RATE_KI = 5,
CH6_RATE_KD = 21,
CH6_YAW_RATE_KP = 6,
// Altitude rate controller
CH6_THROTTLE_KP = 7,
// Extras
CH6_TOP_BOTTOM_RATIO = 8,
CH6_RELAY = 9,
CH6_TRAVERSE_SPEED = 10,
CH6_NAV_P = 11,
CH6_LOITER_P = 12,
CH6_HELI_EXTERNAL_GYRO = 13,
// altitude controller
CH6_THR_HOLD_KP = 14,
CH6_Z_GAIN = 15,
CH6_DAMP = 16,
// optical flow controller
CH6_OPTFLOW_KP = 17,
CH6_OPTFLOW_KI = 18,
CH6_OPTFLOW_KD = 19,
CH6_NAV_I = 20
}
public static void linearRegression() public static void linearRegression()
{ {
double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 }; double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 };
@ -352,9 +412,9 @@ namespace ArdupilotMega
double a = v1 / v2; double a = v1 / v2;
double b = yAvg - a * xAvg; double b = yAvg - a * xAvg;
Console.WriteLine("y = ax + b"); log.Debug("y = ax + b");
Console.WriteLine("a = {0}, the slope of the trend line.", Math.Round(a, 2)); log.DebugFormat("a = {0}, the slope of the trend line.", Math.Round(a, 2));
Console.WriteLine("b = {0}, the intercept of the trend line.", Math.Round(b, 2)); log.DebugFormat("b = {0}, the intercept of the trend line.", Math.Round(b, 2));
//Console.ReadLine(); //Console.ReadLine();
} }
@ -518,7 +578,7 @@ namespace ArdupilotMega
// Get the response. // Get the response.
WebResponse response = request.GetResponse(); WebResponse response = request.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Info(((HttpWebResponse)response).StatusDescription);
if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK) if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
return false; return false;
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
@ -536,7 +596,7 @@ namespace ArdupilotMega
while (dataStream.CanRead && bytes > 0) while (dataStream.CanRead && bytes > 0)
{ {
Application.DoEvents(); Application.DoEvents();
Console.WriteLine(saveto + " " + bytes); log.Info(saveto + " " + bytes);
int len = dataStream.Read(buf1, 0, buf1.Length); int len = dataStream.Read(buf1, 0, buf1.Length);
bytes -= len; bytes -= len;
fs.Write(buf1, 0, len); fs.Write(buf1, 0, len);
@ -551,7 +611,7 @@ namespace ArdupilotMega
return true; return true;
} }
catch (Exception ex) { Console.WriteLine("getFilefromNet(): " + ex.ToString()); return false; } catch (Exception ex) { log.Info("getFilefromNet(): " + ex.ToString()); return false; }
} }
public static Type getModes() public static Type getModes()

View File

@ -8,7 +8,13 @@ namespace ArdupilotMega
{ {
class SerialPort : System.IO.Ports.SerialPort,ICommsSerial class SerialPort : System.IO.Ports.SerialPort,ICommsSerial
{ {
public new void Open()
{
if (base.IsOpen)
return;
base.Open();
}
public void toggleDTR() public void toggleDTR()
{ {

View File

@ -1,16 +1,19 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Reflection;
using System.Text; using System.Text;
using System.IO.Ports; using System.IO.Ports;
using System.Threading; using System.Threading;
using System.Net; // dns, ip address using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner using System.Net.Sockets; // tcplistner
using log4net;
namespace System.IO.Ports namespace System.IO.Ports
{ {
public class TcpSerial : ArdupilotMega.ICommsSerial public class TcpSerial : ArdupilotMega.ICommsSerial
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
TcpClient client = new TcpClient(); TcpClient client = new TcpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0); IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0]; byte[] rbuffer = new byte[0];
@ -73,7 +76,7 @@ namespace System.IO.Ports
{ {
if (client.Client.Connected) if (client.Client.Connected)
{ {
Console.WriteLine("tcpserial socket already open"); log.Warn("tcpserial socket already open");
return; return;
} }
@ -186,7 +189,7 @@ namespace System.IO.Ports
VerifyConnected(); VerifyConnected();
int size = client.Available; int size = client.Available;
byte[] crap = new byte[size]; byte[] crap = new byte[size];
Console.WriteLine("TcpSerial DiscardInBuffer {0}",size); log.InfoFormat("TcpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size); Read(crap, 0, size);
} }

View File

@ -1,16 +1,14 @@
using System; using System.Reflection;
using System.Collections.Generic;
using System.ComponentModel;
using System.Text; using System.Text;
using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner using System.Net.Sockets; // tcplistner
using log4net;
namespace System.IO.Ports namespace System.IO.Ports
{ {
public class UdpSerial : ArdupilotMega.ICommsSerial public class UdpSerial : ArdupilotMega.ICommsSerial
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
UdpClient client = new UdpClient(); UdpClient client = new UdpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0); IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0]; byte[] rbuffer = new byte[0];
@ -73,7 +71,7 @@ namespace System.IO.Ports
{ {
if (client.Client.Connected) if (client.Client.Connected)
{ {
Console.WriteLine("udpserial socket already open"); log.Info("udpserial socket already open");
return; return;
} }
@ -97,12 +95,16 @@ namespace System.IO.Ports
try try
{ {
client.Receive(ref RemoteIpEndPoint); client.Receive(ref RemoteIpEndPoint);
Console.WriteLine("NetSerial connecting to {0} : {1}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port); log.InfoFormat("NetSerial connecting to {0} : {1}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port);
client.Connect(RemoteIpEndPoint); client.Connect(RemoteIpEndPoint);
} }
catch (Exception e) { catch (Exception e)
if (client != null && client.Client.Connected) { client.Close(); } {
Console.WriteLine(e.ToString()); if (client != null && client.Client.Connected)
{
client.Close();
}
log.Info(e.ToString());
System.Windows.Forms.MessageBox.Show("Please check your Firewall settings\nPlease try running this command\n1. Run the following command in an elevated command prompt to disable Windows Firewall temporarily:\n \nNetsh advfirewall set allprofiles state off\n \nNote: This is just for test; please turn it back on with the command 'Netsh advfirewall set allprofiles state on'.\n"); System.Windows.Forms.MessageBox.Show("Please check your Firewall settings\nPlease try running this command\n1. Run the following command in an elevated command prompt to disable Windows Firewall temporarily:\n \nNetsh advfirewall set allprofiles state off\n \nNote: This is just for test; please turn it back on with the command 'Netsh advfirewall set allprofiles state on'.\n");
throw new Exception("The socket/serialproxy is closed " + e); throw new Exception("The socket/serialproxy is closed " + e);
} }
@ -208,7 +210,7 @@ namespace System.IO.Ports
VerifyConnected(); VerifyConnected();
int size = client.Available; int size = client.Available;
byte[] crap = new byte[size]; byte[] crap = new byte[size];
Console.WriteLine("UdpSerial DiscardInBuffer {0}",size); log.InfoFormat("UdpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size); Read(crap, 0, size);
} }

View File

@ -1,13 +1,16 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Reflection;
using System.Text; using System.Text;
using System.ComponentModel; using System.ComponentModel;
using ArdupilotMega.Mavlink; using ArdupilotMega.Mavlink;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
public class CurrentState : ICloneable public class CurrentState : ICloneable
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
// multipliers // multipliers
public float multiplierdist = 1; public float multiplierdist = 1;
public float multiplierspeed = 1; public float multiplierspeed = 1;
@ -858,7 +861,7 @@ namespace ArdupilotMega
//Console.WriteLine(DateTime.Now.Millisecond + " done "); //Console.WriteLine(DateTime.Now.Millisecond + " done ");
} }
} }
catch { Console.WriteLine("CurrentState Binding error"); } catch { log.InfoFormat("CurrentState Binding error"); }
} }
public object Clone() public object Clone()

View File

@ -30,8 +30,8 @@
{ {
this.components = new System.ComponentModel.Container(); this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration)); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
this.Params = new System.Windows.Forms.DataGridView(); this.Params = new System.Windows.Forms.DataGridView();
this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@ -141,6 +141,8 @@
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown(); this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label(); this.label52 = new System.Windows.Forms.Label();
this.TabAC = new System.Windows.Forms.TabPage(); this.TabAC = new System.Windows.Forms.TabPage();
this.TUNE_LOW = new System.Windows.Forms.NumericUpDown();
this.TUNE_HIGH = new System.Windows.Forms.NumericUpDown();
this.myLabel2 = new ArdupilotMega.MyLabel(); this.myLabel2 = new ArdupilotMega.MyLabel();
this.TUNE = new System.Windows.Forms.ComboBox(); this.TUNE = new System.Windows.Forms.ComboBox();
this.myLabel1 = new ArdupilotMega.MyLabel(); this.myLabel1 = new ArdupilotMega.MyLabel();
@ -345,6 +347,8 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_I)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).BeginInit();
this.TabAC.SuspendLayout(); this.TabAC.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).BeginInit();
this.groupBox5.SuspendLayout(); this.groupBox5.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).BeginInit();
@ -403,14 +407,14 @@
this.Params.AllowUserToAddRows = false; this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false; this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params"); resources.ApplyResources(this.Params, "Params");
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon; dataGridViewCellStyle3.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White; dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True; dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1; this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle3;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command, this.Command,
@ -419,14 +423,14 @@
this.mavScale, this.mavScale,
this.RawValue}); this.RawValue});
this.Params.Name = "Params"; this.Params.Name = "Params";
dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption; dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText; dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True; dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2; this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle4;
this.Params.RowHeadersVisible = false; this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged); this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
// //
@ -1087,6 +1091,8 @@
// //
// TabAC // TabAC
// //
this.TabAC.Controls.Add(this.TUNE_LOW);
this.TabAC.Controls.Add(this.TUNE_HIGH);
this.TabAC.Controls.Add(this.myLabel2); this.TabAC.Controls.Add(this.myLabel2);
this.TabAC.Controls.Add(this.TUNE); this.TabAC.Controls.Add(this.TUNE);
this.TabAC.Controls.Add(this.myLabel1); this.TabAC.Controls.Add(this.myLabel1);
@ -1106,6 +1112,16 @@
resources.ApplyResources(this.TabAC, "TabAC"); resources.ApplyResources(this.TabAC, "TabAC");
this.TabAC.Name = "TabAC"; this.TabAC.Name = "TabAC";
// //
// TUNE_LOW
//
resources.ApplyResources(this.TUNE_LOW, "TUNE_LOW");
this.TUNE_LOW.Name = "TUNE_LOW";
//
// TUNE_HIGH
//
resources.ApplyResources(this.TUNE_HIGH, "TUNE_HIGH");
this.TUNE_HIGH.Name = "TUNE_HIGH";
//
// myLabel2 // myLabel2
// //
resources.ApplyResources(this.myLabel2, "myLabel2"); resources.ApplyResources(this.myLabel2, "myLabel2");
@ -1138,7 +1154,8 @@
resources.GetString("TUNE.Items17"), resources.GetString("TUNE.Items17"),
resources.GetString("TUNE.Items18"), resources.GetString("TUNE.Items18"),
resources.GetString("TUNE.Items19"), resources.GetString("TUNE.Items19"),
resources.GetString("TUNE.Items20")}); resources.GetString("TUNE.Items20"),
resources.GetString("TUNE.Items21")});
resources.ApplyResources(this.TUNE, "TUNE"); resources.ApplyResources(this.TUNE, "TUNE");
this.TUNE.Name = "TUNE"; this.TUNE.Name = "TUNE";
// //
@ -2190,6 +2207,8 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).EndInit();
this.TabAC.ResumeLayout(false); this.TabAC.ResumeLayout(false);
this.TabAC.PerformLayout(); this.TabAC.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).EndInit();
this.groupBox5.ResumeLayout(false); this.groupBox5.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).EndInit();
@ -2500,5 +2519,7 @@
private System.Windows.Forms.Label label29; private System.Windows.Forms.Label label29;
private System.Windows.Forms.NumericUpDown STAB_D; private System.Windows.Forms.NumericUpDown STAB_D;
private System.Windows.Forms.Label lblSTAB_D; private System.Windows.Forms.Label lblSTAB_D;
private System.Windows.Forms.NumericUpDown TUNE_LOW;
private System.Windows.Forms.NumericUpDown TUNE_HIGH;
} }
} }

