From 92ff8a75d5d621f42dffecdc9bfc1a918687005f Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Mon, 19 Mar 2012 07:26:20 +0800 Subject: [PATCH] APM Planner 1.1.54 change default rates to 3 hz fix log play issue without a log loaded fix heli setup screen --- Tools/ArdupilotMegaPlanner/CurrentState.cs | 12 +- .../GCSViews/Configuration.cs | 6 +- .../ArdupilotMegaPlanner/GCSViews/Firmware.cs | 12 +- .../GCSViews/FlightData.cs | 11 +- .../GCSViews/FlightPlanner.cs | 11 +- .../GCSViews/Simulation.cs | 1 - .../ArdupilotMegaPlanner/GCSViews/Terminal.cs | 5 +- Tools/ArdupilotMegaPlanner/Log.cs | 3 - Tools/ArdupilotMegaPlanner/MAVLink.cs | 88 ++++---- Tools/ArdupilotMegaPlanner/MainV2.cs | 194 ++++++++---------- Tools/ArdupilotMegaPlanner/MavlinkLog.cs | 4 +- .../Properties/AssemblyInfo.cs | 2 +- Tools/ArdupilotMegaPlanner/SerialInput.cs | 8 +- Tools/ArdupilotMegaPlanner/Setup/Setup.cs | 22 +- .../bin/Release/ArdupilotMegaPlanner.pdb | Bin 1007104 -> 1007104 bytes Tools/ArdupilotMegaPlanner/temp.cs | 16 +- 16 files changed, 194 insertions(+), 201 deletions(-) diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs index ef5b08abc9..420b4544b3 100644 --- a/Tools/ArdupilotMegaPlanner/CurrentState.cs +++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs @@ -271,9 +271,9 @@ namespace ArdupilotMega { mode = ""; messages = new List(); - rateattitude = 10; + rateattitude = 3; rateposition = 3; - ratestatus = 1; + ratestatus = 3; ratesensors = 3; raterc = 3; datetime = DateTime.MinValue; @@ -583,9 +583,9 @@ namespace ArdupilotMega packetdropremote = sysstatus.packet_drop; - if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True") + if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True") { - MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode"))); + MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode"))); } //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null; @@ -734,9 +734,9 @@ namespace ArdupilotMega wpno = wpcur.seq; - if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True") + if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True") { - MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint"))); + MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint"))); } //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null; diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs index c3e20df7d2..fa70b64583 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs @@ -863,10 +863,10 @@ namespace ArdupilotMega.GCSViews private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e) { - MainV2.speechenable = CHK_enablespeech.Checked; + MainV2.speechEnable = CHK_enablespeech.Checked; MainV2.config["speechenable"] = CHK_enablespeech.Checked; - if (MainV2.talk != null) - MainV2.talk.SpeakAsyncCancelAll(); + if (MainV2.speechEngine != null) + MainV2.speechEngine.SpeakAsyncCancelAll(); } private void CMB_language_SelectedIndexChanged(object sender, EventArgs e) { diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs index 643994b2db..e25765c0d1 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs @@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews fd.ShowDialog(); if (File.Exists(fd.FileName)) { - UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname)); + UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName)); } return true; } @@ -312,7 +312,7 @@ namespace ArdupilotMega.GCSViews MainV2.comPort.BaseStream.DtrEnable = false; MainV2.comPort.Close(); System.Threading.Thread.Sleep(100); - MainV2.givecomport = true; + MainV2.giveComport = true; try { @@ -326,7 +326,7 @@ namespace ArdupilotMega.GCSViews this.Refresh(); - board = ArduinoDetect.DetectBoard(MainV2.comportname); + board = ArduinoDetect.DetectBoard(MainV2.comPortName); if (board == "") { @@ -338,7 +338,7 @@ namespace ArdupilotMega.GCSViews try { - apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board); + apmformat_version = ArduinoDetect.decodeApVar(MainV2.comPortName, board); } catch { } @@ -480,7 +480,7 @@ namespace