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; using System.IO.Ports; using System.IO; using System.Xml; using System.Collections; using System.Net; using System.Text.RegularExpressions; using System.Web; using System.Diagnostics; using System.Runtime.InteropServices; using System.Speech.Synthesis; using System.Globalization; using System.Threading; using System.Net.Sockets; using IronPython.Hosting; namespace ArdupilotMega { public partial class MainV2 : Form { [DllImport("user32.dll")] public static extern int FindWindow(string szClass, string szTitle); [DllImport("user32.dll")] public static extern int ShowWindow(int Handle, int showState); const int SW_SHOWNORMAL = 1; const int SW_HIDE = 0; /// /// Home Location /// public static PointLatLngAlt HomeLocation = new PointLatLngAlt(); public static MAVLink comPort = new MAVLink(); public static string comportname = ""; public static Hashtable config = new Hashtable(); public static bool givecomport = false; public static Firmwares APMFirmware = Firmwares.ArduPlane; public static bool MONO = false; public static bool speechenable = false; public static SpeechSynthesizer talk = new SpeechSynthesizer(); public static Joystick joystick = null; DateTime lastjoystick = DateTime.Now; public static WebCamService.Capture cam = null; public static CurrentState cs = new CurrentState(); bool serialthread = false; TcpListener listener; 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, ArduCopter2, } GCSViews.FlightData FlightData; GCSViews.FlightPlanner FlightPlanner; GCSViews.Configuration Configuration; GCSViews.Simulation Simulation; GCSViews.Firmware Firmware; GCSViews.Terminal Terminal; public MainV2() { Form splash = new Splash(); splash.Show(); string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString(); strVersion = ""; splash.Text = "APM Planner " + Application.ProductVersion + " " + strVersion + " By Michael Oborne"; splash.Refresh(); Application.DoEvents(); srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm"; var t = Type.GetType("Mono.Runtime"); MONO = (t != null); //talk.SpeakAsync("Welcome to APM Planner"); InitializeComponent(); MyRenderer.currentpressed = MenuFlightData; MainMenu.Renderer = new MyRenderer(); List list = new List(); foreach (object obj in Enum.GetValues(typeof(Firmwares))) { TOOL_APMFirmware.Items.Add(obj); } if (TOOL_APMFirmware.Items.Count > 0) TOOL_APMFirmware.SelectedIndex = 0; this.Text = splash.Text; comPort.BaseStream.BaudRate = 115200; CMB_serialport.Items.AddRange(GetPortNames()); CMB_serialport.Items.Add("TCP"); CMB_serialport.Items.Add("UDP"); if (CMB_serialport.Items.Count > 0) { CMB_serialport.SelectedIndex = 0; CMB_baudrate.SelectedIndex = 7; } splash.Refresh(); Application.DoEvents(); // set this before we reset it MainV2.config["NUM_tracklength"] = "200"; xmlconfig(false); if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"])) changelanguage(getcultureinfo((string)config["language"])); if (!MONO) // windows only { if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True") { } else { int win = FindWindow("ConsoleWindowClass", null); ShowWindow(win, SW_HIDE); // hide window } } try { FlightData = new GCSViews.FlightData(); FlightPlanner = new GCSViews.FlightPlanner(); //Configuration = new GCSViews.Configuration(); Simulation = new GCSViews.Simulation(); Firmware = new GCSViews.Firmware(); //Terminal = new GCSViews.Terminal(); // preload Python.CreateEngine(); } catch (Exception e) { MessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); } if (MainV2.config["CHK_GDIPlus"] != null) GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString()); changeunits(); try { if (config["MainLocX"] != null && config["MainLocY"] != null) { this.StartPosition = FormStartPosition.Manual; Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString())); this.Location = startpos; } if (config["MainHeight"] != null) this.Height = int.Parse(config["MainHeight"].ToString()); if (config["MainWidth"] != null) this.Width = int.Parse(config["MainWidth"].ToString()); if (config["MainMaximised"] != null) this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString()); if (config["CMB_rateattitude"] != null) MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString()); if (config["CMB_rateattitude"] != null) MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString()); if (config["CMB_rateattitude"] != null) MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString()); if (config["CMB_rateattitude"] != null) MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString()); if (config["speechenable"] != null) MainV2.speechenable = bool.Parse(config["speechenable"].ToString()); try { if (config["TXT_homelat"] != null) HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString()); if (config["TXT_homelng"] != null) HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString()); if (config["TXT_homealt"] != null) HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString()); } catch { } } catch { } if (cs.rateattitude == 0) // initilised to 10, configured above from save { MessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates"); } //System.Threading.Thread.Sleep(2000); // make sure new enough .net framework is installed if (!MONO) { Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP"); string[] version_names = installed_versions.GetSubKeyNames(); //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture); int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0)); if (Framework < 4.0) { MessageBox.Show("This program requires .NET Framework 4.0 +. You currently have " + Framework); } } Application.DoEvents(); instance = this; splash.Close(); } private string[] GetPortNames() { string[] devs = new string[0]; if (MONO) { if (Directory.Exists("/dev/")) devs = Directory.GetFiles("/dev/", "*ACM*"); } string[] ports = SerialPort.GetPortNames(); string[] all = new string[devs.Length + ports.Length]; devs.CopyTo(all, 0); ports.CopyTo(all, devs.Length); return all; } internal void ScreenShot() { Rectangle bounds = Screen.GetBounds(Point.Empty); using (Bitmap bitmap = new Bitmap(bounds.Width, bounds.Height)) { using (Graphics g = Graphics.FromImage(bitmap)) { g.CopyFromScreen(Point.Empty, Point.Empty, bounds.Size); } string name = "ss" + DateTime.Now.ToString("hhmmss") + ".jpg"; bitmap.Save(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + name, System.Drawing.Imaging.ImageFormat.Jpeg); MessageBox.Show("Screenshot saved to " + name); } } private void CMB_serialport_Click(object sender, EventArgs e) { string oldport = CMB_serialport.Text; CMB_serialport.Items.Clear(); CMB_serialport.Items.AddRange(GetPortNames()); CMB_serialport.Items.Add("TCP"); CMB_serialport.Items.Add("UDP"); if (CMB_serialport.Items.Contains(oldport)) CMB_serialport.Text = oldport; } public static void fixtheme(Control temp) { fixtheme(temp, 0); } public static void fixtheme(Control temp, int level) { if (level == 0) { temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); temp.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); } //Console.WriteLine(temp.GetType()); //temp.Font = new Font("Lucida Console", 8.25f); foreach (Control ctl in temp.Controls) { if (((Type)ctl.GetType()) == typeof(System.Windows.Forms.Button)) { ctl.ForeColor = Color.Black; System.Windows.Forms.Button but = (System.Windows.Forms.Button)ctl; } else if (((Type)ctl.GetType()) == typeof(TextBox)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); TextBox txt = (TextBox)ctl; txt.BorderStyle = BorderStyle.None; } else if (((Type)ctl.GetType()) == typeof(DomainUpDown)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); DomainUpDown txt = (DomainUpDown)ctl; txt.BorderStyle = BorderStyle.None; } else if (((Type)ctl.GetType()) == typeof(GroupBox)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); } else if (((Type)ctl.GetType()) == typeof(ZedGraph.ZedGraphControl)) { ZedGraph.ZedGraphControl zg1 = (ZedGraph.ZedGraphControl)ctl; zg1.GraphPane.Chart.Fill = new ZedGraph.Fill(Color.FromArgb(0x1f, 0x1f, 0x20)); zg1.GraphPane.Fill = new ZedGraph.Fill(Color.FromArgb(0x37, 0x37, 0x38)); foreach (ZedGraph.LineItem li in zg1.GraphPane.CurveList) { li.Line.Width = 4; } zg1.GraphPane.Title.FontSpec.FontColor = Color.White; zg1.GraphPane.XAxis.MajorTic.Color = Color.White; zg1.GraphPane.XAxis.MinorTic.Color = Color.White; zg1.GraphPane.YAxis.MajorTic.Color = Color.White; zg1.GraphPane.YAxis.MinorTic.Color = Color.White; zg1.GraphPane.XAxis.MajorGrid.Color = Color.White; zg1.GraphPane.YAxis.MajorGrid.Color = Color.White; zg1.GraphPane.YAxis.Scale.FontSpec.FontColor = Color.White; zg1.GraphPane.YAxis.Title.FontSpec.FontColor = Color.White; zg1.GraphPane.XAxis.Scale.FontSpec.FontColor = Color.White; zg1.GraphPane.XAxis.Title.FontSpec.FontColor = Color.White; zg1.GraphPane.Legend.Fill = new ZedGraph.Fill(Color.FromArgb(0x85, 0x84, 0x83)); zg1.GraphPane.Legend.FontSpec.FontColor = Color.White; } else if (((Type)ctl.GetType()) == typeof(BSE.Windows.Forms.Panel) || ((Type)ctl.GetType()) == typeof(System.Windows.Forms.SplitterPanel)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); } else if (((Type)ctl.GetType()) == typeof(Form)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea); } else if (((Type)ctl.GetType()) == typeof(RichTextBox)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; RichTextBox txtr = (RichTextBox)ctl; txtr.BorderStyle = BorderStyle.None; } else if (((Type)ctl.GetType()) == typeof(CheckedListBox)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; CheckedListBox txtr = (CheckedListBox)ctl; txtr.BorderStyle = BorderStyle.None; } else if (((Type)ctl.GetType()) == typeof(TabPage)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); //Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; TabPage txtr = (TabPage)ctl; txtr.BorderStyle = BorderStyle.None; } else if (((Type)ctl.GetType()) == typeof(TabControl)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); //Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; TabControl txtr = (TabControl)ctl; } else if (((Type)ctl.GetType()) == typeof(DataGridView)) { ctl.ForeColor = Color.White; DataGridView dgv = (DataGridView)ctl; dgv.EnableHeadersVisualStyles = false; dgv.BorderStyle = BorderStyle.None; dgv.BackgroundColor = Color.FromArgb(0x26, 0x27, 0x28); DataGridViewCellStyle rs = new DataGridViewCellStyle(); rs.BackColor = Color.FromArgb(0x43, 0x44, 0x45); rs.ForeColor = Color.White; dgv.RowsDefaultCellStyle = rs; DataGridViewCellStyle hs = new DataGridViewCellStyle(dgv.ColumnHeadersDefaultCellStyle); hs.BackColor = Color.FromArgb(0x26, 0x27, 0x28); hs.ForeColor = Color.White; dgv.ColumnHeadersDefaultCellStyle = hs; dgv.RowHeadersDefaultCellStyle = hs; } else if (((Type)ctl.GetType()) == typeof(ComboBox)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; ComboBox CMB = (ComboBox)ctl; CMB.FlatStyle = FlatStyle.Flat; } else if (((Type)ctl.GetType()) == typeof(NumericUpDown)) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); ctl.ForeColor = Color.White; } else if (((Type)ctl.GetType()) == typeof(TrackBar)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); ctl.ForeColor = Color.White; } else if (((Type)ctl.GetType()) == typeof(LinkLabel)) { ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); ctl.ForeColor = Color.White; LinkLabel LNK = (LinkLabel)ctl; LNK.ActiveLinkColor = Color.White; LNK.LinkColor = Color.White; LNK.VisitedLinkColor = Color.White; } else if (((Type)ctl.GetType()) == typeof(HorizontalProgressBar2) || ((Type)ctl.GetType()) == typeof(VerticalProgressBar2)) { ((HorizontalProgressBar2)ctl).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45); ((HorizontalProgressBar2)ctl).ValueColor = Color.FromArgb(148, 193, 31); } if (ctl.Controls.Count > 0) fixtheme(ctl, 1); } } private void MenuFlightData_Click(object sender, EventArgs e) { MyView.Controls.Clear(); GCSViews.Terminal.threadrun = false; UserControl temp = FlightData; fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Location = new Point(0, MainMenu.Height); temp.Dock = DockStyle.Fill; //temp.ForeColor = Color.White; //temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); MyView.Controls.Add(temp); if (MainV2.config["FlightSplitter"] != null) ((GCSViews.FlightData)temp).MainHcopy.SplitterDistance = int.Parse(MainV2.config["FlightSplitter"].ToString()); } private void MenuFlightPlanner_Click(object sender, EventArgs e) { MyView.Controls.Clear(); GCSViews.Terminal.threadrun = false; UserControl temp = FlightPlanner; fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Location = new Point(0, MainMenu.Height); temp.Dock = DockStyle.Fill; temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); MyView.Controls.Add(temp); } private void MenuConfiguration_Click(object sender, EventArgs e) { MyView.Controls.Clear(); GCSViews.Terminal.threadrun = false; // dispose of old else memory leak if (Configuration != null) { try { Configuration.Dispose(); } catch { } } Configuration = new GCSViews.Configuration(); UserControl temp = Configuration; fixtheme(temp); //temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Location = new Point(0, 0); temp.Dock = DockStyle.Fill; temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); temp.Size = MyView.Size; //temp.Parent = MyView; MyView.Controls.Add(temp); } private void MenuSimulation_Click(object sender, EventArgs e) { MyView.Controls.Clear(); GCSViews.Terminal.threadrun = false; UserControl temp = Simulation; fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Location = new Point(0, MainMenu.Height); temp.Dock = DockStyle.Fill; temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); MyView.Controls.Add(temp); } private void MenuFirmware_Click(object sender, EventArgs e) { MyView.Controls.Clear(); GCSViews.Terminal.threadrun = false; UserControl temp = Firmware; fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Dock = DockStyle.Fill; MyView.Controls.Add(temp); temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); } private void MenuTerminal_Click(object sender, EventArgs e) { if (comPort.BaseStream.IsOpen) { MenuConnect_Click(sender, e); } givecomport = true; MyView.Controls.Clear(); this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect; // dispose of old else memory leak if (Terminal != null) { try { Terminal.Dispose(); } catch { } } Terminal = new GCSViews.Terminal(); UserControl temp = Terminal; fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Dock = DockStyle.Fill; MyView.Controls.Add(temp); temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); } private void MenuConnect_Click(object sender, EventArgs e) { givecomport = false; if (comPort.BaseStream.IsOpen) { try { if (talk != null) // cancel all pending speech talk.SpeakAsyncCancelAll(); if (comPort.logfile != null) comPort.logfile.Close(); comPort.BaseStream.DtrEnable = false; comPort.Close(); } catch { } this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect; } else { if (CMB_serialport.Text == "TCP") { comPort.BaseStream = new TcpSerial(); } else if (CMB_serialport.Text == "UDP") { comPort.BaseStream = new UdpSerial(); } else { comPort.BaseStream = new SerialPort(); } try { comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text); } catch { } comPort.BaseStream.DataBits = 8; comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1"); comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None"); comPort.BaseStream.DtrEnable = false; if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true) comPort.BaseStream.DtrEnable = true; try { if (comPort.logfile != null) comPort.logfile.Close(); try { Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs"); comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew)); } catch { MessageBox.Show("Failed to create log - wont log this session"); } // soft fail comPort.BaseStream.PortName = CMB_serialport.Text; comPort.Open(true); if (comPort.param["SYSID_SW_TYPE"] != null) { if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10) { TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2); } else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0) { TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane); } } cs.firmware = APMFirmware; config[CMB_serialport.Text + "_BAUD"] = CMB_baudrate.Text; if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true) { MenuFlightPlanner_Click(null, null); FlightPlanner.BUT_read_Click(null, null); } this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect; } catch (Exception ex) { try { comPort.Close(); } catch { } try { string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName); ArduinoComms port = new ArduinoSTK(); if (version == "1280") { port = new ArduinoSTK(); port.BaudRate = 57600; } else if (version == "2560") { port = new ArduinoSTKv2(); port.BaudRate = 115200; } else { throw new Exception("Can not