View File

@ -164,6 +164,10 @@ namespace ArdupilotMega.GCSViews
// set distance/speed unit states // set distance/speed unit states
CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances)); CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds)); 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) if (MainV2.config["distunits"] != null)
CMB_distunits.Text = MainV2.config["distunits"].ToString(); CMB_distunits.Text = MainV2.config["distunits"].ToString();
if (MainV2.config["speedunits"] != null) if (MainV2.config["speedunits"] != null)
@ -180,13 +184,13 @@ namespace ArdupilotMega.GCSViews
CMB_language.DisplayMember = "DisplayName"; CMB_language.DisplayMember = "DisplayName";
CMB_language.DataSource = languages; CMB_language.DataSource = languages;
ci = Thread.CurrentThread.CurrentUICulture; ci = Thread.CurrentThread.CurrentUICulture;
for (int i = 0; i < languages.Count; i++) for (int i = 0; i < languages.Count; i++)
{
if (ci.IsChildOf(languages[i]))
{ {
CMB_language.SelectedIndex = i; if (ci.IsChildOf(languages[i]))
break; {
CMB_language.SelectedIndex = i;
break;
} }
} }
CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged; CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
@ -231,7 +235,9 @@ namespace ArdupilotMega.GCSViews
string data = resources.GetString("MAVParam"); string data = resources.GetString("MAVParam");
if (data == null) if (data == null)
return; {
data = global::ArdupilotMega.Properties.Resources.MAVParam;
}
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries); string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
@ -549,23 +555,23 @@ namespace ArdupilotMega.GCSViews
if (text.Length > 0) if (text.Length > 0)
{ {
if (text[0].GetType() == typeof(NumericUpDown)) if (text[0].GetType() == typeof(NumericUpDown))
{ {
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((NumericUpDown)text[0]).Value = option; ((NumericUpDown)text[0]).Value = option;
((NumericUpDown)text[0]).BackColor = Color.Green; ((NumericUpDown)text[0]).BackColor = Color.Green;
} }
else if (text[0].GetType() == typeof(ComboBox)) else if (text[0].GetType() == typeof(ComboBox))
{ {
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((ComboBox)text[0]).SelectedIndex = option; ((ComboBox)text[0]).SelectedIndex = option;
((ComboBox)text[0]).BackColor = Color.Green; ((ComboBox)text[0]).BackColor = Color.Green;
} }
} }
} }
catch { ((Control)text[0]).BackColor = Color.Red; } catch { ((Control)text[0]).BackColor = Color.Red; }
Params.Focus(); Params.Focus();
} }
private void BUT_load_Click(object sender, EventArgs e) private void BUT_load_Click(object sender, EventArgs e)
{ {
@ -593,12 +599,12 @@ namespace ArdupilotMega.GCSViews
continue; continue;
if (index2 != -1) if (index2 != -1)
line = line.Replace(',', '.'); line = line.Replace(',','.');
string name = line.Substring(0, index); string name = line.Substring(0, index);
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US")); 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 // set param table as well
foreach (DataGridViewRow row in Params.Rows) foreach (DataGridViewRow row in Params.Rows)
@ -753,6 +759,8 @@ namespace ArdupilotMega.GCSViews
MainV2.cam.Start(); MainV2.cam.Start();
MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
BUT_videostart.Enabled = false; BUT_videostart.Enabled = false;
} }
catch (Exception ex) { MessageBox.Show("Camera Fail: " + ex.Message); } catch (Exception ex) { MessageBox.Show("Camera Fail: " + ex.Message); }
@ -807,10 +815,9 @@ namespace ArdupilotMega.GCSViews
{ {
DsError.ThrowExceptionForHR(hr); DsError.ThrowExceptionForHR(hr);
} }
catch (Exception ex) catch (Exception ex) {
{ MessageBox.Show("Can not add video source\n" + ex.ToString());
MessageBox.Show("Can not add video source\n" + ex.ToString()); return;
return;
} }
// Find the stream config interface // Find the stream config interface
@ -839,6 +846,11 @@ namespace ArdupilotMega.GCSViews
DsUtils.FreeAMMediaType(media); DsUtils.FreeAMMediaType(media);
CMB_videoresolutions.DataSource = modes; CMB_videoresolutions.DataSource = modes;
if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
{
CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
}
} }
private void CHK_hudshow_CheckedChanged(object sender, EventArgs e) private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
@ -935,7 +947,7 @@ namespace ArdupilotMega.GCSViews
} }
catch { MessageBox.Show("Error: getting param list"); } catch { MessageBox.Show("Error: getting param list"); }

File diff suppressed because it is too large Load Diff

View File

@ -1,28 +1,24 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.Reflection;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms; using System.Windows.Forms;
using System.Text.RegularExpressions;
using System.IO.Ports; using System.IO.Ports;
using System.IO; using System.IO;
using System.Runtime.InteropServices;
using System.Xml; using System.Xml;
using System.Net; using System.Net;
using log4net;
namespace ArdupilotMega.GCSViews namespace ArdupilotMega.GCSViews
{ {
partial class Firmware : MyUserControl partial class Firmware : MyUserControl
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
protected override bool ProcessCmdKey(ref Message msg, Keys keyData) protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{ {
if (keyData == (Keys.Control | Keys.C)) if (keyData == (Keys.Control | Keys.C))
{ {
OpenFileDialog fd = new OpenFileDialog(); var fd = new OpenFileDialog {Filter = "Firmware (*.hex)|*.hex"};
fd.Filter = "Firmware (*.hex)|*.hex";
fd.ShowDialog(); fd.ShowDialog();
if (File.Exists(fd.FileName)) if (File.Exists(fd.FileName))
{ {
@ -69,7 +65,7 @@ namespace ArdupilotMega.GCSViews
internal void Firmware_Load(object sender, EventArgs e) internal void Firmware_Load(object sender, EventArgs e)
{ {
Console.WriteLine("FW load"); log.Info("FW load");
string url = ""; string url = "";
string url2560 = ""; string url2560 = "";
@ -141,11 +137,14 @@ namespace ArdupilotMega.GCSViews
} }
} }
List<string> list = new List<string>();
} }
catch (Exception ex) { MessageBox.Show("Failed to get Firmware List : " + ex.Message); } catch (Exception ex)
Console.WriteLine("FW load done"); {
MessageBox.Show("Failed to get Firmware List : " + ex.Message);
}
log.Info("FW load done");
} }
void updateDisplayName(software temp) void updateDisplayName(software temp)
@ -192,7 +191,7 @@ namespace ArdupilotMega.GCSViews
} }
else else
{ {
Console.WriteLine("No Home " + temp.name + " " + temp.url); log.Info("No Home " + temp.name + " " + temp.url);
} }
} }
@ -354,7 +353,7 @@ namespace ArdupilotMega.GCSViews
Console.WriteLine("Detected a " + board); log.Info("Detected a " + board);
string baseurl = ""; string baseurl = "";
if (board == "2560") if (board == "2560")
@ -375,7 +374,7 @@ namespace ArdupilotMega.GCSViews
return; return;
} }
Console.WriteLine("Using " + baseurl); log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post. // Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl); WebRequest request = WebRequest.Create(baseurl);
@ -387,7 +386,7 @@ namespace ArdupilotMega.GCSViews
// Get the response. // Get the response.
WebResponse response = request.GetResponse(); WebResponse response = request.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
dataStream = response.GetResponseStream(); dataStream = response.GetResponseStream();
@ -425,7 +424,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100; progress.Value = 100;
this.Refresh(); this.Refresh();
Console.WriteLine("Downloaded"); log.Info("Downloaded");
} }
catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.ToString()); return; } catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.ToString()); return; }
@ -443,9 +442,18 @@ namespace ArdupilotMega.GCSViews
sr = new StreamReader(filename); sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr); FLASH = readIntelHEXv2(sr);
sr.Close(); sr.Close();
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length); log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex)
{
if (sr != null)
{
sr.Dispose();
}
lbl_status.Text = "Failed read HEX";
MessageBox.Show("Failed to read firmware.hex : " + ex.Message);
return;
} }
catch (Exception ex) { if (sr != null) { sr.Dispose(); } lbl_status.Text = "Failed read HEX"; MessageBox.Show("Failed to read firmware.hex : " + ex.Message); return; }
ArduinoComms port = new ArduinoSTK(); ArduinoComms port = new ArduinoSTK();
if (board == "1280") if (board == "1280")
@ -460,8 +468,10 @@ namespace ArdupilotMega.GCSViews
} }
else if (board == "2560" || board == "2560-2") else if (board == "2560" || board == "2560-2")
{ {
port = new ArduinoSTKv2(); port = new ArduinoSTKv2
port.BaudRate = 115200; {
BaudRate = 115200
};
} }
port.DataBits = 8; port.DataBits = 8;
port.StopBits = StopBits.One; port.StopBits = StopBits.One;
@ -478,7 +488,7 @@ namespace ArdupilotMega.GCSViews
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("starting"); log.Info("starting");
lbl_status.Text = "Uploading " + FLASH.Length + " bytes to APM"; lbl_status.Text = "Uploading " + FLASH.Length + " bytes to APM";
progress.Value = 0; progress.Value = 0;
this.Refresh(); this.Refresh();
@ -486,7 +496,7 @@ namespace ArdupilotMega.GCSViews
// this is enough to make ap_var reset // this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0); //port.upload(new byte[256], 0, 2, 0);
port.Progress += new ProgressEventHandler(port_Progress); port.Progress += port_Progress;
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0)) if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{ {
@ -500,7 +510,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100; progress.Value = 100;
Console.WriteLine("Uploaded"); log.Info("Uploaded");
this.Refresh(); this.Refresh();
@ -518,7 +528,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = (int)((start / (float)FLASH.Length) * 100); progress.Value = (int)((start / (float)FLASH.Length) * 100);
progress.Refresh(); progress.Refresh();
port.setaddress(start); port.setaddress(start);
Console.WriteLine("Downloading " + length + " at " + start); log.Info("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start); port.downloadflash(length).CopyTo(flashverify, start);
start += length; start += length;
} }
@ -575,14 +585,19 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100; progress.Value = 100;
lbl_status.Text = "Done"; lbl_status.Text = "Done";
} }
catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); } catch (Exception ex)
{
lbl_status.Text = "Failed upload";
MessageBox.Show("Check port settings or Port in use? " + ex);
port.Close();
}
flashing = false; flashing = false;
MainV2.givecomport = false; MainV2.givecomport = false;
} }
void port_Progress(int progress,string status) void port_Progress(int progress,string status)
{ {
Console.WriteLine("Progress {0} ", progress); log.InfoFormat("Progress {0} ", progress);
this.progress.Value = progress; this.progress.Value = progress;
this.progress.Refresh(); this.progress.Refresh();
} }
@ -607,7 +622,7 @@ namespace ArdupilotMega.GCSViews
int length = Convert.ToInt32(line.Substring(1, 2), 16); int length = Convert.ToInt32(line.Substring(1, 2), 16);
int address = Convert.ToInt32(line.Substring(3, 4), 16); int address = Convert.ToInt32(line.Substring(3, 4), 16);
int option = Convert.ToInt32(line.Substring(7, 2), 16); int option = Convert.ToInt32(line.Substring(7, 2), 16);
Console.WriteLine("len {0} add {1} opt {2}", length, address, option); log.InfoFormat("len {0} add {1} opt {2}", length, address, option);
if (option == 0) if (option == 0)
{ {

View File

@ -55,7 +55,7 @@
this.zg1 = new ZedGraph.ZedGraphControl(); this.zg1 = new ZedGraph.ZedGraphControl();
this.lbl_winddir = new ArdupilotMega.MyLabel(); this.lbl_winddir = new ArdupilotMega.MyLabel();
this.lbl_windvel = new ArdupilotMega.MyLabel(); this.lbl_windvel = new ArdupilotMega.MyLabel();
this.gMapControl1 = new myGMAP(); this.gMapControl1 = new ArdupilotMega.myGMAP();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.TXT_lat = new ArdupilotMega.MyLabel(); this.TXT_lat = new ArdupilotMega.MyLabel();
this.Zoomlevel = new System.Windows.Forms.NumericUpDown(); this.Zoomlevel = new System.Windows.Forms.NumericUpDown();

View File

@ -75,12 +75,14 @@ namespace ArdupilotMega.GCSViews
public static GMapControl mymap = null; public static GMapControl mymap = null;
PointLatLngAlt GuidedModeWP = new PointLatLngAlt(); public static PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
AviWriter aviwriter; AviWriter aviwriter;
public SplitContainer MainHcopy = null; public SplitContainer MainHcopy = null;
public static FlightData instance;
protected override void Dispose(bool disposing) protected override void Dispose(bool disposing)
{ {
threadrun = 0; threadrun = 0;
@ -94,6 +96,8 @@ namespace ArdupilotMega.GCSViews
{ {
InitializeComponent(); InitializeComponent();
instance = this;
mymap = gMapControl1; mymap = gMapControl1;
myhud = hud1; myhud = hud1;
MainHcopy = MainH; MainHcopy = MainH;
@ -1013,11 +1017,27 @@ namespace ArdupilotMega.GCSViews
if (MainV2.comPort.logreadmode) if (MainV2.comPort.logreadmode)
{ {
MainV2.comPort.logreadmode = false; MainV2.comPort.logreadmode = false;
ZedGraphTimer.Stop();
} }
else else
{ {
BUT_clear_track_Click(sender, e); BUT_clear_track_Click(sender, e);
MainV2.comPort.logreadmode = true; MainV2.comPort.logreadmode = true;
list1.Clear();
list2.Clear();
list3.Clear();
list4.Clear();
list5.Clear();
list6.Clear();
list7.Clear();
list8.Clear();
list9.Clear();
list10.Clear();
tickStart = Environment.TickCount;
zg1.GraphPane.XAxis.Scale.Min = 0;
zg1.GraphPane.XAxis.Scale.Max = 1;
ZedGraphTimer.Start();
} }
} }

View File

@ -1391,7 +1391,7 @@
<value>gMapControl1</value> <value>gMapControl1</value>
</data> </data>
<data name="&gt;&gt;gMapControl1.Type" xml:space="preserve"> <data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
<value>GMap.NET.WindowsForms.GMapControl, GMap.NET.WindowsForms, Version=1.5.5.5, Culture=neutral, PublicKeyToken=b85b9027b614afef</value> <value>ArdupilotMega.myGMAP, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data> </data>
<data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve"> <data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value> <value>splitContainer1.Panel2</value>