ArdupilotMega.GCSViews try { - port.PortName = MainV2.comportname; + port.PortName = MainV2.comPortName; port.Open(); @@ -592,7 +592,7 @@ namespace ArdupilotMega.GCSViews port.Close(); } flashing = false; - MainV2.givecomport = false; + MainV2.giveComport = false; } void port_Progress(int progress,string status) diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs index fbfc996a31..36679c0fc0 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs @@ -258,7 +258,7 @@ namespace ArdupilotMega.GCSViews { if (threadrun == 0) { return; } - if (MainV2.givecomport == true) + if (MainV2.giveComport == true) { System.Threading.Thread.Sleep(20); continue; @@ -356,6 +356,9 @@ namespace ArdupilotMega.GCSViews } else { + // ensure we know to stop + if (MainV2.comPort.logreadmode) + MainV2.comPort.logreadmode = false; updatePlayPauseButton(false); } @@ -914,15 +917,15 @@ namespace ArdupilotMega.GCSViews try { - MainV2.givecomport = true; + MainV2.giveComport = true; MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2); GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode"); - MainV2.givecomport = false; + MainV2.giveComport = false; } - catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); } + catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); } } diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs index b6aeb84394..490d6f88fa 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs @@ -1012,7 +1012,6 @@ namespace ArdupilotMega.GCSViews t1.Name = "Row number updater"; t1.IsBackground = true; t1.Start(); - MainV2.threads.Add(t1); long temp = System.Diagnostics.Stopwatch.GetTimestamp(); @@ -1225,7 +1224,7 @@ namespace ArdupilotMega.GCSViews throw new Exception("Please Connect First!"); } - MainV2.givecomport = true; + MainV2.giveComport = true; param = port.param; @@ -1262,7 +1261,7 @@ namespace ArdupilotMega.GCSViews catch (Exception exx) { log.Info(exx.ToString()); } } - MainV2.givecomport = false; + MainV2.giveComport = false; BUT_read.Enabled = true; @@ -1334,7 +1333,7 @@ namespace ArdupilotMega.GCSViews throw new Exception("Please Connect First!"); } - MainV2.givecomport = true; + MainV2.giveComport = true; Locationwp home = new Locationwp(); @@ -1414,9 +1413,9 @@ namespace ArdupilotMega.GCSViews ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done."); } - catch (Exception ex) { MainV2.givecomport = false; throw ex; } + catch (Exception ex) { MainV2.giveComport = false; throw ex; } - MainV2.givecomport = false; + MainV2.giveComport = false; } /// diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs index e0491361e3..f28305e452 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs @@ -336,7 +336,6 @@ namespace ArdupilotMega.GCSViews IsBackground = true }; t11.Start(); - MainV2.threads.Add(t11); timer_servo_graph.Start(); } else diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs index 24aeb9fdd1..b11ff009d1 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs @@ -171,14 +171,14 @@ namespace ArdupilotMega.GCSViews { try { - MainV2.givecomport = true; + MainV2.giveComport = true; if (comPort.IsOpen) comPort.Close(); comPort.ReadBufferSize = 1024 * 1024; - comPort.PortName = MainV2.comportname; + comPort.PortName = MainV2.comPortName; comPort.Open(); @@ -232,7 +232,6 @@ namespace ArdupilotMega.GCSViews t11.IsBackground = true; t11.Name = "Terminal serial thread"; t11.Start(); - MainV2.threads.Add(t11); // doesnt seem to work on mac //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived); diff --git a/Tools/ArdupilotMegaPlanner/Log.cs b/Tools/ArdupilotMegaPlanner/Log.cs index 53953f1449..5e9717d3e5 100644 --- a/Tools/ArdupilotMegaPlanner/Log.cs +++ b/Tools/ArdupilotMegaPlanner/Log.cs @@ -118,7 +118,6 @@ namespace ArdupilotMega log.Info("Comport thread close"); }) {Name = "comport reader"}; t11.Start(); - MainV2.threads.Add(t11); // doesnt seem to work on mac //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived); @@ -728,7 +727,6 @@ namespace ArdupilotMega System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); }); t11.Name = "Log Download All thread"; t11.Start(); - MainV2.threads.Add(t11); } } @@ -779,7 +777,6 @@ namespace ArdupilotMega System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); }); t11.Name = "Log download single thread"; t11.Start(); - MainV2.threads.Add(t11); } } diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs index 3d1992ea88..a324140c75 100644 --- a/Tools/ArdupilotMegaPlanner/MAVLink.cs +++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs @@ -172,7 +172,7 @@ namespace ArdupilotMega try { - MainV2.givecomport = true; + MainV2.giveComport = true; BaseStream.ReadBufferSize = 4 * 1024; @@ -217,7 +217,7 @@ namespace ArdupilotMega countDown.Stop(); if (BaseStream.IsOpen) BaseStream.Close(); - MainV2.givecomport = false; + MainV2.giveComport = false; return; } @@ -296,7 +296,7 @@ namespace ArdupilotMega if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true) { - MainV2.givecomport = false; + MainV2.giveComport = false; if (BaseStream.IsOpen) BaseStream.Close(); return; @@ -309,7 +309,7 @@ namespace ArdupilotMega BaseStream.Close(); } catch { } - MainV2.givecomport = false; + MainV2.giveComport = false; // if (Progress != null) // Progress(-1, "Connect Failed\n" + e.Message); if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage)) @@ -317,7 +317,7 @@ namespace ArdupilotMega throw e; } //frmProgressReporter.Close(); - MainV2.givecomport = false; + MainV2.giveComport = false; frmProgressReporter.UpdateProgressAndStatus(100, "Done."); log.Info("Done open " + sysid + " " + compid); packetslost = 0; @@ -491,7 +491,7 @@ namespace ArdupilotMega return false; } - MainV2.givecomport = true; + MainV2.giveComport = true; __mavlink_param_set_t req = new __mavlink_param_set_t(); req.target_system = sysid; @@ -527,7 +527,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - setParam " + paramname); } @@ -557,7 +557,7 @@ namespace ArdupilotMega param[st] = (par.param_value); - MainV2.givecomport = false; + MainV2.giveComport = false; //System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte return true; } @@ -602,7 +602,7 @@ namespace ArdupilotMega /// private Hashtable getParamListBG() { - MainV2.givecomport = true; + MainV2.giveComport = true; List got = new List(); // clear old @@ -629,7 +629,7 @@ namespace ArdupilotMega if (frmProgressReporter.doWorkArgs.CancelRequested) { frmProgressReporter.doWorkArgs.CancelAcknowledged = true; - MainV2.givecomport = false; + MainV2.giveComport = false; frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled"; return param; } @@ -645,7 +645,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - getParamList " + got.Count + " " + param_total + "\n\nYour serial link isn't fast enough\n"); } @@ -715,7 +715,7 @@ namespace ArdupilotMega } throw new Exception("Missing Params"); } - MainV2.givecomport = false; + MainV2.giveComport = false; return param; } @@ -918,7 +918,7 @@ namespace ArdupilotMega } } #else - MainV2.givecomport = true; + MainV2.giveComport = true; byte[] buffer; __mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t(); @@ -944,7 +944,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - setWPCurrent"); } @@ -953,7 +953,7 @@ namespace ArdupilotMega { if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT) { - MainV2.givecomport = false; + MainV2.giveComport = false; return true; } } @@ -962,7 +962,7 @@ namespace ArdupilotMega public bool doAction(MAV_ACTION actionid) { - MainV2.givecomport = true; + MainV2.giveComport = true; byte[] buffer; __mavlink_action_t req = new __mavlink_action_t(); @@ -1002,7 +1002,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - doAction"); } @@ -1013,12 +1013,12 @@ namespace ArdupilotMega { if (buffer[7] == 1) { - MainV2.givecomport = false; + MainV2.giveComport = false; return true; } else { - MainV2.givecomport = false; + MainV2.giveComport = false; return false; } } @@ -1065,9 +1065,18 @@ namespace ArdupilotMega } break; case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3: - + if (packetspersecondbuild[MAVLINK_MSG_ID_DCM] < DateTime.Now.AddSeconds(-2)) + break; + pps = packetspersecond[MAVLINK_MSG_ID_DCM]; + if (hzratecheck(pps, hzrate)) + { + return; + } break; case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION: + // ac2 does not send rate position + if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) + return; if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2)) break; pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT]; @@ -1156,7 +1165,6 @@ namespace ArdupilotMega req.req_stream_id = id; // id generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req); - generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req); } /// @@ -1165,7 +1173,7 @@ namespace ArdupilotMega /// public byte getWPCount() { - MainV2.givecomport = true; + MainV2.giveComport = true; byte[] buffer; #if MAVLINK10 __mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t(); @@ -1236,13 +1244,13 @@ namespace ArdupilotMega { if (retrys > 0) { - log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport); + log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport); generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req); start = DateTime.Now; retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; //return (byte)int.Parse(param["WP_TOTAL"].ToString()); throw new Exception("Timeout on read - getWPCount"); } @@ -1254,7 +1262,7 @@ namespace ArdupilotMega { log.Info("wpcount: " + buffer[9]); - MainV2.givecomport = false; + MainV2.giveComport = false; return buffer[9]; // should be ushort, but apm has limited wp count < byte } else @@ -1273,7 +1281,7 @@ namespace ArdupilotMega /// WP public Locationwp getWP(ushort index) { - MainV2.givecomport = true; + MainV2.giveComport = true; Locationwp loc = new Locationwp(); #if MAVLINK10 __mavlink_mission_request_t req = new __mavlink_mission_request_t(); @@ -1350,7 +1358,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - getWP"); } //Console.WriteLine("getwp read " + DateTime.Now.Millisecond); @@ -1449,7 +1457,7 @@ namespace ArdupilotMega } } } - MainV2.givecomport = false; + MainV2.giveComport = false; return loc; } @@ -1608,7 +1616,7 @@ namespace ArdupilotMega } } #else - MainV2.givecomport = true; + MainV2.giveComport = true; __mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t(); req.target_system = sysid; @@ -1633,7 +1641,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - setWPTotal"); } byte[] buffer = readPacket(); @@ -1649,7 +1657,7 @@ namespace ArdupilotMega param["WP_TOTAL"] = (float)wp_total - 1; if (param["CMD_TOTAL"] != null) param["CMD_TOTAL"] = (float)wp_total - 1; - MainV2.givecomport = false; + MainV2.giveComport = false; return; } } @@ -1672,7 +1680,7 @@ namespace ArdupilotMega /// 0 = no , 2 = guided mode public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current) { - MainV2.givecomport = true; + MainV2.giveComport = true; #if MAVLINK10 __mavlink_mission_item_t req = new __mavlink_mission_item_t(); #else @@ -1778,7 +1786,7 @@ namespace ArdupilotMega retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - setWP"); } byte[] buffer = readPacket(); @@ -1831,7 +1839,7 @@ namespace ArdupilotMega if (ans.seq == (index + 1)) { log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]); - MainV2.givecomport = false; + MainV2.giveComport = false; break; } else @@ -2090,7 +2098,7 @@ namespace ArdupilotMega if (bpstime.Second != DateTime.Now.Second && !logreadmode) { - Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false)); + Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false) / 1024 / 1024.0); bps2 = bps1; // prev sec bps1 = 0; // current sec bpstime = DateTime.Now; @@ -2196,7 +2204,7 @@ namespace ArdupilotMega logdata = logdata.Substring(0, ind); log.Info(DateTime.Now + " " + logdata); - if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True") + if (MainV2.speechEngine != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True") { //MainV2.talk.SpeakAsync(logdata); } @@ -2268,7 +2276,7 @@ namespace ArdupilotMega { byte[] buffer; - MainV2.givecomport = true; + MainV2.giveComport = true; PointLatLngAlt plla = new PointLatLngAlt(); __mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t(); @@ -2289,13 +2297,13 @@ namespace ArdupilotMega { if (retrys > 0) { - log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport); + log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.giveComport); generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req); start = DateTime.Now; retrys--; continue; } - MainV2.givecomport = false; + MainV2.giveComport = false; throw new Exception("Timeout on read - getFencePoint"); } @@ -2304,7 +2312,7 @@ namespace ArdupilotMega { if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT) { - MainV2.givecomport = false; + MainV2.giveComport = false; __mavlink_fence_point_t fp = buffer.ByteArrayToStructure<__mavlink_fence_point_t>(6); diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index 00ef94e611..320eaf9ec2 100644 --- a/Tools/ArdupilotMegaPlanner/MainV2.cs +++ b/Tools/ArdupilotMegaPlanner/MainV2.cs @@ -39,14 +39,14 @@ namespace ArdupilotMega const int SW_HIDE = 0; public static MAVLink comPort = new MAVLink(); - public static string comportname = ""; + public static string comPortName = ""; public static Hashtable config = new Hashtable(); - public static bool givecomport = false; + public static bool giveComport = false; public static Firmwares APMFirmware = Firmwares.ArduPlane; public static bool MONO = false; - public static bool speechenable = false; - public static Speech talk = null; + public static bool speechEnable = false; + public static Speech speechEngine = null; public static Joystick joystick = null; DateTime lastjoystick = DateTime.Now; @@ -55,22 +55,14 @@ namespace ArdupilotMega public static CurrentState cs = new CurrentState(); - bool serialthread = false; + bool serialThread = false; TcpListener listener; - DateTime heatbeatsend = DateTime.Now; + DateTime heatbeatSend = DateTime.Now; - public static List threads = new List(); public static MainV2 instance = null; - /* - * "PITCH_KP", -"PITCH_KI", -"PITCH_LIM", - - */ - public enum Firmwares { ArduPlane, @@ -106,9 +98,7 @@ namespace ArdupilotMega var t = Type.GetType("Mono.Runtime"); MONO = (t != null); - talk = new Speech(); - - //talk.SpeakAsync("Welcome to APM Planner"); + speechEngine = new Speech(); MyRenderer.currentpressed = MenuFlightData; @@ -208,7 +198,7 @@ namespace ArdupilotMega MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString()); if (config["speechenable"] != null) - MainV2.speechenable = bool.Parse(config["speechenable"].ToString()); + MainV2.speechEnable = bool.Parse(config["speechenable"].ToString()); //int fixme; /* @@ -461,7 +451,7 @@ namespace ArdupilotMega MenuConnect_Click(sender, e); } - givecomport = true; + giveComport = true; MyView.Controls.Clear(); @@ -493,7 +483,7 @@ namespace ArdupilotMega private void MenuConnect_Click(object sender, EventArgs e) { - givecomport = false; + giveComport = false; if (comPort.BaseStream.IsOpen && cs.groundspeed > 4) { @@ -509,8 +499,8 @@ namespace ArdupilotMega { try { - if (talk != null) // cancel all pending speech - talk.SpeakAsyncCancelAll(); + if (speechEngine != null) // cancel all pending speech + speechEngine.SpeakAsyncCancelAll(); } catch { } @@ -548,9 +538,6 @@ namespace ArdupilotMega comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1"); comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None"); - if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true) - comPort.BaseStream.toggleDTR(); - comPort.BaseStream.DtrEnable = false; try @@ -642,13 +629,13 @@ namespace ArdupilotMega private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e) { - comportname = CMB_serialport.Text; - if (comportname == "UDP" || comportname == "TCP") + comPortName = CMB_serialport.Text; + if (comPortName == "UDP" || comPortName == "TCP") { CMB_baudrate.Enabled = false; - if (comportname == "TCP") + if (comPortName == "TCP") MainV2.comPort.BaseStream = new TcpSerial(); - if (comportname == "UDP") + if (comPortName == "UDP") MainV2.comPort.BaseStream = new UdpSerial(); } else @@ -682,7 +669,7 @@ namespace ArdupilotMega GCSViews.FlightData.threadrun = 0; GCSViews.Simulation.threadrun = 0; - serialthread = false; + serialThread = false; try { @@ -725,7 +712,7 @@ namespace ArdupilotMega xmlwriter.WriteStartElement("Config"); - xmlwriter.WriteElementString("comport", comportname); + xmlwriter.WriteElementString("comport", comPortName); xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text); @@ -779,7 +766,7 @@ namespace ArdupilotMega CMB_serialport.Text = temp; // allows ports that dont exist - yet } comPort.BaseStream.PortName = temp; - comportname = temp; + comPortName = temp; break; case "baudrate": string temp2 = xmlreader.ReadString(); @@ -876,64 +863,68 @@ namespace ArdupilotMega } } + private void updateConnectIcon() + { + DateTime menuupdate = DateTime.Now; + if ((DateTime.Now - menuupdate).Milliseconds > 500) + { + // Console.WriteLine(DateTime.Now.Millisecond); + if (comPort.BaseStream.IsOpen) + { + if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect") + { + this.Invoke((MethodInvoker)delegate + { + this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect; + this.MenuConnect.BackgroundImage.Tag = "Disconnect"; + CMB_baudrate.Enabled = false; + CMB_serialport.Enabled = false; + }); + } + } + else + { + if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect") + { + this.Invoke((MethodInvoker)delegate + { + this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect; + this.MenuConnect.BackgroundImage.Tag = "Connect"; + CMB_baudrate.Enabled = true; + CMB_serialport.Enabled = true; + }); + } + } + menuupdate = DateTime.Now; + } + } private void SerialReader() { - if (serialthread == true) + if (serialThread == true) return; - serialthread = true; + serialThread = true; int minbytes = 10; if (MONO) minbytes = 0; - DateTime menuupdate = DateTime.Now; - DateTime speechcustomtime = DateTime.Now; DateTime linkqualitytime = DateTime.Now; - while (serialthread) + while (serialThread) { try { System.Threading.Thread.Sleep(5); - if ((DateTime.Now - menuupdate).Milliseconds > 500) - { - // Console.WriteLine(DateTime.Now.Millisecond); - if (comPort.BaseStream.IsOpen) - { - if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect") - { - this.Invoke((MethodInvoker)delegate - { - this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect; - this.MenuConnect.BackgroundImage.Tag = "Disconnect"; - CMB_baudrate.Enabled = false; - CMB_serialport.Enabled = false; - }); - } - } - else - { - if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect") - { - this.Invoke((MethodInvoker)delegate - { - this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect; - this.MenuConnect.BackgroundImage.Tag = "Connect"; - CMB_baudrate.Enabled = true; - CMB_serialport.Enabled = true; - }); - } - } - menuupdate = DateTime.Now; - } + + updateConnectIcon(); - if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) + if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) { //speechbatteryvolt float warnvolt = 0; @@ -941,12 +932,12 @@ namespace ArdupilotMega if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt) { - MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery"))); + MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery"))); } if (MainV2.getConfig("speechcustomenabled") == "True") { - MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom"))); + MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom"))); } speechcustomtime = DateTime.Now; @@ -970,7 +961,7 @@ namespace ArdupilotMega GC.Collect(); } - if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) + if (speechEnable && speechEngine != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) { float warnalt = float.MaxValue; float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt); @@ -978,20 +969,20 @@ namespace ArdupilotMega { if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt) { - if (MainV2.talk.State == SynthesizerState.Ready) - MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt"))); + if (MainV2.speechEngine.State == SynthesizerState.Ready) + MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt"))); } } catch { } // silent fail } - if (!comPort.BaseStream.IsOpen || givecomport == true) + if (!comPort.BaseStream.IsOpen || giveComport == true) { System.Threading.Thread.Sleep(100); continue; } - if (heatbeatsend.Second != DateTime.Now.Second) + if (heatbeatSend.Second != DateTime.Now.Second) { // Console.WriteLine("remote lost {0}", cs.packetdropremote); @@ -1008,22 +999,22 @@ namespace ArdupilotMega #endif comPort.sendPacket(htb); - heatbeatsend = DateTime.Now; + heatbeatSend = DateTime.Now; } // data loss warning if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10) { - if (speechenable && talk != null) + if (speechEnable && speechEngine != null) { - if (MainV2.talk.State == SynthesizerState.Ready) - MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds"); + if (MainV2.speechEngine.State == SynthesizerState.Ready) + MainV2.speechEngine.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds"); } } - //Console.WriteLine(comPort.BaseStream.BytesToRead); + //Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead); - while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false) + while (comPort.BaseStream.BytesToRead > minbytes && giveComport == false) comPort.readPacket(); } catch (Exception e) @@ -1085,12 +1076,7 @@ namespace ArdupilotMega private void MainV2_Load(object sender, EventArgs e) { - // generate requestall for jani and sandro - comPort.sysid = 7; - comPort.compid = 1; - //comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3); - // - + // init button depressed MenuFlightData_Click(sender, e); // for long running tasks using own threads. @@ -1099,13 +1085,11 @@ namespace ArdupilotMega try { listener = new TcpListener(IPAddress.Any, 56781); - var t13 = new Thread(listernforclients) + new Thread(listernforclients) { - Name = "motion jpg stream", + Name = "motion jpg stream-network kml", IsBackground = true - }; - // wait for tcp connections - t13.Start(); + }.Start(); } catch (Exception ex) { @@ -1113,20 +1097,18 @@ namespace ArdupilotMega CustomMessageBox.Show(ex.ToString()); } - var t12 = new Thread(new ThreadStart(joysticksend)) + new Thread(new ThreadStart(joysticksend)) { IsBackground = true, Priority = ThreadPriority.AboveNormal, Name = "Main joystick sender" - }; - t12.Start(); + }.Start(); - var t11 = new Thread(SerialReader) + new Thread(SerialReader) { IsBackground = true, Name = "Main Serial reader" - }; - t11.Start(); + }.Start(); if (Debugger.IsAttached) { @@ -1469,12 +1451,12 @@ namespace ArdupilotMega } - public static void updatecheck(ProgressReporterDialogue frmProgressReporter) + public static void updateCheckMain(ProgressReporterDialogue frmProgressReporter) { var baseurl = ConfigurationManager.AppSettings["UpdateLocation"]; try { - bool update = updatecheck(frmProgressReporter, baseurl, ""); + bool update = updateCheck(frmProgressReporter, baseurl, ""); var process = new Process(); string exePath = Path.GetDirectoryName(Application.ExecutablePath); if (MONO) @@ -1618,20 +1600,20 @@ namespace ArdupilotMega ThemeManager.ApplyThemeTo(frmProgressReporter); - frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork); + frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork); frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates"); frmProgressReporter.RunBackgroundOperationAsync(); } - static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e) + static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e) { ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL"); - MainV2.updatecheck((ProgressReporterDialogue)sender); + MainV2.updateCheckMain((ProgressReporterDialogue)sender); } - private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir) + private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir) { bool update = false; List files = new List(); @@ -1692,7 +1674,7 @@ namespace