ArdupilotMegaPlanner: Added new APPROACH flight mode and added infrastructure necessary to make it private (ie. not a user selectable mode).

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -222,6 +222,8 @@
     <Compile Include="Antenna\Tracker.Designer.cs">
       <DependentUpon>Tracker.cs</DependentUpon>
     </Compile>
+    <Compile Include="Attributes\DisplayTextAttribute.cs" />
+    <Compile Include="Attributes\PrivateAttribute.cs" />
     <Compile Include="CodeGen.cs" />
     <Compile Include="Controls\BackstageView\BackstageView.cs">
       <SubType>UserControl</SubType>
@@ -540,6 +542,7 @@
     <Compile Include="Radio\Uploader.cs" />
     <Compile Include="LangUtility.cs" />
     <Compile Include="ThemeManager.cs" />
+    <Compile Include="Utilities\EnumTranslator.cs" />
     <EmbeddedResource Include="Antenna\Tracker.resx">
       <DependentUpon>Tracker.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/Attributes/DisplayTextAttribute.cs

@@ -0,0 +1,44 @@
+#region Using Statements
+
+using System;
+
+#endregion
+
+namespace ArdupilotMega.Attributes
+{
+   /// <summary>
+   /// Used to decorate a type or type member with display text.
+   /// </summary>
+   [AttributeUsage(AttributeTargets.All, Inherited = false, AllowMultiple = false)]
+   public sealed class DisplayTextAttribute : Attribute
+   {
+
+      private readonly string _text;
+
+      /// <summary>
+      /// Initializes a new instance of the <see cref="DisplayTextAttribute"/> class.
+      /// </summary>
+      /// <param name="text">The text.</param>
+      /// <exception cref="ArgumentException">
+      /// Thrown when <paramref name="text"/> is null or empty.
+      /// </exception>
+      public DisplayTextAttribute(string text)
+      {
+         if (String.IsNullOrEmpty(text))
+         {
+            throw new ArgumentException("\"text\" is required.");
+         }
+         _text = text;
+      }
+
+      /// <summary>
+      /// Gets the text.
+      /// </summary>
+      /// <value>The text.</value>
+      public string Text
+      {
+         get { return _text; }
+      }
+
+   }
+}

Tools/ArdupilotMegaPlanner/Attributes/PrivateAttribute.cs

@@ -0,0 +1,35 @@
+#region Using Statements
+
+using System;
+
+#endregion
+
+namespace ArdupilotMega.Attributes
+{
+   [AttributeUsage(AttributeTargets.All, Inherited = false, AllowMultiple = false)]
+   public sealed class PrivateAttribute : Attribute
+   {
+      private readonly bool _isPrivate;
+
+      /// <summary>
+      /// Initializes a new instance of the <see cref="PrivateAttribute"/> class.
+      /// </summary>
+      /// <param name="isPrivate">if set to <c>true</c> [is private].</param>
+      public PrivateAttribute(bool isPrivate)
+      {
+         _isPrivate = isPrivate;
+      }
+
+      /// <summary>
+      /// Gets a value indicating whether this instance is private.
+      /// </summary>
+      /// <value>
+      /// 	<c>true</c> if this instance is private; otherwise, <c>false</c>.
+      /// </value>
+      public bool IsPrivate
+      {
+         get { return _isPrivate; }
+      }
+
+   }
+}

Tools/ArdupilotMegaPlanner/Common.cs

@@ -8,6 +8,7 @@ using System.Windows.Forms;
 using AGaugeApp;
 using System.IO.Ports;
 using System.Threading;
+using ArdupilotMega.Attributes;
 using GMap.NET;
 using GMap.NET.WindowsForms;
 using GMap.NET.WindowsForms.Markers;
@@ -319,28 +320,48 @@ namespace ArdupilotMega
 
         public enum ac2modes
         {
+            [DisplayText("Stabilize")]
             STABILIZE = 0,			// hold level position
+            [DisplayText("Acro")]
             ACRO = 1,			// rate control
+            [DisplayText("Altitude Hold")]
             ALT_HOLD = 2,		// AUTO control
+            [DisplayText("Auto")]
             AUTO = 3,			// AUTO control
+            [DisplayText("Guided")]
             GUIDED = 4,		// AUTO control
+            [DisplayText("Loiter")]
             LOITER = 5,		// Hold a single location
+            [DisplayText("Return to Launch")]
             RTL = 6,				// AUTO control
+            [DisplayText("Circle")]
             CIRCLE = 7,
+            [DisplayText("Position Hold")]
             POSITION = 8,
+            [DisplayText("Land")]
             LAND = 9,				// AUTO control
-            OF_LOITER = 10
+            [Private(true)]
+            APPROACH = 10,
+            OF_LOITER = 11
         }
 
         public enum ac2ch7modes
         {
+            [DisplayText("Do Nothing")]
             CH7_DO_NOTHING = 0,
+            [DisplayText("Set Hover")]
             CH7_SET_HOVER = 1,
+            [DisplayText("Flip")]
             CH7_FLIP = 2,
+            [DisplayText("Simple Mode")]
             CH7_SIMPLE_MODE = 3,
+            [DisplayText("Return to Launch")]
             CH7_RTL = 4,
+            [DisplayText("Automatic Trim")]
             CH7_AUTO_TRIM = 5,
+            [DisplayText("ADC Filter")]
             CH7_ADC_FILTER = 6,
+            [DisplayText("Save Waypoint")]
             CH7_SAVE_WP = 7
         }
 