View File

@ -18,6 +18,7 @@ using System.Resources;
using System.Reflection; using System.Reflection;
using System.ComponentModel; using System.ComponentModel;
using System.Threading; using System.Threading;
using log4net;
using SharpKml.Base; using SharpKml.Base;
using SharpKml.Dom; using SharpKml.Dom;
@ -27,6 +28,7 @@ namespace ArdupilotMega.GCSViews
{ {
partial class FlightPlanner : MyUserControl partial class FlightPlanner : MyUserControl
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
int selectedrow = 0; int selectedrow = 0;
bool quickadd = false; bool quickadd = false;
bool isonline = true; bool isonline = true;
@ -598,7 +600,7 @@ namespace ArdupilotMega.GCSViews
void Commands_DataError(object sender, DataGridViewDataErrorEventArgs e) void Commands_DataError(object sender, DataGridViewDataErrorEventArgs e)
{ {
Console.WriteLine(e.Exception.ToString() + " " + e.Context + " col " + e.ColumnIndex); log.Info(e.Exception.ToString() + " " + e.Context + " col " + e.ColumnIndex);
e.Cancel = false; e.Cancel = false;
e.ThrowException = false; e.ThrowException = false;
//throw new NotImplementedException(); //throw new NotImplementedException();
@ -700,7 +702,7 @@ namespace ArdupilotMega.GCSViews
{ {
try try
{ {
Console.WriteLine(Element.ToString() + " " + Element.Parent); log.Info(Element.ToString() + " " + Element.Parent);
} }
catch { } catch { }
@ -924,7 +926,7 @@ namespace ArdupilotMega.GCSViews
drawnpolygons.Markers.Add(m); drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders); drawnpolygons.Markers.Add(mBorders);
} }
catch (Exception ex) { Console.WriteLine(ex.ToString()); } catch (Exception ex) { log.Info(ex.ToString()); }
} }
/// <summary> /// <summary>
@ -1052,7 +1054,7 @@ namespace ArdupilotMega.GCSViews
System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp()); System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp());
} }
} }
catch (Exception e) { Console.WriteLine("writekml - bad wp data " + e.ToString()); } catch (Exception e) { log.Info("writekml - bad wp data " + e.ToString()); }
} }
if (usable > 0) if (usable > 0)
@ -1128,7 +1130,7 @@ namespace ArdupilotMega.GCSViews
} }
catch (Exception ex) catch (Exception ex)
{ {
Console.WriteLine(ex.ToString()); log.Info(ex.ToString());
} }
System.Diagnostics.Debug.WriteLine(DateTime.Now); System.Diagnostics.Debug.WriteLine(DateTime.Now);
@ -1213,18 +1215,18 @@ namespace ArdupilotMega.GCSViews
param = port.param; param = port.param;
Console.WriteLine("Getting WP #"); log.Info("Getting WP #");
int cmdcount = port.getWPCount(); int cmdcount = port.getWPCount();
for (ushort a = 0; a < cmdcount; a++) for (ushort a = 0; a < cmdcount; a++)
{ {
Console.WriteLine("Getting WP" + a); log.Info("Getting WP" + a);
cmds.Add(port.getWP(a)); cmds.Add(port.getWP(a));
} }
port.setWPACK(); port.setWPACK();
Console.WriteLine("Done"); log.Info("Done");
} }
catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); } catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); }
try try
@ -1237,7 +1239,7 @@ namespace ArdupilotMega.GCSViews
{ {
processToScreen(cmds); processToScreen(cmds);
} }
catch (Exception exx) { Console.WriteLine(exx.ToString()); } catch (Exception exx) { log.Info(exx.ToString()); }
} }
MainV2.givecomport = false; MainV2.givecomport = false;
@ -1248,7 +1250,7 @@ namespace ArdupilotMega.GCSViews
}); });
} }
catch (Exception exx) { Console.WriteLine(exx.ToString()); } catch (Exception exx) { log.Info(exx.ToString()); }
}); });
t12.IsBackground = true; t12.IsBackground = true;
t12.Name = "Read wps"; t12.Name = "Read wps";
@ -2523,7 +2525,7 @@ namespace ArdupilotMega.GCSViews
double x = bottomleft.Lat - Math.Abs(fulllatdiff); double x = bottomleft.Lat - Math.Abs(fulllatdiff);
double y = bottomleft.Lng - Math.Abs(fulllngdiff); double y = bottomleft.Lng - Math.Abs(fulllngdiff);
Console.WriteLine("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng)); log.InfoFormat("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
while (x < (topright.Lat + Math.Abs(fulllatdiff)) && y < (topright.Lng + Math.Abs(fulllngdiff))) while (x < (topright.Lat + Math.Abs(fulllatdiff)) && y < (topright.Lng + Math.Abs(fulllngdiff)))
{ {

View File

@ -24,7 +24,7 @@ namespace ArdupilotMega.GCSViews
public void BUT_updatecheck_Click(object sender, EventArgs e) public void BUT_updatecheck_Click(object sender, EventArgs e)
{ {
MainV2.doupdate(); MainV2.DoUpdate();
} }
private void CHK_showconsole_CheckedChanged(object sender, EventArgs e) private void CHK_showconsole_CheckedChanged(object sender, EventArgs e)

View File

@ -9,6 +9,7 @@ using System.IO.Ports;
using System.IO; using System.IO;
using System.Xml; // config file using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports using System.Runtime.InteropServices; // dll imports
using log4net;
using ZedGraph; // Graphs using ZedGraph; // Graphs
using ArdupilotMega; using ArdupilotMega;
using ArdupilotMega.Mavlink; using ArdupilotMega.Mavlink;
@ -21,6 +22,7 @@ namespace ArdupilotMega.GCSViews
{ {
public partial class Simulation : MyUserControl public partial class Simulation : MyUserControl
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
MAVLink comPort = MainV2.comPort; MAVLink comPort = MainV2.comPort;
UdpClient XplanesSEND; UdpClient XplanesSEND;
UdpClient MavLink; UdpClient MavLink;
@ -570,7 +572,6 @@ namespace ArdupilotMega.GCSViews
// re-request servo data // re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now)) if (!(lastdata.AddSeconds(8) > DateTime.Now))
{ {
Console.WriteLine("REQ streams - sim");
try try
{ {
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked) if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
@ -610,12 +611,6 @@ namespace ArdupilotMega.GCSViews
{ {
Byte[] receiveBytes = MavLink.Receive(ref RemoteIpEndPoint); Byte[] receiveBytes = MavLink.Receive(ref RemoteIpEndPoint);
Console.WriteLine("sending " + receiveBytes[5]);
if (receiveBytes[5] == 39)
{
Console.WriteLine("wp no " + receiveBytes[9]); // ??
}
comPort.BaseStream.Write(receiveBytes, 0, receiveBytes.Length); comPort.BaseStream.Write(receiveBytes, 0, receiveBytes.Length);
} }
@ -633,7 +628,7 @@ namespace ArdupilotMega.GCSViews
processArduPilot(); processArduPilot();
} }
} }
catch (Exception ex) { Console.WriteLine("SIM Main loop exception " + ex.ToString()); } catch (Exception ex) { log.Info("SIM Main loop exception " + ex.ToString()); }
if (hzcounttime.Second != DateTime.Now.Second) if (hzcounttime.Second != DateTime.Now.Second)
{ {
@ -689,7 +684,7 @@ namespace ArdupilotMega.GCSViews
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("resume\r\n")); JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("resume\r\n"));
} }
catch { Console.WriteLine("JSB console fail"); } catch { log.Info("JSB console fail"); }
} }
private void SetupUDPXplanes() private void SetupUDPXplanes()
@ -1348,7 +1343,7 @@ namespace ArdupilotMega.GCSViews
quad.update(ref m, lastfdmdata); quad.update(ref m, lastfdmdata);
} }
catch (Exception e) { Console.WriteLine("Quad hill error " + e.ToString()); } catch (Exception e) { log.Info("Quad hill error " + e.ToString()); }
byte[] FlightGear = new byte[8 * 11];// StructureToByteArray(fg); byte[] FlightGear = new byte[8 * 11];// StructureToByteArray(fg);
@ -1385,7 +1380,7 @@ namespace ArdupilotMega.GCSViews
{ {
XplanesSEND.Send(FlightGear, FlightGear.Length); XplanesSEND.Send(FlightGear, FlightGear.Length);
} }
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); } catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]); updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
@ -1491,7 +1486,7 @@ namespace ArdupilotMega.GCSViews
} }
} }
} }
catch (Exception e) { Console.WriteLine("Error updateing screen stuff " + e.ToString()); } catch (Exception e) { log.Info("Error updateing screen stuff " + e.ToString()); }
packetssent++; packetssent++;
@ -1580,7 +1575,7 @@ namespace ArdupilotMega.GCSViews
{ {
XplanesSEND.Send(FlightGear, FlightGear.Length); XplanesSEND.Send(FlightGear, FlightGear.Length);
} }
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); } catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
} }
@ -1661,7 +1656,7 @@ namespace ArdupilotMega.GCSViews
XplanesSEND.Send(Xplane, Xplane.Length); XplanesSEND.Send(Xplane, Xplane.Length);
} }
catch (Exception e) { Console.WriteLine("Xplanes udp send error " + e.Message); } catch (Exception e) { log.Info("Xplanes udp send error " + e.Message); }
} }
} }

View File

@ -1,7 +1,9 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Reflection;
using System.Text; using System.Text;
using log4net;
using YLScsDrawing.Drawing3d; using YLScsDrawing.Drawing3d;
using ArdupilotMega.HIL; using ArdupilotMega.HIL;
@ -101,6 +103,7 @@ namespace ArdupilotMega.HIL
public class QuadCopter : Aircraft public class QuadCopter : Aircraft
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
QuadCopter self; QuadCopter self;
int framecount = 0; int framecount = 0;

View File

@ -11,7 +11,7 @@ using System.Drawing.Imaging;
using System.Threading; using System.Threading;
using System.Drawing.Drawing2D; using System.Drawing.Drawing2D;
using log4net;
using OpenTK; using OpenTK;
using OpenTK.Graphics.OpenGL; using OpenTK.Graphics.OpenGL;
using OpenTK.Graphics; using OpenTK.Graphics;
@ -24,6 +24,8 @@ namespace hud
{ {
public class HUD : GLControl public class HUD : GLControl
{ {
private static readonly ILog log = LogManager.GetLogger(
System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
object paintlock = new object(); object paintlock = new object();
object streamlock = new object(); object streamlock = new object();
MemoryStream _streamjpg = new MemoryStream(); MemoryStream _streamjpg = new MemoryStream();
@ -189,10 +191,10 @@ namespace hud
{ {
GraphicsMode test = this.GraphicsMode; GraphicsMode test = this.GraphicsMode;
Console.WriteLine(test.ToString()); log.Info(test.ToString());
Console.WriteLine("Vendor: " + GL.GetString(StringName.Vendor)); log.Info("Vendor: " + GL.GetString(StringName.Vendor));
Console.WriteLine("Version: " + GL.GetString(StringName.Version)); log.Info("Version: " + GL.GetString(StringName.Version));
Console.WriteLine("Device: " + GL.GetString(StringName.Renderer)); log.Info("Device: " + GL.GetString(StringName.Renderer));
//Console.WriteLine("Extensions: " + GL.GetString(StringName.Extensions)); //Console.WriteLine("Extensions: " + GL.GetString(StringName.Extensions));
int[] viewPort = new int[4]; int[] viewPort = new int[4];
@ -212,7 +214,7 @@ namespace hud
GL.Enable(EnableCap.Blend); GL.Enable(EnableCap.Blend);
} }
catch (Exception ex) { Console.WriteLine("HUD opengl onload " + ex.ToString()); } catch (Exception ex) { log.Info("HUD opengl onload " + ex.ToString()); }
try try
{ {
@ -266,7 +268,7 @@ namespace hud
if (inOnPaint) if (inOnPaint)
{ {
Console.WriteLine("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread); log.Info("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
return; return;
} }
@ -295,7 +297,7 @@ namespace hud
} }
} }
catch (Exception ex) { Console.WriteLine(ex.ToString()); } catch (Exception ex) { log.Info(ex.ToString()); }
inOnPaint = false; inOnPaint = false;
@ -1323,7 +1325,7 @@ namespace hud
} }
catch (Exception ex) catch (Exception ex)
{ {
Console.WriteLine("hud error "+ex.ToString()); log.Info("hud error "+ex.ToString());
} }
} }
@ -1531,7 +1533,7 @@ namespace hud
base.OnHandleCreated(e); base.OnHandleCreated(e);
} }
} }
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; } // macs fail here catch (Exception ex) { log.Info(ex.ToString()); opengl = false; } // macs fail here
} }
protected override void OnHandleDestroyed(EventArgs e) protected override void OnHandleDestroyed(EventArgs e)
@ -1543,7 +1545,7 @@ namespace hud
base.OnHandleDestroyed(e); base.OnHandleDestroyed(e);
} }
} }
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; } catch (Exception ex) { log.Info(ex.ToString()); opengl = false; }
} }
protected override void OnResize(EventArgs e) protected override void OnResize(EventArgs e)

View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Collections; using System.Collections;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using log4net;
using Microsoft.DirectX.DirectInput; using Microsoft.DirectX.DirectInput;
using System.Reflection; using System.Reflection;
@ -10,6 +11,7 @@ namespace ArdupilotMega
{ {
public class Joystick public class Joystick
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
Device joystick; Device joystick;
JoystickState state; JoystickState state;
public bool enabled = false; public bool enabled = false;
@ -148,12 +150,12 @@ namespace ArdupilotMega
{ {
//Console.WriteLine("Name: " + property.Name + ", Value: " + property.GetValue(obj, null)); //Console.WriteLine("Name: " + property.Name + ", Value: " + property.GetValue(obj, null));
Console.WriteLine("test name {0} old {1} new {2} ", property.Name, values[property.Name], int.Parse(property.GetValue(nextstate, null).ToString())); log.InfoFormat("test name {0} old {1} new {2} ", property.Name, values[property.Name], int.Parse(property.GetValue(nextstate, null).ToString()));
Console.WriteLine("{0} {1}", (int)values[property.Name], (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold)); log.InfoFormat("{0} {1}", (int)values[property.Name], (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold));
if ((int)values[property.Name] > (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold) || if ((int)values[property.Name] > (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold) ||
(int)values[property.Name] < (int.Parse(property.GetValue(nextstate, null).ToString()) - threshold)) (int)values[property.Name] < (int.Parse(property.GetValue(nextstate, null).ToString()) - threshold))
{ {
Console.WriteLine("{0}", property.Name); log.Info(property.Name);
joystick.Unacquire(); joystick.Unacquire();
return (joystickaxis)Enum.Parse(typeof(joystickaxis), property.Name); return (joystickaxis)Enum.Parse(typeof(joystickaxis), property.Name);
} }
@ -337,7 +339,7 @@ namespace ArdupilotMega
//Console.WriteLine("{0} {1} {2} {3}", MainV2.cs.rcoverridech1, MainV2.cs.rcoverridech2, MainV2.cs.rcoverridech3, MainV2.cs.rcoverridech4); //Console.WriteLine("{0} {1} {2} {3}", MainV2.cs.rcoverridech1, MainV2.cs.rcoverridech2, MainV2.cs.rcoverridech3, MainV2.cs.rcoverridech4);
} }
catch (Exception ex) { Console.WriteLine("Joystick thread error "+ex.ToString()); } // so we cant fall out catch (Exception ex) { log.Info("Joystick thread error "+ex.ToString()); } // so we cant fall out
} }
} }
@ -484,7 +486,7 @@ namespace ArdupilotMega
state = joystick.CurrentJoystickState; state = joystick.CurrentJoystickState;
ushort ans = pickchannel(channel, JoyChannels[channel].axis, JoyChannels[channel].reverse, JoyChannels[channel].expo); ushort ans = pickchannel(channel, JoyChannels[channel].axis, JoyChannels[channel].reverse, JoyChannels[channel].expo);
Console.WriteLine("{0} = {1} = {2}",channel,ans, state.X); log.DebugFormat("{0} = {1} = {2}",channel,ans, state.X);
return ans; return ans;
} }