ArdupilotMega } if (file.EndsWith("/")) { - update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update; + update = updateCheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update; continue; } if (frmProgressReporter != null) diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs index a870ddc764..36e972eff2 100644 --- a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs +++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs @@ -403,8 +403,8 @@ namespace ArdupilotMega try { - if (MainV2.talk != null) - MainV2.talk.SpeakAsyncCancelAll(); + if (MainV2.speechEngine != null) + MainV2.speechEngine.SpeakAsyncCancelAll(); } catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting. diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index db5061360b..556a38e668 100644 --- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs +++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs @@ -34,5 +34,5 @@ using System.Resources; // by using the '*' as shown below: // [assembly: AssemblyVersion("1.0.*")] [assembly: AssemblyVersion("1.0.0.0")] -[assembly: AssemblyFileVersion("1.1.53")] +[assembly: AssemblyFileVersion("1.1.54")] [assembly: NeutralResourcesLanguageAttribute("")] diff --git a/Tools/ArdupilotMegaPlanner/SerialInput.cs b/Tools/ArdupilotMegaPlanner/SerialInput.cs index 4955b4ba3a..5a1d5542e3 100644 --- a/Tools/ArdupilotMegaPlanner/SerialInput.cs +++ b/Tools/ArdupilotMegaPlanner/SerialInput.cs @@ -153,19 +153,19 @@ namespace ArdupilotMega } catch { } - if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false) + if (MainV2.comPort.BaseStream.IsOpen && MainV2.giveComport == false) { try { - MainV2.givecomport = true; + MainV2.giveComport = true; 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; } } } } diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs index 3537a9c809..f10943bfd3 100644 --- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs +++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs @@ -510,7 +510,7 @@ namespace ArdupilotMega.Setup if (tabControl1.SelectedTab == tabHeli) { - if (MainV2.comPort.param["GYR_ENABLE_"] == null) + if (MainV2.comPort.param["GYR_ENABLE"] == null) { tabHeli.Enabled = false; return; @@ -518,6 +518,12 @@ namespace ArdupilotMega.Setup startup = true; try { + if (MainV2.comPort.param.ContainsKey("H1_ENABLE")) + { + CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false; + H1_ENABLE.Checked = !CCPM.Checked; + } + foreach (string value in MainV2.comPort.param.Keys) { if (value == "") @@ -915,7 +921,7 @@ namespace ArdupilotMega.Setup } catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; } - MainV2.givecomport = true; + MainV2.giveComport = true; ICommsSerial comPortT = MainV2.comPort.BaseStream; @@ -931,7 +937,7 @@ namespace ArdupilotMega.Setup comPortT.DtrEnable = true; comPortT.Open(); } - catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; } + catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; } BUT_reset.Text = "Rebooting (17 sec)"; BUT_reset.Refresh(); @@ -951,7 +957,7 @@ namespace ArdupilotMega.Setup comPortT.Close(); - MainV2.givecomport = false; + MainV2.giveComport = false; try { MainV2.comPort.Open(true); @@ -1087,9 +1093,9 @@ namespace ArdupilotMega.Setup try { - MainV2.comPort.setParam("COL_MID_", MainV2.cs.ch3in); + MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in); - COL_MID.Text = MainV2.comPort.param["COL_MID_"].ToString(); + COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString(); } catch { CustomMessageBox.Show("Set COL_MID_ failed"); } } @@ -1290,8 +1296,8 @@ namespace ArdupilotMega.Setup { if (MainV2.comPort.param["HSV_MAN"].ToString() == "1") { - MainV2.comPort.setParam("COL_MIN_", int.Parse(COL_MIN.Text)); - MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX.Text)); + MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text)); + MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text)); MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last 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