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APM Planner 1.1.12 

touch up geofence.
remove reset tab
This commit is contained in:
Michael Oborne 2011-12-21 08:22:28 +08:00
parent e372dcc7a7
commit ace823fccf
5 changed files with 247 additions and 67 deletions
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30
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs generated
View File

@ -121,12 +121,14 @@
this.geoFenceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.GeoFenceuploadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.GeoFencedownloadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.setReturnLocationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.loadFromFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.trackBar1 = new ArdupilotMega.MyTrackBar();
this.label11 = new System.Windows.Forms.Label();
this.panelBASE = new System.Windows.Forms.Panel();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.setReturnLocationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.saveToFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
this.panel5.SuspendLayout();
this.panel1.SuspendLayout();
@ -833,7 +835,9 @@
this.geoFenceToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.GeoFenceuploadToolStripMenuItem,
this.GeoFencedownloadToolStripMenuItem,
this.setReturnLocationToolStripMenuItem});
this.setReturnLocationToolStripMenuItem,
this.loadFromFileToolStripMenuItem,
this.saveToFileToolStripMenuItem});
this.geoFenceToolStripMenuItem.Name = "geoFenceToolStripMenuItem";
resources.ApplyResources(this.geoFenceToolStripMenuItem, "geoFenceToolStripMenuItem");
//
@ -849,6 +853,18 @@
resources.ApplyResources(this.GeoFencedownloadToolStripMenuItem, "GeoFencedownloadToolStripMenuItem");
this.GeoFencedownloadToolStripMenuItem.Click += new System.EventHandler(this.GeoFencedownloadToolStripMenuItem_Click);
//
// setReturnLocationToolStripMenuItem
//
this.setReturnLocationToolStripMenuItem.Name = "setReturnLocationToolStripMenuItem";
resources.ApplyResources(this.setReturnLocationToolStripMenuItem, "setReturnLocationToolStripMenuItem");
this.setReturnLocationToolStripMenuItem.Click += new System.EventHandler(this.setReturnLocationToolStripMenuItem_Click);
//
// loadFromFileToolStripMenuItem
//
this.loadFromFileToolStripMenuItem.Name = "loadFromFileToolStripMenuItem";
resources.ApplyResources(this.loadFromFileToolStripMenuItem, "loadFromFileToolStripMenuItem");
this.loadFromFileToolStripMenuItem.Click += new System.EventHandler(this.loadFromFileToolStripMenuItem_Click);
//
// trackBar1
//
resources.ApplyResources(this.trackBar1, "trackBar1");
@ -885,11 +901,11 @@
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// setReturnLocationToolStripMenuItem
// saveToFileToolStripMenuItem
//
this.setReturnLocationToolStripMenuItem.Name = "setReturnLocationToolStripMenuItem";
resources.ApplyResources(this.setReturnLocationToolStripMenuItem, "setReturnLocationToolStripMenuItem");
this.setReturnLocationToolStripMenuItem.Click += new System.EventHandler(this.setReturnLocationToolStripMenuItem_Click);
this.saveToFileToolStripMenuItem.Name = "saveToFileToolStripMenuItem";
resources.ApplyResources(this.saveToFileToolStripMenuItem, "saveToFileToolStripMenuItem");
this.saveToFileToolStripMenuItem.Click += new System.EventHandler(this.saveToFileToolStripMenuItem_Click);
//
// FlightPlanner
//
@ -1009,5 +1025,7 @@
private System.Windows.Forms.ToolStripMenuItem GeoFenceuploadToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem GeoFencedownloadToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem setReturnLocationToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem loadFromFileToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem saveToFileToolStripMenuItem;
}
}