View File

@ -0,0 +1,64 @@
//this file contains some simple extension methods
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Globalization;
using System.ComponentModel;
using System.Windows.Forms;
namespace ArdupilotMega
{
static class CultureInfoEx
{
public static CultureInfo GetCultureInfo(string name)
{
try { return new CultureInfo(name); }
catch (Exception) { return null; }
}
public static bool IsChildOf(this CultureInfo cX, CultureInfo cY)
{
if (cX == null || cY == null)
return false;
CultureInfo c = cX;
while (!c.Equals(CultureInfo.InvariantCulture))
{
if (c.Equals(cY))
return true;
c = c.Parent;
}
return false;
}
}
static class ComponentResourceManagerEx
{
public static void ApplyResource(this ComponentResourceManager rm, Control ctrl)
{
rm.ApplyResources(ctrl, ctrl.Name);
foreach (Control subctrl in ctrl.Controls)
ApplyResource(rm, subctrl);
if (ctrl.ContextMenu != null)
ApplyResource(rm, ctrl.ContextMenu);
if (ctrl is DataGridView)
{
foreach (DataGridViewColumn col in (ctrl as DataGridView).Columns)
rm.ApplyResources(col, col.Name);
}
}
public static void ApplyResource(this ComponentResourceManager rm, Menu menu)
{
rm.ApplyResources(menu, menu.Name);
foreach (MenuItem submenu in menu.MenuItems)
ApplyResource(rm, submenu);
}
}
}

View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
using System.Drawing; using System.Drawing;
using System.Reflection;
using System.Text; using System.Text;
using System.Windows.Forms; using System.Windows.Forms;
using System.IO.Ports; using System.IO.Ports;
@ -15,16 +16,17 @@ using Core.Geometry;
using ICSharpCode.SharpZipLib.Zip; using ICSharpCode.SharpZipLib.Zip;
using ICSharpCode.SharpZipLib.Checksums; using ICSharpCode.SharpZipLib.Checksums;
using ICSharpCode.SharpZipLib.Core; using ICSharpCode.SharpZipLib.Core;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
public partial class Log : Form public partial class Log : Form
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
ICommsSerial comPort; ICommsSerial comPort;
int logcount = 0; int logcount = 0;
serialstatus status = serialstatus.Connecting; serialstatus status = serialstatus.Connecting;
byte[] buffer = new byte[4000];
StreamWriter sw; StreamWriter sw;
int currentlog = 0; int currentlog = 0;
bool threadrun = true; bool threadrun = true;
@ -72,14 +74,15 @@ namespace ArdupilotMega
comPort.toggleDTR(); comPort.toggleDTR();
//comPort.Open(); //comPort.Open();
} }
catch (Exception) catch (Exception ex)
{ {
log.Error("Error opening comport", ex);
MessageBox.Show("Error opening comport"); MessageBox.Show("Error opening comport");
} }
System.Threading.Thread t11 = new System.Threading.Thread(delegate() var t11 = new System.Threading.Thread(delegate()
{ {
DateTime start = DateTime.Now; var start = DateTime.Now;
threadrun = true; threadrun = true;
@ -89,7 +92,9 @@ namespace ArdupilotMega
{ {
comPort.Write("\n\n\n\n"); // more in "connecting" comPort.Write("\n\n\n\n"); // more in "connecting"
} }
catch { } catch
{
}
while (threadrun) while (threadrun)
{ {
@ -105,11 +110,13 @@ namespace ArdupilotMega
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null); comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
} }
} }
catch (Exception ex) { Console.WriteLine("crash in comport reader " + ex.ToString()); } // cant exit unless told to catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
} }
Console.WriteLine("Comport thread close"); log.Info("Comport thread close");
}); }) {Name = "comport reader"};
t11.Name = "comport reader";
t11.Start(); t11.Start();
MainV2.threads.Add(t11); MainV2.threads.Add(t11);
@ -303,7 +310,7 @@ namespace ArdupilotMega
} }
} }
Console.WriteLine("exit while"); log.Info("exit while");
} }
catch (Exception ex) { MessageBox.Show("Error reading data" + ex.ToString()); } catch (Exception ex) { MessageBox.Show("Error reading data" + ex.ToString()); }
} }
@ -532,7 +539,7 @@ namespace ArdupilotMega
Style style2 = new Style(); Style style2 = new Style();
Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff, (stylecode >> 0) & 0xff); Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff, (stylecode >> 0) & 0xff);
Console.WriteLine("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString()); log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString());
style2.Add(new LineStyle(color, 4)); style2.Add(new LineStyle(color, 4));

View File

@ -3,9 +3,11 @@ using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
using System.Drawing; using System.Drawing;
using System.Reflection;
using System.Text; using System.Text;
using System.Windows.Forms; using System.Windows.Forms;
using System.IO; using System.IO;
using log4net;
using ZedGraph; // Graphs using ZedGraph; // Graphs
using System.Xml; using System.Xml;
@ -13,6 +15,7 @@ namespace ArdupilotMega
{ {
public partial class LogBrowse : Form public partial class LogBrowse : Form
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
int m_iColumnCount = 0; int m_iColumnCount = 0;
DataTable m_dtCSV = new DataTable(); DataTable m_dtCSV = new DataTable();
@ -180,7 +183,7 @@ namespace ArdupilotMega
if (inner.Name.StartsWith("F")) if (inner.Name.StartsWith("F"))
{ {
dataGridView1.Columns[a].HeaderText = inner.ReadString(); dataGridView1.Columns[a].HeaderText = inner.ReadString();
Console.WriteLine(a + " " + dataGridView1.Columns[a].HeaderText); log.Info(a + " " + dataGridView1.Columns[a].HeaderText);
a++; a++;
} }
@ -194,7 +197,7 @@ namespace ArdupilotMega
} }
} }
catch { Console.WriteLine("DGV logbrowse error"); } catch { log.Info("DGV logbrowse error"); }
} }
public void CreateChart(ZedGraphControl zgc) public void CreateChart(ZedGraphControl zgc)
@ -308,7 +311,7 @@ namespace ArdupilotMega
break; break;
} }
} }
catch { error++; Console.WriteLine("Bad Data : " + type + " " + col + " " + a); if (error >= 500) { MessageBox.Show("There is to much bad data - failing"); break; } } catch { error++; log.Info("Bad Data : " + type + " " + col + " " + a); if (error >= 500) { MessageBox.Show("There is to much bad data - failing"); break; } }
} }
a++; a++;
} }