determine APM board type"); } port.PortName = comPort.BaseStream.PortName; port.DtrEnable = true; port.Open(); if (port.connectAP()) { byte[] buffer = port.download(20); port.Close(); if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header { MessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one."); return; } else { Console.WriteLine("Valid eeprom contents"); } } } catch { } MessageBox.Show("Can not establish a connection\n\n" + ex.ToString()); return; } } } private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e) { comportname = CMB_serialport.Text; if (comportname == "UDP" || comportname == "TCP") { CMB_baudrate.Enabled = false; if (comportname == "TCP") MainV2.comPort.BaseStream = new TcpSerial(); if (comportname == "UDP") MainV2.comPort.BaseStream = new UdpSerial(); } else { CMB_baudrate.Enabled = true; MainV2.comPort.BaseStream = new ArdupilotMega.SerialPort(); } try { comPort.BaseStream.PortName = CMB_serialport.Text; if (config[CMB_serialport.Text + "_BAUD"] != null) { CMB_baudrate.Text = config[CMB_serialport.Text + "_BAUD"].ToString(); } else { MainV2.comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text); } } catch { } } private void toolStripMenuItem2_Click(object sender, EventArgs e) { //Form temp = new Main(); //temp.Show(); } private void MainV2_FormClosed(object sender, FormClosedEventArgs e) { GCSViews.FlightData.threadrun = 0; GCSViews.Simulation.threadrun = 0; serialthread = false; try { if (comPort.BaseStream.IsOpen) comPort.Close(); } catch { } // i get alot of these errors, the port is still open, but not valid - user has unpluged usb try { FlightData.Dispose(); } catch { } try { FlightPlanner.Dispose(); } catch { } try { Simulation.Dispose(); } catch { } xmlconfig(true); } private void xmlconfig(bool write) { if (write || !File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml")) { try { //System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None); XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII); xmlwriter.Formatting = Formatting.Indented; xmlwriter.WriteStartDocument(); xmlwriter.WriteStartElement("Config"); xmlwriter.WriteElementString("comport", comportname); xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text); xmlwriter.WriteElementString("APMFirmware", APMFirmware.ToString()); //appconfig.AppSettings.Settings.Add("comport", comportname); //appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text); //appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString()); foreach (string key in config.Keys) { try { if (key == "" || key.Contains("/")) // "/dev/blah" continue; xmlwriter.WriteElementString(key, config[key].ToString()); //appconfig.AppSettings.Settings.Add(key, config[key].ToString()); } catch { } } xmlwriter.WriteEndElement(); xmlwriter.WriteEndDocument(); xmlwriter.Close(); //appconfig.Save(); } catch (Exception ex) { MessageBox.Show(ex.ToString()); } } else { try { using (XmlTextReader xmlreader = new XmlTextReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml")) { while (xmlreader.Read()) { xmlreader.MoveToElement(); try { switch (xmlreader.Name) { case "comport": string temp = xmlreader.ReadString(); CMB_serialport.SelectedIndex = CMB_serialport.FindString(temp); if (CMB_serialport.SelectedIndex == -1) { CMB_serialport.Text = temp; // allows ports that dont exist - yet } comPort.BaseStream.PortName = temp; comportname = temp; break; case "baudrate": string temp2 = xmlreader.ReadString(); CMB_baudrate.SelectedIndex = CMB_baudrate.FindString(temp2); if (CMB_baudrate.SelectedIndex == -1) { CMB_baudrate.Text = temp2; //CMB_baudrate.SelectedIndex = CMB_baudrate.FindString("57600"); ; // must exist } //bau = int.Parse(CMB_baudrate.Text); break; case "APMFirmware": string temp3 = xmlreader.ReadString(); TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.FindStringExact(temp3); if (TOOL_APMFirmware.SelectedIndex == -1) TOOL_APMFirmware.SelectedIndex = 0; APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text); break; case "Config": break; case "xml": break; default: if (xmlreader.Name == "") // line feeds break; config[xmlreader.Name] = xmlreader.ReadString(); break; } } catch (Exception ee) { Console.WriteLine(ee.Message); } // silent