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Reflection;
 using System.Text;
 using System.ComponentModel;
+using ArdupilotMega.Utilities;
 using log4net;
 
 namespace ArdupilotMega
@@ -503,34 +504,37 @@ namespace ArdupilotMega
                             }
                             break;
                         case (byte)(100 + Common.ac2modes.STABILIZE):
-                            mode = "Stabilize";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.STABILIZE);
                             break;
                         case (byte)(100 + Common.ac2modes.ACRO):
-                            mode = "Acro";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.ACRO);
                             break;
                         case (byte)(100 + Common.ac2modes.ALT_HOLD):
-                            mode = "Alt Hold";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.ALT_HOLD);
                             break;
                         case (byte)(100 + Common.ac2modes.AUTO):
-                            mode = "Auto";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.AUTO);
                             break;
                         case (byte)(100 + Common.ac2modes.GUIDED):
-                            mode = "Guided";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.GUIDED);
                             break;
                         case (byte)(100 + Common.ac2modes.LOITER):
-                            mode = "Loiter";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.LOITER);
                             break;
                         case (byte)(100 + Common.ac2modes.RTL):
-                            mode = "RTL";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.RTL);
                             break;
                         case (byte)(100 + Common.ac2modes.CIRCLE):
-                            mode = "Circle";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.CIRCLE);
                             break;
                         case (byte)(100 + Common.ac2modes.LAND):
-                            mode = "Land";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.LAND);
+                            break;
+                        case (byte)(100 + Common.ac2modes.APPROACH):
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.APPROACH);
                             break;
                         case (byte)(100 + Common.ac2modes.POSITION):
-                            mode = "Position";
+                            mode = EnumTranslator.GetDisplayText(Common.ac2modes.POSITION);
                             break;
                         case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_MANUAL:
                             mode = "Manual";

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFlightModes.cs

@@ -7,6 +7,7 @@ using System.Linq;
 using System.Text;
 using System.Windows.Forms;
 using ArdupilotMega.Controls.BackstageView;
+using ArdupilotMega.Utilities;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
@@ -165,12 +166,31 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 CMB_fmode5.Items.Clear();
                 CMB_fmode6.Items.Clear();
 
-                CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+                var flightModes = EnumTranslator.Translate<Common.apmmodes>();
-                CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+
-                CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+                CMB_fmode1.DataSource = flightModes;
-                CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+                CMB_fmode1.ValueMember = "Value";
-                CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+                CMB_fmode1.DisplayMember = "Value";
-                CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
+
+                CMB_fmode2.DataSource = flightModes;
+                CMB_fmode2.ValueMember = "Value";
+                CMB_fmode2.DisplayMember = "Value";
+
+                CMB_fmode3.DataSource = flightModes;
+                CMB_fmode3.ValueMember = "Value";
+                CMB_fmode3.DisplayMember = "Value";
+
+                CMB_fmode4.DataSource = flightModes;
+                CMB_fmode4.ValueMember = "Value";
+                CMB_fmode4.DisplayMember = "Value";
+
+                CMB_fmode5.DataSource = flightModes;
+                CMB_fmode5.ValueMember = "Value";
+                CMB_fmode5.DisplayMember = "Value";
+
+                CMB_fmode6.DataSource = flightModes;
+                CMB_fmode6.ValueMember = "Value";
+                CMB_fmode6.DisplayMember = "Value";
 
                 try
                 {
@@ -193,12 +213,31 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 CMB_fmode5.Items.Clear();
                 CMB_fmode6.Items.Clear();
 
-                CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+                var flightModes = EnumTranslator.Translate<Common.apmmodes>();
-                CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+
-                CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+                CMB_fmode1.DataSource = flightModes;
-                CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+                CMB_fmode1.ValueMember = "Value";
-                CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+                CMB_fmode1.DisplayMember = "Value";
-                CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
+
+                CMB_fmode2.DataSource = flightModes;
+                CMB_fmode2.ValueMember = "Value";
+                CMB_fmode2.DisplayMember = "Value";
+
+                CMB_fmode3.DataSource = flightModes;
+                CMB_fmode3.ValueMember = "Value";
+                CMB_fmode3.DisplayMember = "Value";
+
+                CMB_fmode4.DataSource = flightModes;
+                CMB_fmode4.ValueMember = "Value";
+                CMB_fmode4.DisplayMember = "Value";
+
+                CMB_fmode5.DataSource = flightModes;
+                CMB_fmode5.ValueMember = "Value";
+                CMB_fmode5.DisplayMember = "Value";
+
+                CMB_fmode6.DataSource = flightModes;
+                CMB_fmode6.ValueMember = "Value";
+                CMB_fmode6.DisplayMember = "Value";
 