162
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -660,11 +660,16 @@ namespace ArdupilotMega.GCSViews
isonline = false;
}
// setup geofence
List<PointLatLng> polygonPoints = new List<PointLatLng>();
gf = new GMapPolygon(polygonPoints, "geofence");
gf.Stroke = new Pen(Color.Pink, 5);
//setup drawnpolgon
List<PointLatLng> polygonPoints2 = new List<PointLatLng>();
drawnpolygon = new GMapPolygon(polygonPoints2, "drawnpoly");
drawnpolygon.Stroke = new Pen(Color.Red, 2);
updateCMDParams();
// mono
@ -701,7 +706,8 @@ namespace ArdupilotMega.GCSViews
//Console.WriteLine("feat " + feat.GetType());
//processKML((Element)feat);
}
} else
}
else
if (folder != null)
{
foreach (Feature feat in folder.Features)
@ -2701,7 +2707,7 @@ namespace ArdupilotMega.GCSViews
{
if (polygongridmode == false)
{
MessageBox.Show("You will remain in polygon mode until you clear the polygon or create a grid");
MessageBox.Show("You will remain in polygon mode until you clear the polygon or create a grid/upload a fence");
}
polygongridmode = true;
@ -2709,8 +2715,7 @@ namespace ArdupilotMega.GCSViews
List<PointLatLng> polygonPoints = new List<PointLatLng>();
if (drawnpolygons.Polygons.Count == 0)
{
drawnpolygon = new GMapPolygon(polygonPoints, "drawnpoly");
drawnpolygon.Stroke = new Pen(Color.Red, 2);
drawnpolygon.Points.Clear();
drawnpolygons.Polygons.Add(drawnpolygon);
}
drawnpolygon.Points.Add(new PointLatLng(start.Lat, start.Lng));
@ -2989,6 +2994,17 @@ namespace ArdupilotMega.GCSViews
return;
}
// check if return is inside polygon
List<PointLatLng> plll = new List<PointLatLng>(drawnpolygon.Points.ToArray());
// close it
plll.Add(plll[0]);
// check it
if (!pnpoly(plll.ToArray(), start.Lat, start.Lng))
{
MessageBox.Show("Your return location is outside the polygon");
return;
}
string minalts = (int.Parse(MainV2.comPort.param["FENCE_MINALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Min Alt", "Box Minimum Altitude?", ref minalts);
@ -3015,7 +3031,8 @@ namespace ArdupilotMega.GCSViews
MainV2.comPort.setParam("FENCE_MINALT", minalt);
MainV2.comPort.setParam("FENCE_MAXALT", maxalt);
}
catch {
catch
{
MessageBox.Show("Failed to set min/max fence alt");
return;
}
@ -3053,11 +3070,21 @@ namespace ArdupilotMega.GCSViews
drawnpolygons.Polygons.Clear();
drawnpolygons.Markers.Clear();
geofence.Polygons.Clear();
gf.Points.Clear();
gf.Points.AddRange(drawnpolygon.Points);
gf.Points.AddRange(drawnpolygon.Points.ToArray());
drawnpolygon.Points.Clear();
geofence.Polygons.Add(gf);
// update flightdata
FlightData.geofence.Markers.Clear();
FlightData.geofence.Polygons.Clear();
FlightData.geofence.Polygons.Add(gf);
FlightData.geofence.Markers.Add(geofence.Markers[0]);
MainMap.UpdatePolygonLocalPosition(gf);
MainMap.Invalidate();
@ -3082,12 +3109,8 @@ namespace ArdupilotMega.GCSViews
geofence.Polygons.Clear();
geofence.Markers.Clear();
gf.Points.Clear();
geofence.Polygons.Add(gf);
FlightData.geofence.Polygons.Clear();
FlightData.geofence.Polygons.Add(gf);
for (int a = 0; a < count; a++)
{
@ -3099,7 +3122,14 @@ namespace ArdupilotMega.GCSViews
geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng(gf.Points[0].Lat, gf.Points[0].Lng)) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
gf.Points.RemoveAt(0);
MainMap.UpdatePolygonLocalPosition(gf);
// add now - so local points are calced
geofence.Polygons.Add(gf);
// update flight data
FlightData.geofence.Markers.Clear();
FlightData.geofence.Polygons.Clear();
FlightData.geofence.Polygons.Add(gf);
FlightData.geofence.Markers.Add(geofence.Markers[0]);
MainMap.Invalidate();
}
@ -3111,5 +3141,113 @@ namespace ArdupilotMega.GCSViews
MainMap.Invalidate();
}
/// <summary>
/// from http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html
/// </summary>
/// <param name="array"> a closed polygon</param>
/// <param name="testx"></param>
/// <param name="testy"></param>
/// <returns> true = outside</returns>
bool pnpoly(PointLatLng[] array, double testx, double testy)
{
int nvert = array.Length;
int i, j = 0;
bool c = false;
for (i = 0, j = nvert - 1; i < nvert; j = i++)
{
if (((array[i].Lng > testy) != (array[j].Lng > testy)) &&
(testx < (array[j].Lat - array[i].Lat) * (testy - array[i].Lng) / (array[j].Lng - array[i].Lng) + array[i].Lat))
c = !c;
}
return c;
}
private void loadFromFileToolStripMenuItem_Click(object sender, EventArgs e)
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Fence (*.fen)|*.fen";
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
StreamReader sr = new StreamReader(fd.OpenFile());
drawnpolygons.Markers.Clear();
drawnpolygons.Polygons.Clear();
drawnpolygon.Points.Clear();
int a = 0;
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
if (line.StartsWith("#"))
{
continue;
}
else
{
string[] items = line.Split(new char[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries);
if (a == 0)
{
geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng( double.Parse(items[0]),double.Parse(items[1]))) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
}
else
{
drawnpolygon.Points.Add(new PointLatLng(double.Parse(items[0]), double.Parse(items[1])));
addpolygonmarkergrid(drawnpolygon.Points.Count.ToString(), double.Parse(items[1]), double.Parse(items[0]), 0);
}
a++;
}
}
drawnpolygons.Polygons.Add(drawnpolygon);
MainMap.Invalidate();
}
}
private void saveToFileToolStripMenuItem_Click(object sender, EventArgs e)
{
if (geofence.Markers.Count == 0)
{
MessageBox.Show("Please set a return location");
return;
}
SaveFileDialog sf = new SaveFileDialog();
sf.Filter = "Fence (*.fen)|*.fen";
sf.ShowDialog();
if (sf.FileName != "")
{
try
{
StreamWriter sw = new StreamWriter(sf.OpenFile());
sw.WriteLine("#saved by APM Planner " + Application.ProductVersion);
sw.WriteLine(geofence.Markers[0].Position.Lat + " " + geofence.Markers[0].Position.Lng);
if (drawnpolygon.Points.Count > 0)
{
foreach (var pll in drawnpolygon.Points)
{
sw.WriteLine(pll.Lat + " " + pll.Lng);
}
}
else
{
foreach (var pll in gf.Points)
{
sw.WriteLine(pll.Lat + " " + pll.Lng);
}
}
sw.Close();
}
catch { MessageBox.Show("Failed to write fence file"); }
}
}
}
}