View File

@ -13,11 +13,13 @@ using System.Threading;
using ArdupilotMega.Controls; using ArdupilotMega.Controls;
using ArdupilotMega.Mavlink; using ArdupilotMega.Mavlink;
using System.ComponentModel; using System.ComponentModel;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
public partial class MAVLink public partial class MAVLink
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public ICommsSerial BaseStream = new SerialPort(); public ICommsSerial BaseStream = new SerialPort();
private const double CONNECT_TIMEOUT_SECONDS = 30; private const double CONNECT_TIMEOUT_SECONDS = 30;
@ -220,7 +222,7 @@ namespace ArdupilotMega
// incase we are in setup mode // incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r"); BaseStream.WriteLine("planner\rgcs\r");
Console.WriteLine(DateTime.Now.Millisecond + " start "); log.Info(DateTime.Now.Millisecond + " start ");
if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock
{ {
@ -255,7 +257,7 @@ namespace ArdupilotMega
try try
{ {
Console.WriteLine("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead); log.Info("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead);
} }
catch { } catch { }
@ -271,7 +273,7 @@ namespace ArdupilotMega
sysid = buffer[3]; sysid = buffer[3];
compid = buffer[4]; compid = buffer[4];
recvpacketcount = buffer[2]; recvpacketcount = buffer[2];
Console.WriteLine("ID sys {0} comp {1} ver{2}", sysid, compid, mavlinkversion); log.InfoFormat("ID sys {0} comp {1} ver{2}", sysid, compid, mavlinkversion);
break; break;
} }
@ -311,7 +313,7 @@ namespace ArdupilotMega
//frmProgressReporter.Close(); //frmProgressReporter.Close();
MainV2.givecomport = false; MainV2.givecomport = false;
frmProgressReporter.UpdateProgressAndStatus(100, "Done."); frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
Console.WriteLine("Done open " + sysid + " " + compid); log.Info("Done open " + sysid + " " + compid);
packetslost = 0; packetslost = 0;
} }
@ -349,7 +351,7 @@ namespace ArdupilotMega
} }
if (!run) if (!run)
{ {
Console.WriteLine("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString()); log.Info("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString());
} }
} }
@ -484,7 +486,7 @@ namespace ArdupilotMega
{ {
if (!param.ContainsKey(paramname)) if (!param.ContainsKey(paramname))
{ {
Console.WriteLine("Param doesnt exist " + paramname); log.Info("Param doesnt exist " + paramname);
return false; return false;
} }
@ -507,7 +509,7 @@ namespace ArdupilotMega
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req); generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
Console.WriteLine("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, req.param_value, sysid, compid); log.InfoFormat("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, req.param_value, sysid, compid);
DateTime start = DateTime.Now; DateTime start = DateTime.Now;
int retrys = 3; int retrys = 3;
@ -518,7 +520,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setParam Retry " + retrys); log.Info("setParam Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req); generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -546,7 +548,7 @@ namespace ArdupilotMega
if (st != paramname) if (st != paramname)
{ {
Console.WriteLine("MAVLINK bad param responce - {0} vs {1}", paramname, st); log.InfoFormat("MAVLINK bad param responce - {0} vs {1}", paramname, st);
continue; continue;
} }
@ -635,7 +637,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getParamList Retry {0} sys {1} comp {2}", retrys, sysid, compid); log.InfoFormat("getParamList Retry {0} sys {1} comp {2}", retrys, sysid, compid);
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req); generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -676,7 +678,7 @@ namespace ArdupilotMega
continue; continue;
} }
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID); log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
modifyParamForDisplay(true, paramID, ref par.param_value); modifyParamForDisplay(true, paramID, ref par.param_value);
param[paramID] = (par.param_value); param[paramID] = (par.param_value);
@ -753,7 +755,7 @@ namespace ArdupilotMega
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req); generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
System.Threading.Thread.Sleep(20); System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req); generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
Console.WriteLine("Stopall Done"); log.Info("Stopall Done");
} }
catch { } catch { }
@ -801,7 +803,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setWPCurrent Retry " + retrys); log.Info("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_SET_CURRENT, req); generatePacket(MAVLINK_MSG_ID_MISSION_SET_CURRENT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -864,7 +866,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("doAction Retry " + retrys); log.Info("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req); generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -918,7 +920,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setWPCurrent Retry " + retrys); log.Info("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, req); generatePacket(MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -976,7 +978,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("doAction Retry " + retrys); log.Info("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_ACTION, req); generatePacket(MAVLINK_MSG_ID_ACTION, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1092,7 +1094,7 @@ namespace ArdupilotMega
return; return;
} }
Console.WriteLine("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps); log.InfoFormat("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps);
getDatastream(id, hzrate); getDatastream(id, hzrate);
} }
@ -1165,7 +1167,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport); log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req); generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1187,13 +1189,13 @@ namespace ArdupilotMega
var count = buffer.ByteArrayToStructure<__mavlink_mission_count_t>(6); var count = buffer.ByteArrayToStructure<__mavlink_mission_count_t>(6);
Console.WriteLine("wpcount: " + count.count); log.Info("wpcount: " + count.count);
MainV2.givecomport = false; MainV2.givecomport = false;
return (byte)count.count; // should be ushort, but apm has limited wp count < byte return (byte)count.count; // should be ushort, but apm has limited wp count < byte
} }
else else
{ {
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_MISSION_COUNT + " " + this.BaseStream.BytesToRead); log.Info(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_MISSION_COUNT + " " + this.BaseStream.BytesToRead);
} }
} }
} }
@ -1216,7 +1218,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport); log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req); generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1233,13 +1235,13 @@ namespace ArdupilotMega
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT) if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
{ {
Console.WriteLine("wpcount: " + buffer[9]); log.Info("wpcount: " + buffer[9]);
MainV2.givecomport = false; MainV2.givecomport = false;
return buffer[9]; // should be ushort, but apm has limited wp count < byte return buffer[9]; // should be ushort, but apm has limited wp count < byte
} }
else else
{ {
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_WAYPOINT_COUNT + " " + this.BaseStream.BytesToRead); log.Info(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_WAYPOINT_COUNT + " " + this.BaseStream.BytesToRead);
} }
} }
} }
@ -1277,7 +1279,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getWP Retry " + retrys); log.Info("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST, req); generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1324,7 +1326,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getWP Retry " + retrys); log.Info("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req); generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1419,13 +1421,13 @@ namespace ArdupilotMega
} }
} }
*/ */
Console.WriteLine("getWP {0} {1} {2} {3} {4} opt {5}", loc.id, loc.p1, loc.alt, loc.lat, loc.lng, loc.options); log.InfoFormat("getWP {0} {1} {2} {3} {4} opt {5}", loc.id, loc.p1, loc.alt, loc.lat, loc.lng, loc.options);
break; break;
} }
else else
{ {
Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]); log.Info(DateTime.Now + " PC getwp " + buffer[5]);
} }
} }
} }
@ -1529,7 +1531,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setWPTotal Retry " + retrys); log.Info("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_COUNT, req); generatePacket(MAVLINK_MSG_ID_MISSION_COUNT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1584,7 +1586,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setWPTotal Retry " + retrys); log.Info("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_COUNT, req); generatePacket(MAVLINK_MSG_ID_WAYPOINT_COUNT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -1707,7 +1709,7 @@ namespace ArdupilotMega
*/ */
req.seq = index; req.seq = index;
Console.WriteLine("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index); log.InfoFormat("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index);
// request // request
#if MAVLINK10 #if MAVLINK10
@ -1725,7 +1727,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("setWP Retry " + retrys); log.Info("setWP Retry " + retrys);
#if MAVLINK10 #if MAVLINK10
generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req); generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
#else #else
@ -1749,7 +1751,7 @@ namespace ArdupilotMega
var ans = buffer.ByteArrayToStructure<__mavlink_mission_ack_t>(6); var ans = buffer.ByteArrayToStructure<__mavlink_mission_ack_t>(6);
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString())); log.Info("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString()));
break; break;
} }
else if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST) else if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST)
@ -1761,13 +1763,13 @@ namespace ArdupilotMega
if (ans.seq == (index + 1)) if (ans.seq == (index + 1))
{ {
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]); log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false; MainV2.givecomport = false;
break; break;
} }
else else
{ {
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component); log.Info("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break; //break;
} }
} }
@ -1778,7 +1780,7 @@ namespace ArdupilotMega
#else #else
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_ACK) if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_ACK)
{ //__mavlink_waypoint_request_t { //__mavlink_waypoint_request_t
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5]); log.Info("set wp " + index + " ACK 47 : " + buffer[5]);
break; break;
} }
else if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST) else if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST)
@ -1787,13 +1789,13 @@ namespace ArdupilotMega
if (ans.seq == (index + 1)) if (ans.seq == (index + 1))
{ {
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]); log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false; MainV2.givecomport = false;
break; break;
} }
else else
{ {
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component); log.InfoFormat("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break; //break;
} }
} }
@ -1914,7 +1916,7 @@ namespace ArdupilotMega
{ {
if (readcount > 300) if (readcount > 300)
{ {
Console.WriteLine("MAVLink readpacket No valid mavlink packets"); log.Info("MAVLink readpacket No valid mavlink packets");
break; break;
} }
readcount++; readcount++;
@ -1949,27 +1951,22 @@ namespace ArdupilotMega
{ {
MainV2.cs.datetime = DateTime.Now; MainV2.cs.datetime = DateTime.Now;
int to = 0; DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.BytesToRead <= 0) while (BaseStream.BytesToRead <= 0)
{ {
if (to > BaseStream.ReadTimeout) if (DateTime.Now > to)
{ {
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length); log.InfoFormat("MAVLINK: S wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
throw new Exception("Timeout"); throw new Exception("Timeout");
} }
System.Threading.Thread.Sleep(1); System.Threading.Thread.Sleep(1);
// if (!MainV2.instance.InvokeRequired)
// {
// System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
// }
to++;
} }
if (BaseStream.IsOpen) if (BaseStream.IsOpen)
temp[count] = (byte)BaseStream.ReadByte(); temp[count] = (byte)BaseStream.ReadByte();
} }
} }
catch (Exception e) { Console.WriteLine("MAVLink readpacket read error: " + e.Message); break; } catch (Exception e) { log.Info("MAVLink readpacket read error: " + e.Message); break; }
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU" if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU"
{ {
@ -1996,7 +1993,7 @@ namespace ArdupilotMega
{ {
if (sysid != temp[3] || compid != temp[4]) if (sysid != temp[3] || compid != temp[4])
{ {
Console.WriteLine("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid); log.InfoFormat("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
return new byte[0]; return new byte[0];
} }
} }
@ -2009,21 +2006,15 @@ namespace ArdupilotMega
} }
else else
{ {
int to = 0; DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.BytesToRead < (length - 4)) while (BaseStream.BytesToRead < (length - 4))
{ {
if (to > 1000) if (DateTime.Now > to)
{ {
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length); log.InfoFormat("MAVLINK: L wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
break; break;
} }
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
}
to++;
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead); //Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
} }
if (BaseStream.IsOpen) if (BaseStream.IsOpen)
@ -2083,7 +2074,7 @@ namespace ArdupilotMega
if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]]) if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]])
{ {
Console.WriteLine("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]); log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
#if MAVLINK10 #if MAVLINK10
if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0) if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0)
throw new Exception("Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n"); throw new Exception("Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n");
@ -2098,7 +2089,7 @@ namespace ArdupilotMega
{ {
packetno = temp[5]; packetno = temp[5];
} }
Console.WriteLine("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno); log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno);
return new byte[0]; return new byte[0];
} }
@ -2120,7 +2111,7 @@ namespace ArdupilotMega
packetslost += temp[2] - recvpacketcount; packetslost += temp[2] - recvpacketcount;
} }
Console.WriteLine("lost {0} pkts {1}", temp[2], (int)packetslost); log.InfoFormat("lost {0} pkts {1}", temp[2], (int)packetslost);
} }
packetsnotlost++; packetsnotlost++;
@ -2155,7 +2146,7 @@ namespace ArdupilotMega
int ind = logdata.IndexOf('\0'); int ind = logdata.IndexOf('\0');
if (ind != -1) if (ind != -1)
logdata = logdata.Substring(0, ind); logdata = logdata.Substring(0, ind);
Console.WriteLine(DateTime.Now + " " + logdata); log.Info(DateTime.Now + " " + logdata);
if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True") if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
{ {
@ -2250,7 +2241,7 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
Console.WriteLine("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport); log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req); generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
@ -2386,7 +2377,7 @@ namespace ArdupilotMega
temp[a] = (byte)logplaybackfile.ReadByte(); temp[a] = (byte)logplaybackfile.ReadByte();
if (temp[0] != 'U' && temp[0] != 254) if (temp[0] != 'U' && temp[0] != 254)
{ {
Console.WriteLine("lost sync byte {0} pos {1}", temp[0], logplaybackfile.BaseStream.Position); log.InfoFormat("lost sync byte {0} pos {1}", temp[0], logplaybackfile.BaseStream.Position);
a = 0; a = 0;
continue; continue;
} }