                 try
                 {

Tools/ArdupilotMegaPlanner/Utilities/EnumTranslator.cs

@@ -0,0 +1,120 @@
+#region Using Statements
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using ArdupilotMega.Attributes;
+
+#endregion
+
+namespace ArdupilotMega.Utilities
+{
+   public static class EnumTranslator
+   {
+      /// <summary>
+      /// Translates this instance.
+      /// </summary>
+      /// <typeparam name="T"></typeparam>
+      /// <returns></returns>
+      public static Dictionary<int, string> Translate<T>()
+      {
+         return Translate<T>(true);
+      }
+
+      /// <summary>
+      /// Translates the specified check private.
+      /// </summary>
+      /// <typeparam name="T"></typeparam>
+      /// <param name="checkPrivate">if set to <c>true</c> [check private].</param>
+      /// <returns></returns>
+      public static Dictionary<int, string> Translate<T>(bool checkPrivate)
+      {
+         return Translate<T>(string.Empty, checkPrivate);
+      }
+
+      /// <summary>
+      /// Translates the specified default text.
+      /// </summary>
+      /// <typeparam name="T"></typeparam>
+      /// <param name="defaultText">The default text.</param>
+      /// <param name="checkPrivate">if set to <c>true</c> [check private].</param>
+      /// <returns></returns>
+      public static Dictionary<int, string> Translate<T>(string defaultText, bool checkPrivate)
+      {
+         return Translate<T>(defaultText, checkPrivate, true);
+      }
+
+      /// <summary>
+      /// Translates the specified default text.
+      /// </summary>
+      /// <typeparam name="T"></typeparam>
+      /// <param name="defaultText">The default text.</param>
+      /// <param name="checkPrivate">if set to <c>true</c> [check private].</param>
+      /// <param name="sorting">if set to <c>true</c> [sorting].</param>
+      /// <returns></returns>
+      public static Dictionary<int, string> Translate<T>(string defaultText, bool checkPrivate, bool sorting)
+      {
+         var types = new Dictionary<int, string>();
+         var tempTypes = new Dictionary<int, string>();
+         if (!String.IsNullOrEmpty(defaultText)) types.Add(-1, defaultText);
+         foreach (FieldInfo fieldInfo in typeof(T).GetFields(BindingFlags.Static | BindingFlags.GetField | BindingFlags.Public))
+         {
+            bool add = true;
+            string displayText = string.Empty;
+            T type = (T)fieldInfo.GetValue(typeof(T));
+            object[] displayTextObjectArr = fieldInfo.GetCustomAttributes(typeof(DisplayTextAttribute), true);
+            displayText = (displayTextObjectArr.Length > 0)
+                             ? ((DisplayTextAttribute)displayTextObjectArr[0]).Text
+                             : type.ToString();
+            if (checkPrivate)
+            {
+               object[] privateAttributeObjectArr = fieldInfo.GetCustomAttributes(typeof(PrivateAttribute), true);
+               if (privateAttributeObjectArr.Length > 0)
+               {
+                  add = !((PrivateAttribute)privateAttributeObjectArr[0]).IsPrivate;
+               }
+            }
+            if (add)
+            {
+               tempTypes.Add(Convert.ToInt32(type), displayText);
+            }
+         }
+         if (sorting)
+         {
+            foreach(var x in tempTypes.OrderBy(x => x.Value).ToDictionary(x => x.Key, x => x.Value)){ types.Add(x.Key, x.Value); }
+         }
+         else
+         {
+            foreach (var x in tempTypes.ToDictionary(x => x.Key, x => x.Value)) { types.Add(x.Key, x.Value); }
+         }
+         return types;
+      }
+
+      /// <summary>
+      /// Gets the display text.
+      /// </summary>
+      /// <typeparam name="T"></typeparam>
+      /// <param name="value">The value.</param>
+      /// <returns></returns>
+      public static string GetDisplayText<T>(T value)
+      {
+         var displayText = string.Empty;
+         var fieldInfo = value.GetType().GetField(value.ToString());
+         if(fieldInfo != null)
+         {
+            T type = (T)fieldInfo.GetValue(typeof(T));
+            if(type != null)
+            {
+               object[] displayTextObjectArr = fieldInfo.GetCustomAttributes(typeof(DisplayTextAttribute), true);
+               displayText = (displayTextObjectArr.Length > 0)
+                                       ? ((DisplayTextAttribute)displayTextObjectArr[0]).Text
+                                       : type.ToString();
+            }
+         }
+         return displayText;
+      }
+
+   }  
+
+}