30
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
View File

@ -1704,6 +1704,18 @@
<data name="setReturnLocationToolStripMenuItem.Text" xml:space="preserve">
<value>Set Return Location</value>
</data>
<data name="loadFromFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>177, 22</value>
</data>
<data name="loadFromFileToolStripMenuItem.Text" xml:space="preserve">
<value>Load from File</value>
</data>
<data name="saveToFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>177, 22</value>
</data>
<data name="saveToFileToolStripMenuItem.Text" xml:space="preserve">
<value>Save to File</value>
</data>
<data name="geoFenceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
@ -2200,6 +2212,18 @@
<data name="&gt;&gt;GeoFencedownloadToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;setReturnLocationToolStripMenuItem.Name" xml:space="preserve">
<value>setReturnLocationToolStripMenuItem</value>
</data>
<data name="&gt;&gt;setReturnLocationToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;loadFromFileToolStripMenuItem.Name" xml:space="preserve">
<value>loadFromFileToolStripMenuItem</value>
</data>
<data name="&gt;&gt;loadFromFileToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
<value>toolTip1</value>
</data>
@ -2212,10 +2236,10 @@
<data name="&gt;&gt;timer1.Type" xml:space="preserve">
<value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;setReturnLocationToolStripMenuItem.Name" xml:space="preserve">
<value>setReturnLocationToolStripMenuItem</value>
<data name="&gt;&gt;saveToFileToolStripMenuItem.Name" xml:space="preserve">
<value>saveToFileToolStripMenuItem</value>
</data>
<data name="&gt;&gt;setReturnLocationToolStripMenuItem.Type" xml:space="preserve">
<data name="&gt;&gt;saveToFileToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;$this.Name" xml:space="preserve">

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -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("1.1.11")]
[assembly: AssemblyFileVersion("1.1.12")]
[assembly: NeutralResourcesLanguageAttribute("")]

2
Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs generated
View File

@ -200,7 +200,7 @@
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabReset);
//this.tabControl1.Controls.Add(this.tabReset);
this.tabControl1.Controls.Add(this.tabRadioIn);
this.tabControl1.Controls.Add(this.tabModes);
this.tabControl1.Controls.Add(this.tabHardware);