View File

@ -1,6 +1,7 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Configuration;
using System.Data; using System.Data;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
@ -20,11 +21,14 @@ using System.Globalization;
using System.Threading; using System.Threading;
using System.Net.Sockets; using System.Net.Sockets;
using IronPython.Hosting; using IronPython.Hosting;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
public partial class MainV2 : Form public partial class MainV2 : Form
{ {
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
[DllImport("user32.dll")] [DllImport("user32.dll")]
public static extern int FindWindow(string szClass, string szTitle); public static extern int FindWindow(string szClass, string szTitle);
[DllImport("user32.dll")] [DllImport("user32.dll")]
@ -250,7 +254,7 @@ namespace ArdupilotMega
string[] devs = new string[0]; string[] devs = new string[0];
Console.WriteLine("Get Comports"); log.Debug("Geting Comports");
if (MONO) if (MONO)
{ {
@ -775,7 +779,7 @@ namespace ArdupilotMega
if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header
{ {
Console.WriteLine("Valid eeprom contents"); log.Info("Valid eeprom contents");
} }
else else
{ {
@ -961,11 +965,11 @@ namespace ArdupilotMega
break; break;
} }
} }
catch (Exception ee) { Console.WriteLine(ee.Message); } // silent fail on bad entry catch (Exception ee) { log.Info(ee.Message); } // silent fail on bad entry
} }
} }
} }
catch (Exception ex) { Console.WriteLine("Bad Config File: " + ex.ToString()); } // bad config file catch (Exception ex) { log.Info("Bad Config File: " + ex.ToString()); } // bad config file
} }
} }
@ -1179,7 +1183,7 @@ namespace ArdupilotMega
} }
catch (Exception e) catch (Exception e)
{ {
Console.WriteLine("Serial Reader fail :" + e.Message); log.Info("Serial Reader fail :" + e.Message);
try try
{ {
comPort.Close(); comPort.Close();
@ -1247,7 +1251,7 @@ namespace ArdupilotMega
try try
{ {
listener = new TcpListener(IPAddress.Any, 56781); listener = new TcpListener(IPAddress.Any, 56781);
System.Threading.Thread t13 = new System.Threading.Thread(new System.Threading.ThreadStart(listernforclients)) var t13 = new Thread(listernforclients)
{ {
Name = "motion jpg stream", Name = "motion jpg stream",
IsBackground = true IsBackground = true
@ -1257,10 +1261,11 @@ namespace ArdupilotMega
} }
catch (Exception ex) catch (Exception ex)
{ {
log.Error("Error starting TCP listener thread: ", ex);
MessageBox.Show(ex.ToString()); MessageBox.Show(ex.ToString());
} }
System.Threading.Thread t12 = new System.Threading.Thread(new ThreadStart(joysticksend)) var t12 = new Thread(new ThreadStart(joysticksend))
{ {
IsBackground = true, IsBackground = true,
Priority = ThreadPriority.AboveNormal, Priority = ThreadPriority.AboveNormal,
@ -1268,18 +1273,28 @@ namespace ArdupilotMega
}; };
t12.Start(); t12.Start();
System.Threading.Thread t11 = new System.Threading.Thread(new ThreadStart(SerialReader)) var t11 = new Thread(SerialReader)
{ {
IsBackground = true, IsBackground = true,
Name = "Main Serial reader" Name = "Main Serial reader"
}; };
t11.Start(); t11.Start();
if (Debugger.IsAttached)
{
log.Info("Skipping update test as it appears we are debugging");
}
else
{
try try
{ {
checkForUpdate(); CheckForUpdate();
}
catch (Exception ex)
{
log.Error("Update check failed", ex);
}
} }
catch { Console.WriteLine("update check failed"); }
} }
public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey) public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey)
@ -1310,7 +1325,7 @@ namespace ArdupilotMega
{ {
listener.Start(); listener.Start();
} }
catch { Console.WriteLine("do you have the planner open already"); return; } // in use catch { log.Info("do you have the planner open already"); return; } // in use
// Enter the listening loop. // Enter the listening loop.
while (true) while (true)
{ {
@ -1318,10 +1333,10 @@ namespace ArdupilotMega
// You could also user server.AcceptSocket() here. // You could also user server.AcceptSocket() here.
try try
{ {
Console.WriteLine("Listening for client - 1 client at a time"); log.Info("Listening for client - 1 client at a time");
TcpClient client = listener.AcceptTcpClient(); TcpClient client = listener.AcceptTcpClient();
// Get a stream object for reading and writing // Get a stream object for reading and writing
Console.WriteLine("Accepted Client " + client.Client.RemoteEndPoint.ToString()); log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb //client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true; //client.LingerState.Enabled = true;
//client.NoDelay = true; //client.NoDelay = true;
@ -1344,7 +1359,7 @@ namespace ArdupilotMega
int len = stream.Read(request, 0, request.Length); int len = stream.Read(request, 0, request.Length);
string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len); string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len);
Console.WriteLine(head); log.Info(head);
int index = head.IndexOf('\n'); int index = head.IndexOf('\n');
@ -1380,7 +1395,7 @@ namespace ArdupilotMega
while (client.Connected) while (client.Connected)
{ {
System.Threading.Thread.Sleep(200); System.Threading.Thread.Sleep(200);
Console.WriteLine(stream.DataAvailable + " " + client.Available); log.Info(stream.DataAvailable + " " + client.Available);
while (client.Available > 0) while (client.Available > 0)
{ {
@ -1563,7 +1578,7 @@ namespace ArdupilotMega
} }
stream.Close(); stream.Close();
} }
catch (Exception ee) { Console.WriteLine("Failed mjpg " + ee.Message); } catch (Exception ee) { log.Info("Failed mjpg " + ee.Message); }
} }
} }
@ -1575,8 +1590,8 @@ namespace ArdupilotMega
private void MainV2_Resize(object sender, EventArgs e) private void MainV2_Resize(object sender, EventArgs e)
{ {
Console.WriteLine("myview width " + MyView.Width + " height " + MyView.Height); log.Info("myview width " + MyView.Width + " height " + MyView.Height);
Console.WriteLine("this width " + this.Width + " height " + this.Height); log.Info("this width " + this.Width + " height " + this.Height);
} }
private void MenuHelp_Click(object sender, EventArgs e) private void MenuHelp_Click(object sender, EventArgs e)
@ -1598,49 +1613,58 @@ namespace ArdupilotMega
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
} }
static string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
public static void updatecheck(Label loadinglabel) public static void updatecheck(Label loadinglabel)
{ {
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
try try
{ {
bool update = updatecheck(loadinglabel, baseurl, ""); bool update = updatecheck(loadinglabel, baseurl, "");
System.Diagnostics.Process P = new System.Diagnostics.Process(); var process = new Process();
string exePath = Path.GetDirectoryName(Application.ExecutablePath);
if (MONO) if (MONO)
{ {
P.StartInfo.FileName = "mono"; process.StartInfo.FileName = "mono";
P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\""; process.StartInfo.Arguments = " \"" + exePath + Path.DirectorySeparatorChar + "Updater.exe\"";
} }
else else
{ {
P.StartInfo.FileName = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe"; process.StartInfo.FileName = exePath + Path.DirectorySeparatorChar + "Updater.exe";
P.StartInfo.Arguments = ""; process.StartInfo.Arguments = "";
try try
{ {
foreach (string newupdater in Directory.GetFiles(Path.GetDirectoryName(Application.ExecutablePath), "Updater.exe*.new")) foreach (string newupdater in Directory.GetFiles(exePath, "Updater.exe*.new"))
{ {
File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true); File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true);
File.Delete(newupdater); File.Delete(newupdater);
} }
} }
catch (Exception) catch (Exception ex)
{ {
log.Error("Exception during update", ex);
} }
} }
if (loadinglabel != null) if (loadinglabel != null)
updatelabel(loadinglabel,"Starting Updater"); UpdateLabel(loadinglabel,"Starting Updater");
Console.WriteLine("Start " + P.StartInfo.FileName + " with " + P.StartInfo.Arguments); log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments);
P.Start(); process.Start();
log.Info("Quitting existing process");
try try
{ {
Application.Exit(); Application.Exit();
} }
catch { } catch
{
}
}
catch (Exception ex)
{
log.Error("Update Failed", ex);
MessageBox.Show("Update Failed " + ex.Message);
} }
catch (Exception ex) { MessageBox.Show("Update Failed " + ex.Message); }
} }
private static void updatelabel(Label loadinglabel, string text) private static void UpdateLabel(Label loadinglabel, string text)
{ {
MainV2.instance.Invoke((MethodInvoker)delegate MainV2.instance.Invoke((MethodInvoker)delegate
{ {
@ -1650,59 +1674,64 @@ namespace ArdupilotMega
}); });
} }
private static void checkForUpdate() private static void CheckForUpdate()
{ {
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
string path = Path.GetFileNameWithoutExtension(Application.ExecutablePath) + ".exe"; string path = Path.GetFileNameWithoutExtension(Application.ExecutablePath) + ".exe";
// Create a request using a URL that can receive a post. // Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl + path); string requestUriString = baseurl + path;
request.Timeout = 5000; log.Debug("Checking for update at: " + requestUriString);
Console.Write(baseurl + path + " "); var webRequest = WebRequest.Create(requestUriString);
// Set the Method property of the request to POST. webRequest.Timeout = 5000;
request.Method = "HEAD";
((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path); // Set the Method property of the request to POST.
webRequest.Method = "HEAD";
((HttpWebRequest)webRequest).IfModifiedSince = File.GetLastWriteTimeUtc(path);
// Get the response. // Get the response.
WebResponse response = request.GetResponse(); var response = webRequest.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Debug("Response status: " + ((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream(); //dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access. // Open the stream using a StreamReader for easy access.
bool getfile = false; bool shouldGetFile = false;
if (File.Exists(path)) if (File.Exists(path))
{ {
FileInfo fi = new FileInfo(path); var fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]); 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")
{ {
StreamWriter sw = new StreamWriter(path + ".etag"); using (var sw = new StreamWriter(path + ".etag"))
{
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]); sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close(); sw.Close();
getfile = true; }
Console.WriteLine("NEW FILE " + path); shouldGetFile = true;
log.Info("Newer file found: " + path);
} }
} }
else else
{ {
getfile = true; shouldGetFile = true;
Console.WriteLine("NEW FILE " + path); log.Info("Newer file found: " + path);
// get it // get it
} }
response.Close(); response.Close();
if (getfile) if (shouldGetFile)
{ {
DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo); var dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes) if (dr == DialogResult.Yes)
{ {
doupdate(); DoUpdate();
} }
else else
{ {
@ -1711,32 +1740,41 @@ namespace ArdupilotMega
} }
} }
public static void doupdate() public static void DoUpdate()
{ {
//System.Threading.Thread t12 = new System.Threading.Thread(delegate() var loading = new Form
{ {
Form loading = new Form(); Width = 400,
loading.Width = 400; Height = 150,
loading.Height = 150; StartPosition = FormStartPosition.CenterScreen,
loading.StartPosition = FormStartPosition.CenterScreen; TopMost = true,
loading.TopMost = true; MinimizeBox = false,
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2)); MaximizeBox = false
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); };
var resources = new ComponentResourceManager(typeof(MainV2));
loading.Icon = ((Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label(); var loadinglabel = new Label
loadinglabel.Location = new System.Drawing.Point(50, 40); {
loadinglabel.Name = "load"; Location = new System.Drawing.Point(50, 40),
loadinglabel.AutoSize = true; Name = "load",
loadinglabel.Text = "Checking..."; AutoSize = true,
loadinglabel.Size = new System.Drawing.Size(100, 20); Text = "Checking...",
Size = new System.Drawing.Size(100, 20)
};
loading.Controls.Add(loadinglabel); loading.Controls.Add(loadinglabel);
loading.Show(); loading.Show();
try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); } try
{
MainV2.updatecheck(loadinglabel);
} }
catch (Exception ex)
{
log.Error("Error in updatecheck", ex);
}
//); //);
//t12.Name = "Update check thread"; //t12.Name = "Update check thread";
//t12.Start(); //t12.Start();
@ -1749,7 +1787,7 @@ namespace ArdupilotMega
List<string> files = new List<string>(); List<string> files = new List<string>();
// Create a request using a URL that can receive a post. // Create a request using a URL that can receive a post.
Console.WriteLine(baseurl); log.Info(baseurl);
WebRequest request = WebRequest.Create(baseurl); WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000; request.Timeout = 10000;
// Set the Method property of the request to POST. // Set the Method property of the request to POST.
@ -1759,7 +1797,7 @@ namespace ArdupilotMega
// Get the response. // Get the response.
WebResponse response = request.GetResponse(); WebResponse response = request.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
dataStream = response.GetResponseStream(); dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access. // Open the stream using a StreamReader for easy access.
@ -1802,7 +1840,7 @@ namespace ArdupilotMega
continue; continue;
} }
if (loadinglabel != null) if (loadinglabel != null)
updatelabel(loadinglabel, "Checking " + file); UpdateLabel(loadinglabel, "Checking " + file);
string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file; string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file;
@ -1818,7 +1856,7 @@ namespace ArdupilotMega
// Get the response. // Get the response.
response = request.GetResponse(); response = request.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream(); //dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access. // Open the stream using a StreamReader for easy access.
@ -1829,7 +1867,7 @@ namespace ArdupilotMega
{ {
FileInfo fi = new FileInfo(path); FileInfo fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]); 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")
{ {
@ -1837,13 +1875,13 @@ namespace ArdupilotMega
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]); sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close(); sw.Close();
getfile = true; getfile = true;
Console.WriteLine("NEW FILE " + file); log.Info("NEW FILE " + file);
} }
} }
else else
{ {
getfile = true; getfile = true;
Console.WriteLine("NEW FILE " + file); log.Info("NEW FILE " + file);
// get it // get it
} }
@ -1866,7 +1904,7 @@ namespace ArdupilotMega
} }
} }
if (loadinglabel != null) if (loadinglabel != null)
updatelabel(loadinglabel, "Getting " + file); UpdateLabel(loadinglabel, "Getting " + file);
// from head // from head
long bytes = response.ContentLength; long bytes = response.ContentLength;
@ -1878,7 +1916,7 @@ namespace ArdupilotMega
// Get the response. // Get the response.
response = request.GetResponse(); response = request.GetResponse();
// Display the status. // Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription); log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server. // Get the stream containing content returned by the server.
dataStream = response.GetResponseStream(); dataStream = response.GetResponseStream();
@ -1899,12 +1937,12 @@ namespace ArdupilotMega
if (dt.Second != DateTime.Now.Second) if (dt.Second != DateTime.Now.Second)
{ {
if (loadinglabel != null) if (loadinglabel != null)
updatelabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes"); UpdateLabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
dt = DateTime.Now; dt = DateTime.Now;
} }
} }
catch { } catch { }
Console.WriteLine(file + " " + bytes); log.Info(file + " " + bytes);
int len = dataStream.Read(buf1, 0, 1024); int len = dataStream.Read(buf1, 0, 1024);
if (len == 0) if (len == 0)
break; break;

View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Text; using System.Text;
using log4net;
namespace ArdupilotMega.Mavlink namespace ArdupilotMega.Mavlink
{ {
@ -11,6 +12,8 @@ namespace ArdupilotMega.Mavlink
/// </summary> /// </summary>
public static class MavlinkUtil public static class MavlinkUtil
{ {
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
/// <summary> /// <summary>
/// Create a new mavlink packet object from a byte array as recieved over mavlink /// Create a new mavlink packet object from a byte array as recieved over mavlink
/// Endianess will be detetected using packet inspection /// Endianess will be detetected using packet inspection
@ -55,7 +58,7 @@ namespace ArdupilotMega.Mavlink
} }
catch (Exception ex) catch (Exception ex)
{ {
Console.WriteLine("ByteArrayToStructure FAIL: error " + ex); log.Error("ByteArrayToStructure FAIL", ex);
} }
obj = Marshal.PtrToStructure(i, obj.GetType()); obj = Marshal.PtrToStructure(i, obj.GetType());
@ -105,7 +108,10 @@ namespace ArdupilotMega.Mavlink
// copy byte array to ptr // copy byte array to ptr
Marshal.Copy(temparray, startoffset, i, len); Marshal.Copy(temparray, startoffset, i, len);
} }
catch (Exception ex) { Console.WriteLine("ByteArrayToStructure FAIL: error " + ex.ToString()); } catch (Exception ex)
{
log.Error("ByteArrayToStructure FAIL", ex);
}
obj = Marshal.PtrToStructure(i, obj.GetType()); obj = Marshal.PtrToStructure(i, obj.GetType());

View File

@ -5,12 +5,15 @@ using System.Net;
using System.IO; using System.IO;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using log4net;
using log4net.Config;
namespace ArdupilotMega namespace ArdupilotMega
{ {
static class Program static class Program
{ {
private static readonly ILog log = LogManager.GetLogger("Program");
/// <summary> /// <summary>
/// The main entry point for the application. /// The main entry point for the application.
@ -21,23 +24,29 @@ namespace ArdupilotMega
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US"); //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US"); //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException); Application.ThreadException += Application_ThreadException;
Application.Idle += new EventHandler(Application_Idle); Application.Idle += Application_Idle;
//MessageBox.Show("NOTE: This version may break advanced mission scripting"); //MessageBox.Show("NOTE: This version may break advanced mission scripting");
//Common.linearRegression(); //Common.linearRegression();
Application.EnableVisualStyles(); Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
Application.SetCompatibleTextRenderingDefault(false); Application.SetCompatibleTextRenderingDefault(false);
try try
{ {
System.Threading.Thread.CurrentThread.Name = "Base Thread"; Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2()); Application.Run(new MainV2());
} }
catch (Exception ex) { Console.WriteLine(ex.ToString()); } catch (Exception ex)
{
log.Fatal("Fatal app exception",ex);
Console.WriteLine(ex.ToString());
}
} }
static void Application_Idle(object sender, EventArgs e) static void Application_Idle(object sender, EventArgs e)
@ -111,7 +120,10 @@ namespace ArdupilotMega
dataStream.Close(); dataStream.Close();
response.Close(); response.Close();
} }
catch { MessageBox.Show("Error sending Error report!! Youre most likerly are not on the internet"); } catch
{
MessageBox.Show("Error sending Error report!! Youre most likerly are not on the internet");
}
} }
} }
} }

View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below: // by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.42")] [assembly: AssemblyFileVersion("1.1.43")]
[assembly: NeutralResourcesLanguageAttribute("")] [assembly: NeutralResourcesLanguageAttribute("")]

View File

@ -228,6 +228,21 @@ namespace ArdupilotMega.Properties {
} }
} }
/// <summary>
/// Looks up a localized string similar to == MAVLink Parameters == (this is a copy fo the wiki page FYI)
///
///This is a list of all the user-modifiable MAVLink parameters and what they do. You can modify them via the MAVLink parameters window in any compatible GCS, such as the Mission Planner, HK GCS or !QGroundControl.
///
///It includes both fixed wing (APM) and rotary wing (!ArduCopter) parameters. Some may only be relevant for one platform or another.
///
///|| *EEPROM variable name* || *Min* || *Max* || *Default* || *Multiplier* || *Enabled (0 = no, 1 = yes)* [rest of string was truncated]&quot;;.
/// </summary>
public static string MAVParam {
get {
return ResourceManager.GetString("MAVParam", resourceCulture);
}
}
public static System.Drawing.Bitmap octo { public static System.Drawing.Bitmap octo {
get { get {
object obj = ResourceManager.GetObject("octo", resourceCulture); object obj = ResourceManager.GetObject("octo", resourceCulture);

View File

@ -1222,8 +1222,11 @@
<data name="iconWarning48" type="System.Resources.ResXFileRef, System.Windows.Forms"> <data name="iconWarning48" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\iconWarning48.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value> <value>..\Resources\iconWarning48.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data> </data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms"> <data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\y6.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value> <value>..\Resources\y6.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data> </data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="MAVParam" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\MAVParam.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
</data>
</root> </root>

View File

@ -49,8 +49,6 @@ namespace ArdupilotMega
{ {
ArduinoSTK comPort = new ArduinoSTK(); ArduinoSTK comPort = new ArduinoSTK();
string version = "";
uploader.Uploader uploader = new uploader.Uploader(); uploader.Uploader uploader = new uploader.Uploader();
try try
@ -186,244 +184,9 @@ namespace ArdupilotMega
catch { } catch { }
} }
private void BUT_getcurrent_Click(object sender, EventArgs e)
{
SerialPort comPort = new SerialPort();
try {
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 4000;
comPort.Open();
}
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command ATI & RTI";
ATI.Text = doCommand(comPort, "ATI1").Trim();
RTI.Text = doCommand(comPort, "RTI1").Trim();
RSSI.Text = doCommand(comPort, "ATI7").Trim();
lbl_status.Text = "Doing Command ATI5";
string answer = doCommand(comPort, "ATI5");
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else
{
controls[0].Text = values[2].Trim();
}
}
}
}
}
// remote
foreach (Control ctl in this.Controls)
{
if (ctl.Name.StartsWith("RS") && ctl.Name != "RSSI")
ctl.ResetText();
}
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command RTI5";
answer = doCommand(comPort, "RTI5");
items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else if (controls[0].GetType() == typeof(TextBox))
{
((TextBox)controls[0]).Text = values[2].Trim();
}
else if (controls[0].GetType() == typeof(ComboBox))
{
((ComboBox)controls[0]).SelectedText = values[2].Trim();
}
}
else
{
Console.WriteLine("Odd config line :" + item);
}
}
}
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Done";
}
else
{
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
comPort.Close();
}
string Serial_ReadLine(SerialPort comPort)
{
StringBuilder sb = new StringBuilder();
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
while (DateTime.Now < Deadline)
{
if (comPort.BytesToRead > 0)
{
byte data = (byte)comPort.ReadByte();
sb.Append((char)data);
if (data == '\n')
break;
}
}
return sb.ToString();
}
string doCommand(SerialPort comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
// setup to known state
comPort.Write("\r\n");
// alow some time to gather thoughts
Sleep(100);
// ignore all existing data
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command "+cmd;
Console.WriteLine("Doing Command "+cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
Console.WriteLine("cmd "+cmd + " echo "+ temp);
// delay for command
Sleep(500);
// get responce
string ans = "";
while (comPort.BytesToRead > 0)
{
try
{
ans = ans + Serial_ReadLine(comPort) +"\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 500)
{
break;
}
}
Console.WriteLine("responce " +level+ " " + ans);
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
bool doConnect(SerialPort comPort)
{
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
Console.WriteLine("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
string conn = comPort.ReadExisting();
Console.WriteLine("Connect first responce "+conn + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
string version = doCommand(comPort, "ATI");
Console.Write("Connect Version: " + version.Trim() + "\n");
if (version.Contains("on HM-TRP"))
{
return true;
}
return false;
}
private void BUT_savesettings_Click(object sender, EventArgs e) private void BUT_savesettings_Click(object sender, EventArgs e)
{ {
SerialPort comPort = new SerialPort(); ArdupilotMega.ICommsSerial comPort = new SerialPort();
try { try {
comPort.PortName = MainV2.comPort.BaseStream.PortName; comPort.PortName = MainV2.comPort.BaseStream.PortName;
@ -595,6 +358,242 @@ namespace ArdupilotMega
comPort.Close(); comPort.Close();
} }
private void BUT_getcurrent_Click(object sender, EventArgs e)
{
ArdupilotMega.ICommsSerial comPort = new SerialPort();
try
{
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 4000;
comPort.Open();
}
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command ATI & RTI";
ATI.Text = doCommand(comPort, "ATI1").Trim();
RTI.Text = doCommand(comPort, "RTI1").Trim();
RSSI.Text = doCommand(comPort, "ATI7").Trim();
lbl_status.Text = "Doing Command ATI5";
string answer = doCommand(comPort, "ATI5");
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else
{
controls[0].Text = values[2].Trim();
}
}
}
}
}
// remote
foreach (Control ctl in this.Controls)
{
if (ctl.Name.StartsWith("RS") && ctl.Name != "RSSI")
ctl.ResetText();
}
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command RTI5";
answer = doCommand(comPort, "RTI5");
items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else if (controls[0].GetType() == typeof(TextBox))
{
((TextBox)controls[0]).Text = values[2].Trim();
}
else if (controls[0].GetType() == typeof(ComboBox))
{
((ComboBox)controls[0]).SelectedText = values[2].Trim();
}
}
else
{
Console.WriteLine("Odd config line :" + item);
}
}
}
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Done";
}
else
{
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
comPort.Close();
}
string Serial_ReadLine(ArdupilotMega.ICommsSerial comPort)
{
StringBuilder sb = new StringBuilder();
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
while (DateTime.Now < Deadline)
{
if (comPort.BytesToRead > 0)
{
byte data = (byte)comPort.ReadByte();
sb.Append((char)data);
if (data == '\n')
break;
}
}
return sb.ToString();
}
string doCommand(ArdupilotMega.ICommsSerial comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
// setup to known state
comPort.Write("\r\n");
// alow some time to gather thoughts
Sleep(100);
// ignore all existing data
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
Console.WriteLine("Doing Command " + cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
Console.WriteLine("cmd " + cmd + " echo " + temp);
// delay for command
Sleep(500);
// get responce
string ans = "";
while (comPort.BytesToRead > 0)
{
try
{
ans = ans + Serial_ReadLine(comPort) + "\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 500)
{
break;
}
}
Console.WriteLine("responce " + level + " " + ans.Replace('\0',' '));
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
bool doConnect(ArdupilotMega.ICommsSerial comPort)
{
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
Console.WriteLine("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
string conn = comPort.ReadExisting();
Console.WriteLine("Connect first responce " + conn.Replace('\0',' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
string version = doCommand(comPort, "ATI");
Console.Write("Connect Version: " + version.Trim() + "\n");
if (version.Contains("on HM-TRP"))
{
return true;
}
return false;
}
private void BUT_syncS2_Click(object sender, EventArgs e) private void BUT_syncS2_Click(object sender, EventArgs e)
{ {
RS2.Text = S2.Text; RS2.Text = S2.Text;

View File

@ -30,11 +30,8 @@ namespace ArdupilotMega
scope.SetVariable("cs", MainV2.cs); scope.SetVariable("cs", MainV2.cs);
scope.SetVariable("Script", this); scope.SetVariable("Script", this);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope); engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print cs.roll").Execute(scope); engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
object thisBoxed = MainV2.cs; object thisBoxed = MainV2.cs;

View File

@ -85,11 +85,10 @@
// //
// LBL_location // LBL_location
// //
this.LBL_location.AutoSize = true;
this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.LBL_location.Location = new System.Drawing.Point(9, 78); this.LBL_location.Location = new System.Drawing.Point(3, 64);
this.LBL_location.Name = "LBL_location"; this.LBL_location.Name = "LBL_location";
this.LBL_location.Size = new System.Drawing.Size(50, 24); this.LBL_location.Size = new System.Drawing.Size(365, 59);
this.LBL_location.TabIndex = 4; this.LBL_location.TabIndex = 4;
this.LBL_location.Text = "0,0,0"; this.LBL_location.Text = "0,0,0";
// //

View File

@ -87,54 +87,56 @@ namespace ArdupilotMega
void mainloop() void mainloop()
{ {
DateTime nextsend = DateTime.Now;
threadrun = true; threadrun = true;
int counter = 0;
while (threadrun) while (threadrun)
{ {
try try
{ {
string line = comPort.ReadLine(); string line = comPort.ReadLine();
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", ""); //string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA")) // if (line.StartsWith("$GPGGA")) //
{ {
int c1 = line.IndexOf(',',0)+ 1; string[] items = line.Trim().Split(',','*');
int c2 = line.IndexOf(',', c1) + 1;
int c3 = line.IndexOf(',', c2) + 1;
int c4 = line.IndexOf(',', c3 ) + 1;
int c5 = line.IndexOf(',', c4 ) + 1;
int c6 = line.IndexOf(',', c5 ) + 1;
int c7 = line.IndexOf(',', c6 ) + 1;
int c8 = line.IndexOf(',', c7 ) + 1;
int c9 = line.IndexOf(',', c8 ) + 1;
int c10 = line.IndexOf(',', c9 ) + 1;
int c11 = line.IndexOf(',', c10 ) + 1;
int c12 = line.IndexOf(',', c11) + 1;
gotolocation.Lat = double.Parse(line.Substring(c2, c3 - c2 - 1)) / 100.0; if (items[15] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2]) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60); gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (line.Substring(c3, c4 - c3 - 1) == "S") if (items[3] == "S")
gotolocation.Lat *= -1; gotolocation.Lat *= -1;
gotolocation.Lng = double.Parse(line.Substring(c4, c5 - c4 - 1)) / 100.0; gotolocation.Lng = double.Parse(items[4]) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60); gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (line.Substring(c5, c6 - c5 - 1) == "W") if (items[5] == "W")
gotolocation.Lng *= -1; gotolocation.Lng *= -1;
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) + gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
gotolocation.Tag = "Sats "+ items[7] + " hdop " + items[8] ;
} }
if (counter % 10 == 0 && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation && if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{ {
nextsend = DateTime.Now.AddSeconds(2);
Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt); Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt);
lastgotolocation = new PointLatLngAlt(gotolocation); lastgotolocation = new PointLatLngAlt(gotolocation);
@ -159,14 +161,13 @@ namespace ArdupilotMega
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2); MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
MainV2.givecomport = false; MainV2.givecomport = false;
} }
catch { MainV2.givecomport = false; } catch { MainV2.givecomport = false; }
} }
} }
System.Threading.Thread.Sleep(200);
counter++;
} }
catch { System.Threading.Thread.Sleep(2000); } catch { System.Threading.Thread.Sleep(2000); }
} }
@ -176,7 +177,7 @@ namespace ArdupilotMega
{ {
this.BeginInvoke((MethodInvoker)delegate this.BeginInvoke((MethodInvoker)delegate
{ {
LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt; LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt +" "+ gotolocation.Tag;
} }
); );
@ -200,7 +201,7 @@ namespace ArdupilotMega
break; break;
case '*': case '*':
// Stop processing before the asterisk // Stop processing before the asterisk
continue; return Checksum.ToString("X2");
default: default:
// Is this the first value for the checksum? // Is this the first value for the checksum?
if (Checksum == 0) if (Checksum == 0)

View File

@ -1,7 +1,34 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<configuration> <configuration>
<configSections> <configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler, log4net" />
</configSections> </configSections>
<startup useLegacyV2RuntimeActivationPolicy="true"> <startup useLegacyV2RuntimeActivationPolicy="true">
<supportedRuntime version="v2.0.50727"/></startup> <supportedRuntime version="v2.0.50727"/></startup>
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%level %logger - %message%newline" />
</layout>
<threshold value="INFO"/>
</appender>
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />
</layout>
</appender>
<root>
<level value="DEBUG" />
<appender-ref ref="RollingFile" />
<appender-ref ref="Console" />
</root>
</log4net>
</configuration> </configuration>

View File

@ -1,7 +1,34 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<configuration> <configuration>
<configSections> <configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler, log4net" />
</configSections> </configSections>
<startup useLegacyV2RuntimeActivationPolicy="true"> <startup useLegacyV2RuntimeActivationPolicy="true">
<supportedRuntime version="v2.0.50727"/></startup> <supportedRuntime version="v2.0.50727"/></startup>
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%level %logger - %message%newline" />
</layout>
<threshold value="INFO"/>
</appender>
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />
</layout>
</appender>
<root>
<level value="DEBUG" />
<appender-ref ref="RollingFile" />
<appender-ref ref="Console" />
</root>
</log4net>
</configuration> </configuration>

View File

@ -19,6 +19,7 @@
<F4>Pitch</F4> <F4>Pitch</F4>
<F5>Yaw IN</F5> <F5>Yaw IN</F5>
<F6>Yaw</F6> <F6>Yaw</F6>
<F7>Mag Heading</F7>
</ATT> </ATT>
<NTUN> <NTUN>
<F1>WP Dist</F1> <F1>WP Dist</F1>

View File

@ -19,6 +19,7 @@
<F4>Pitch</F4> <F4>Pitch</F4>
<F5>Yaw IN</F5> <F5>Yaw IN</F5>
<F6>Yaw</F6> <F6>Yaw</F6>
<F7>Mag Heading</F7>
</ATT> </ATT>
<NTUN> <NTUN>
<F1>WP Dist</F1> <F1>WP Dist</F1>

View File

@ -1,22 +1,19 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Reflection;
using System.Text;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO; using System.IO;
using System.Windows.Forms; using System.Windows.Forms;
using com.drew.imaging.jpg; using com.drew.imaging.jpg;
using com.drew.metadata; using com.drew.metadata;
using log4net;
using SharpKml.Base; using SharpKml.Base;
using SharpKml.Dom; using SharpKml.Dom;
using SharpKml.Dom.GX;
namespace ArdupilotMega namespace ArdupilotMega
{ {
class georefimage : Form public class Georefimage : Form
{ {
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private OpenFileDialog openFileDialog1; private OpenFileDialog openFileDialog1;
private MyButton BUT_browselog; private MyButton BUT_browselog;
private MyButton BUT_browsedir; private MyButton BUT_browsedir;
@ -31,7 +28,7 @@ namespace ArdupilotMega
int latpos = 5, lngpos = 4, altpos = 7; int latpos = 5, lngpos = 4, altpos = 7;
internal georefimage() { internal Georefimage() {
InitializeComponent(); InitializeComponent();
} }
@ -51,7 +48,7 @@ namespace ArdupilotMega
} }
catch (JpegProcessingException e) catch (JpegProcessingException e)
{ {
Console.WriteLine(e.Message); log.InfoFormat(e.Message);
return dtaken; return dtaken;
} }
@ -61,7 +58,7 @@ namespace ArdupilotMega
if (lcDirectory.ContainsTag(0x9003)) if (lcDirectory.ContainsTag(0x9003))
{ {
dtaken = lcDirectory.GetDate(0x9003); dtaken = lcDirectory.GetDate(0x9003);
Console.WriteLine("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken); log.InfoFormat("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken);
break; break;
} }
@ -96,6 +93,51 @@ namespace ArdupilotMega
{ {
List<string[]> list = new List<string[]>(); List<string[]> list = new List<string[]>();
if (fn.ToLower().EndsWith("tlog"))
{
MAVLink mine = new MAVLink();
mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
mine.packets.Initialize(); // clear
CurrentState cs = new CurrentState();
string[] oldvalues = {""};
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
// line "GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200" string
string[] vals = new string[] { "GPS", (new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0) - cs.datetime).TotalMilliseconds.ToString(), "1",
"8",cs.lat.ToString(),cs.lng.ToString(),"0.0",cs.alt.ToString(),cs.alt.ToString(),"0.0",cs.groundcourse.ToString()};
if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
&& oldvalues[lngpos] == vals[lngpos]
&& oldvalues[altpos] == vals[altpos])
continue;
oldvalues = vals;
list.Add(vals);
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
return list;
}
StreamReader sr = new StreamReader(fn); StreamReader sr = new StreamReader(fn);
string lasttime = "0"; string lasttime = "0";
@ -172,7 +214,7 @@ namespace ArdupilotMega
localmax = crap; localmax = crap;
} }
Console.WriteLine("min " + localmin + " max " + localmax); log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n"); TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
} }
@ -220,7 +262,7 @@ namespace ArdupilotMega
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]); sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush(); sw.Flush();
sw2.Flush(); sw2.Flush();
Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " "); log.InfoFormat(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break; break;
} }
//Console.WriteLine(crap); //Console.WriteLine(crap);
@ -359,7 +401,7 @@ namespace ArdupilotMega
this.Controls.Add(this.TXT_logfile); this.Controls.Add(this.TXT_logfile);
this.Controls.Add(this.BUT_browsedir); this.Controls.Add(this.BUT_browsedir);
this.Controls.Add(this.BUT_browselog); this.Controls.Add(this.BUT_browselog);
this.Name = "georefimage"; this.Name = "Georefimage";
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout(); this.PerformLayout();
@ -367,7 +409,7 @@ namespace ArdupilotMega
private void BUT_browselog_Click(object sender, EventArgs e) private void BUT_browselog_Click(object sender, EventArgs e)
{ {
openFileDialog1.Filter = "Logs|*.log"; openFileDialog1.Filter = "Logs|*.log;*.tlog";
openFileDialog1.ShowDialog(); openFileDialog1.ShowDialog();
if (File.Exists(openFileDialog1.FileName)) if (File.Exists(openFileDialog1.FileName))

View File

@ -46,6 +46,7 @@
this.BUT_lang_edit = new ArdupilotMega.MyButton(); this.BUT_lang_edit = new ArdupilotMega.MyButton();
this.BUT_georefimage = new ArdupilotMega.MyButton(); this.BUT_georefimage = new ArdupilotMega.MyButton();
this.BUT_follow_me = new ArdupilotMega.MyButton(); this.BUT_follow_me = new ArdupilotMega.MyButton();
this.BUT_ant_track = new ArdupilotMega.MyButton();
this.SuspendLayout(); this.SuspendLayout();
// //
// button1 // button1
@ -215,7 +216,7 @@
// //
// BUT_follow_me // BUT_follow_me
// //
this.BUT_follow_me.Location = new System.Drawing.Point(525, 164); this.BUT_follow_me.Location = new System.Drawing.Point(527, 164);
this.BUT_follow_me.Name = "BUT_follow_me"; this.BUT_follow_me.Name = "BUT_follow_me";
this.BUT_follow_me.Size = new System.Drawing.Size(75, 23); this.BUT_follow_me.Size = new System.Drawing.Size(75, 23);
this.BUT_follow_me.TabIndex = 17; this.BUT_follow_me.TabIndex = 17;
@ -223,11 +224,22 @@
this.BUT_follow_me.UseVisualStyleBackColor = true; this.BUT_follow_me.UseVisualStyleBackColor = true;
this.BUT_follow_me.Click += new System.EventHandler(this.BUT_follow_me_Click); this.BUT_follow_me.Click += new System.EventHandler(this.BUT_follow_me_Click);
// //
// BUT_ant_track
//
this.BUT_ant_track.Location = new System.Drawing.Point(446, 164);
this.BUT_ant_track.Name = "BUT_ant_track";
this.BUT_ant_track.Size = new System.Drawing.Size(75, 23);
this.BUT_ant_track.TabIndex = 18;
this.BUT_ant_track.Text = "Antenna Tracker";
this.BUT_ant_track.UseVisualStyleBackColor = true;
this.BUT_ant_track.Click += new System.EventHandler(this.BUT_ant_track_Click);
//
// temp // temp
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(731, 281); this.ClientSize = new System.Drawing.Size(731, 281);
this.Controls.Add(this.BUT_ant_track);
this.Controls.Add(this.BUT_follow_me); this.Controls.Add(this.BUT_follow_me);
this.Controls.Add(this.BUT_georefimage); this.Controls.Add(this.BUT_georefimage);
this.Controls.Add(this.BUT_lang_edit); this.Controls.Add(this.BUT_lang_edit);
@ -274,6 +286,7 @@
private MyButton BUT_lang_edit; private MyButton BUT_lang_edit;
private MyButton BUT_georefimage; private MyButton BUT_georefimage;
private MyButton BUT_follow_me; private MyButton BUT_follow_me;
private MyButton BUT_ant_track;
//private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1; //private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1;
} }

View File

@ -13,11 +13,14 @@ using System.Net;
using GMap.NET.WindowsForms; using GMap.NET.WindowsForms;
using GMap.NET.CacheProviders; using GMap.NET.CacheProviders;
using log4net;
namespace ArdupilotMega namespace ArdupilotMega
{ {
public partial class temp : Form public partial class temp : Form
{ {
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
public temp() public temp()
{ {
InitializeComponent(); InitializeComponent();
@ -159,7 +162,7 @@ namespace ArdupilotMega
int start = 0; int start = 0;
int end = 1024*4; int end = 1024*4;
Console.WriteLine(start + " to " + end); log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start); port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive()) if (port.keepalive())
@ -230,7 +233,7 @@ namespace ArdupilotMega
int start = 0; int start = 0;
int end = 1024*4; int end = 1024*4;
Console.WriteLine(start + " to " + end); log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start); port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive()) if (port.keepalive())
@ -295,11 +298,11 @@ namespace ArdupilotMega
int start = 0; int start = 0;
short length = 0x100; short length = 0x100;
Console.WriteLine(start + " to " + FLASH.Length); log.Info(start + " to " + FLASH.Length);
while (start < FLASH.Length) while (start < FLASH.Length)
{ {
Console.WriteLine("Doing " + length + " at " + start); log.Info("Doing " + length + " at " + start);
port.setaddress(start); port.setaddress(start);
port.downloadflash(length).CopyTo(FLASH, start); port.downloadflash(length).CopyTo(FLASH, start);
start += length; start += length;
@ -335,7 +338,7 @@ namespace ArdupilotMega
sw.Close(); sw.Close();
Console.WriteLine("Downloaded"); log.Info("Downloaded");
} }
else else
{ {
@ -397,7 +400,7 @@ namespace ArdupilotMega
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("starting"); log.Info("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0); port.uploadflash(FLASH, 0, FLASH.Length, 0);
@ -405,7 +408,7 @@ namespace ArdupilotMega
Console.WriteLine("Uploaded"); log.Info("Uploaded");
} }
@ -442,7 +445,7 @@ namespace ArdupilotMega
int length = Convert.ToInt32(match.Groups[1].Value.ToString(), 16); int length = Convert.ToInt32(match.Groups[1].Value.ToString(), 16);
int address = Convert.ToInt32(match.Groups[2].Value.ToString(), 16); int address = Convert.ToInt32(match.Groups[2].Value.ToString(), 16);
int option = Convert.ToInt32(match.Groups[3].Value.ToString(), 16); int option = Convert.ToInt32(match.Groups[3].Value.ToString(), 16);
Console.WriteLine("len {0} add {1} opt {2}", length, address, option); log.InfoFormat("len {0} add {1} opt {2}", length, address, option);
if (option == 0) if (option == 0)
{ {
string data = match.Groups[4].Value.ToString(); string data = match.Groups[4].Value.ToString();
@ -484,7 +487,7 @@ namespace ArdupilotMega
int length = Convert.ToInt32(line.Substring(1, 2), 16); int length = Convert.ToInt32(line.Substring(1, 2), 16);
int address = Convert.ToInt32(line.Substring(3, 4), 16); int address = Convert.ToInt32(line.Substring(3, 4), 16);
int option = Convert.ToInt32(line.Substring(7, 2), 16); int option = Convert.ToInt32(line.Substring(7, 2), 16);
Console.WriteLine("len {0} add {1} opt {2}", length, address, option); log.InfoFormat("len {0} add {1} opt {2}", length, address, option);
if (option == 0) if (option == 0)
{ {
@ -535,12 +538,12 @@ namespace ArdupilotMega
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comportname;
Console.WriteLine("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
Console.WriteLine("Connect AP"); log.Info("Connect AP");
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("Download AP"); log.Info("Download AP");
byte[] EEPROM = new byte[1024*4]; byte[] EEPROM = new byte[1024*4];
for (int a = 0; a < 4 * 1024; a += 0x100) for (int a = 0; a < 4 * 1024; a += 0x100)
@ -548,7 +551,7 @@ namespace ArdupilotMega
port.setaddress(a); port.setaddress(a);
port.download(0x100).CopyTo(EEPROM,a); port.download(0x100).CopyTo(EEPROM,a);
} }
Console.WriteLine("Verify State"); log.Info("Verify State");
if (port.keepalive()) if (port.keepalive())
{ {
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin"); StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin");
@ -586,12 +589,12 @@ namespace ArdupilotMega
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comportname;
Console.WriteLine("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
Console.WriteLine("Connect AP"); log.Info("Connect AP");
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("Download AP"); log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4]; byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < 4 * 1024; a += 0x100) for (int a = 0; a < 4 * 1024; a += 0x100)
@ -599,7 +602,7 @@ namespace ArdupilotMega
port.setaddress(a); port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a); port.download(0x100).CopyTo(EEPROM, a);
} }
Console.WriteLine("Verify State"); log.Info("Verify State");
if (port.keepalive()) if (port.keepalive())
{ {
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM1280.bin"); StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM1280.bin");
@ -607,7 +610,7 @@ namespace ArdupilotMega
bw.Write(EEPROM, 0, EEPROM.Length); bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close(); bw.Close();
Console.WriteLine("Download AP"); log.Info("Download AP");
byte[] FLASH = new byte[1024 * 128]; byte[] FLASH = new byte[1024 * 128];
for (int a = 0; a < FLASH.Length; a += 0x100) for (int a = 0; a < FLASH.Length; a += 0x100)
@ -650,12 +653,12 @@ namespace ArdupilotMega
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comportname;
Console.WriteLine("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
Console.WriteLine("Connect AP"); log.Info("Connect AP");
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("Download AP"); log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4]; byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < EEPROM.Length; a += 0x100) for (int a = 0; a < EEPROM.Length; a += 0x100)
@ -663,7 +666,7 @@ namespace ArdupilotMega
port.setaddress(a); port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a); port.download(0x100).CopyTo(EEPROM, a);
} }
Console.WriteLine("Verify State"); log.Info("Verify State");
if (port.keepalive()) if (port.keepalive())
{ {
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin"); StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin");
@ -671,7 +674,7 @@ namespace ArdupilotMega
bw.Write(EEPROM, 0, EEPROM.Length); bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close(); bw.Close();
Console.WriteLine("Download AP"); log.Info("Download AP");
byte[] FLASH = new byte[1024 * 256]; byte[] FLASH = new byte[1024 * 256];
for (int a = 0; a < FLASH.Length; a += 0x100) for (int a = 0; a < FLASH.Length; a += 0x100)
@ -733,7 +736,7 @@ namespace ArdupilotMega
if (port.connectAP()) if (port.connectAP())
{ {
Console.WriteLine("starting"); log.Info("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0); port.uploadflash(FLASH, 0, FLASH.Length, 0);
@ -741,7 +744,7 @@ namespace ArdupilotMega
port.upload(EEPROM, 0, (short)EEPROM.Length, 0); port.upload(EEPROM, 0, (short)EEPROM.Length, 0);
Console.WriteLine("Uploaded"); log.Info("Uploaded");
} }
@ -800,7 +803,7 @@ namespace ArdupilotMega
foreach (string file in files) foreach (string file in files)
{ {
Console.WriteLine(DateTime.Now.Millisecond + " Doing "+ file); log.Info(DateTime.Now.Millisecond + " Doing "+ file);
Regex reg = new Regex(@"Z([0-9]+)\\([0-9]+)\\([0-9]+)"); Regex reg = new Regex(@"Z([0-9]+)\\([0-9]+)\\([0-9]+)");
Match mat = reg.Match(file); Match mat = reg.Match(file);
@ -820,7 +823,7 @@ namespace ArdupilotMega
Img.Save(tile,System.Drawing.Imaging.ImageFormat.Jpeg); Img.Save(tile,System.Drawing.Imaging.ImageFormat.Jpeg);
tile.Seek(0, SeekOrigin.Begin); tile.Seek(0, SeekOrigin.Begin);
Console.WriteLine(pnt.X + " " + pnt.Y); log.Info(pnt.X + " " + pnt.Y);
Application.DoEvents(); Application.DoEvents();
@ -860,7 +863,7 @@ namespace ArdupilotMega
GMap.NET.CacheProviders.SQLitePureImageCache.VacuumDb(MainMap.CacheLocation + @"\TileDBv3\en\Data.gmdb"); GMap.NET.CacheProviders.SQLitePureImageCache.VacuumDb(MainMap.CacheLocation + @"\TileDBv3\en\Data.gmdb");
Console.WriteLine("Removed {0} images",removed); log.InfoFormat("Removed {0} images", removed);
} }
private void BUT_lang_edit_Click(object sender, EventArgs e) private void BUT_lang_edit_Click(object sender, EventArgs e)
{ {
@ -869,7 +872,7 @@ namespace ArdupilotMega
private void BUT_georefimage_Click(object sender, EventArgs e) private void BUT_georefimage_Click(object sender, EventArgs e)
{ {
new georefimage().Show(); new Georefimage().Show();
} }
private void BUT_follow_me_Click(object sender, EventArgs e) private void BUT_follow_me_Click(object sender, EventArgs e)
@ -878,5 +881,10 @@ namespace ArdupilotMega
MainV2.fixtheme((Form)si); MainV2.fixtheme((Form)si);
si.Show(); si.Show();
} }
private void BUT_ant_track_Click(object sender, EventArgs e)
{
new Antenna.Tracker().Show();
}
} }
} }