fail on bad entry } } } catch (Exception ex) { Console.WriteLine("Bad Config File: " + ex.ToString()); } // bad config file } } private void CMB_baudrate_SelectedIndexChanged(object sender, EventArgs e) { try { comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text); } catch { } } private void joysticksend() { while (true) { try { if (!MONO) { //joystick stuff if (joystick != null && joystick.enabled) { MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t(); rc.target_component = comPort.compid; rc.target_system = comPort.sysid; if (joystick.getJoystickAxis(1) != Joystick.joystickaxis.None) rc.chan1_raw = cs.rcoverridech1;//(ushort)(((int)state.Rz / 65.535) + 1000); if (joystick.getJoystickAxis(2) != Joystick.joystickaxis.None) rc.chan2_raw = cs.rcoverridech2;//(ushort)(((int)state.Y / 65.535) + 1000); if (joystick.getJoystickAxis(3) != Joystick.joystickaxis.None) rc.chan3_raw = cs.rcoverridech3;//(ushort)(1000 - ((int)slider[0] / 65.535 ) + 1000); if (joystick.getJoystickAxis(4) != Joystick.joystickaxis.None) rc.chan4_raw = cs.rcoverridech4;//(ushort)(((int)state.X / 65.535) + 1000); if (joystick.getJoystickAxis(5) != Joystick.joystickaxis.None) rc.chan5_raw = cs.rcoverridech5; if (joystick.getJoystickAxis(6) != Joystick.joystickaxis.None) rc.chan6_raw = cs.rcoverridech6; if (joystick.getJoystickAxis(7) != Joystick.joystickaxis.None) rc.chan7_raw = cs.rcoverridech7; if (joystick.getJoystickAxis(8) != Joystick.joystickaxis.None) rc.chan8_raw = cs.rcoverridech8; if (lastjoystick.AddMilliseconds(50) < DateTime.Now) { // Console.WriteLine(DateTime.Now.Millisecond + " {0} {1} {2} {3} ", rc.chan1_raw, rc.chan2_raw, rc.chan3_raw, rc.chan4_raw); comPort.sendPacket(rc); lastjoystick = DateTime.Now; } } } System.Threading.Thread.Sleep(50); } catch { } // cant fall out } } private void SerialReader() { if (serialthread == true) return; serialthread = true; int minbytes = 10; if (MONO) minbytes = 0; DateTime menuupdate = DateTime.Now; DateTime speechcustomtime = DateTime.Now; DateTime linkqualitytime = DateTime.Now; 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"; }); } } 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"; }); } } menuupdate = DateTime.Now; } if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) { //speechbatteryvolt float warnvolt = 0; float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt); if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt) { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery"))); } if (MainV2.getConfig("speechcustomenabled") == "True") { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom"))); } speechcustomtime = DateTime.Now; } if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10) { MainV2.cs.linkqualitygcs = 0; } if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds >= 1) { if (linkqualitytime.Second != DateTime.Now.Second) { MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f); linkqualitytime = DateTime.Now; GCSViews.FlightData.myhud.Invalidate(); } } if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) { float warnalt = float.MaxValue; float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt); try { 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"))); } } catch { } // silent fail } if (!comPort.BaseStream.IsOpen || givecomport == true) continue; if (heatbeatsend.Second != DateTime.Now.Second) { // Console.WriteLine("remote lost {0}", cs.packetdropremote); MAVLink.__mavlink_heartbeat_t htb = new MAVLink.__mavlink_heartbeat_t(); #if MAVLINK10 htb.type = (byte)MAVLink.MAV_TYPE.MAV_TYPE_GCS; htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.MAV_AUTOPILOT_ARDUPILOTMEGA; htb.mavlink_version = 3; #else htb.type = (byte)MAVLink.MAV_TYPE.MAV_GENERIC; htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT_TYPE.MAV_AUTOPILOT_ARDUPILOTMEGA; htb.mavlink_version = 2; #endif comPort.sendPacket(htb); heatbeatsend = DateTime.Now; } // data loss warning if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10) { if (speechenable && talk != null) { if (MainV2.talk.State == SynthesizerState.Ready) MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds"); } } //Console.WriteLine(comPort.BaseStream.BytesToRead); while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false) comPort.readPacket(); } catch (Exception e) { Console.WriteLine("Serial Reader fail :" + e.Message); try { comPort.Close(); } catch { } } } } private class MyRenderer : ToolStripProfessionalRenderer { public static ToolStripItem currentpressed; protected override void OnRenderButtonBackground(ToolStripItemRenderEventArgs e) { //BackgroundImage if (e.Item.BackgroundImage == null) base.OnRenderButtonBackground(e); else { Rectangle bounds = new Rectangle(Point.Empty, e.Item.Size); e.Graphics.DrawImage(e.Item.BackgroundImage, bounds); if (e.Item.Pressed || e.Item == currentpressed) { SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03)); e.Graphics.FillRectangle(brush, bounds); if (e.Item.Name != "MenuConnect") { //Console.WriteLine("new " + e.Item.Name + " old " + currentpressed.Name ); //e.Item.GetCurrentParent().Invalidate(); if (currentpressed != e.Item) currentpressed.Invalidate(); currentpressed = e.Item; } // Something... } else if (e.Item.Selected) // mouse over { SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03)); e.Graphics.FillRectangle(brush, bounds); // Something... } using (Pen pen = new Pen(Color.Black)) { //e.Graphics.DrawRectangle(pen, bounds.X, bounds.Y, bounds.Width - 1, bounds.Height - 1); } } } protected override void OnRenderItemImage(ToolStripItemImageRenderEventArgs e) { //base.OnRenderItemImage(e); } } 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); // MenuFlightData_Click(sender, e); try { listener = new TcpListener(IPAddress.Any, 56781); System.Threading.Thread t13 = new System.Threading.Thread(new System.Threading.ThreadStart(listernforclients)) { Name = "motion jpg stream", IsBackground = true }; // wait for tcp connections t13.Start(); } catch (Exception ex) { MessageBox.Show(ex.ToString()); } System.Threading.Thread t12 = new System.Threading.Thread(new ThreadStart(joysticksend)) { IsBackground = true, Priority = ThreadPriority.AboveNormal, Name = "Main joystick sender" }; t12.Start(); System.Threading.Thread t11 = new System.Threading.Thread(new ThreadStart(SerialReader)) { IsBackground = true, Name = "Main Serial reader" }; t11.Start(); } public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey) { const String MagicKEY = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"; String secWebSocketAccept = String.Empty; // 1. Combine the request Sec-WebSocket-Key with magic key. String ret = secWebSocketKey + MagicKEY; // 2. Compute the SHA1 hash System.Security.Cryptography.SHA1 sha = new System.Security.Cryptography.SHA1CryptoServiceProvider(); byte[] sha1Hash = sha.ComputeHash(Encoding.UTF8.GetBytes(ret)); // 3. Base64 encode the hash secWebSocketAccept = Convert.ToBase64String(sha1Hash); return secWebSocketAccept; } /// /// little web server for sending network link kml's /// void listernforclients() { try { listener.Start(); } catch { Console.WriteLine("do you have the planner open already"); return; } // in use // Enter the listening loop. while (true) { // Perform a blocking call to accept requests. // You could also user server.AcceptSocket() here. try { Console.WriteLine("Listening for client - 1 client at a time"); TcpClient client = listener.AcceptTcpClient(); // Get a stream object for reading and writing Console.WriteLine("Accepted Client " + client.Client.RemoteEndPoint.ToString()); //client.SendBufferSize = 100 * 1024; // 100kb //client.LingerState.Enabled = true; //client.NoDelay = true; // makesure we have valid image GCSViews.FlightData.mymap.streamjpgenable = true; GCSViews.FlightData.myhud.streamjpgenable = true; MethodInvoker m = delegate() { GCSViews.FlightData.mymap.Refresh(); }; this.Invoke(m); NetworkStream stream = client.GetStream(); System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding(); byte[] request = new byte[1024]; int len = stream.Read(request, 0, request.Length); string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len); Console.WriteLine(head); int index = head.IndexOf('\n'); string url = head.Substring(0, index - 1); //url = url.Replace("\r", ""); //url = url.Replace("GET ",""); //url = url.Replace(" HTTP/1.0", ""); //url = url.Replace(" HTTP/1.1", ""); if (url.Contains("websocket")) { using (var writer = new StreamWriter(stream, Encoding.Default)) { writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake"); writer.WriteLine("Upgrade: WebSocket"); writer.WriteLine("Connection: Upgrade"); writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server"); int start = head.IndexOf("Sec-WebSocket-Key:") + 19; int end = head.IndexOf('\r', start); if (end == -1) end = head.IndexOf('\n', start); string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start)); writer.WriteLine("Sec-WebSocket-Accept: " + accept); writer.WriteLine("Server: APM Planner"); writer.WriteLine(""); writer.Flush(); while (client.Connected) { System.Threading.Thread.Sleep(200); Console.WriteLine(stream.DataAvailable + " " + client.Available); while (client.Available > 0) { Console.Write(stream.ReadByte()); } byte[] packet = new byte[256]; string sendme = cs.roll + "," + cs.pitch + "," + cs.yaw; packet[0] = 0x81; // fin - binary packet[1] = (byte)sendme.Length; int i = 2; foreach (char ch in sendme) { packet[i++] = (byte)ch; } stream.Write(packet, 0, i); //break; } } } else if (url.Contains("network.kml")) { string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\n\n"; byte[] temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); SharpKml.Dom.Document kml = new SharpKml.Dom.Document(); SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark(); pmplane.Name = "P/Q "; pmplane.Visibility = true; SharpKml.Dom.Location loc = new SharpKml.Dom.Location(); loc.Latitude = cs.lat; loc.Longitude = cs.lng; loc.Altitude = cs.alt; if (loc.Altitude < 0) loc.Altitude = 0.01; SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation(); ori.Heading = cs.yaw; ori.Roll = -cs.roll; ori.Tilt = -cs.pitch; SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale(); sca.X = 2; sca.Y = 2; sca.Z = 2; SharpKml.Dom.Model model = new SharpKml.Dom.Model(); model.Location = loc; model.Orientation = ori; model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute; model.Scale = sca; SharpKml.Dom.Link link = new SharpKml.Dom.Link(); link.Href = new Uri("block_plane_0.dae", UriKind.Relative); model.Link = link; pmplane.Geometry = model; SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt() { Altitude = loc.Altitude.Value, Latitude = loc.Latitude.Value, Longitude = loc.Longitude.Value, Tilt = 80, Heading = cs.yaw, AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, Range = 50}; kml.Viewpoint = la; kml.AddFeature(pmplane); SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer(); serializer.Serialize(kml); byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml); stream.Write(buffer, 0, buffer.Length); stream.Close(); } else if (url.Contains("block_plane_0.dae")) { string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\n\n"; byte[] temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read)); byte[] buffer = new byte[1024]; while (file.PeekChar() != -1) { int leng = file.Read(buffer, 0, buffer.Length); stream.Write(buffer, 0, leng); } file.Close(); stream.Close(); } else if (url.Contains("hud.html")) { string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\n\n"; byte[] temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read)); byte[] buffer = new byte[1024]; while (file.PeekChar() != -1) { int leng = file.Read(buffer, 0, buffer.Length); stream.Write(buffer, 0, leng); } file.Close(); stream.Close(); } else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg")) { string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\n\n--APMPLANNER\r\n"; byte[] temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); while (client.Connected) { System.Threading.Thread.Sleep(200); // 5hz byte[] data = null; if (url.ToLower().Contains("hud")) { GCSViews.FlightData.myhud.streamjpgenable = true; data = GCSViews.FlightData.myhud.streamjpg.ToArray(); } else if (url.ToLower().Contains("map")) { GCSViews.FlightData.mymap.streamjpgenable = true; data = GCSViews.FlightData.mymap.streamjpg.ToArray(); } else { GCSViews.FlightData.mymap.streamjpgenable = true; GCSViews.FlightData.myhud.streamjpgenable = true; Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg); Image img2 = Image.FromStream(GCSViews.FlightData.mymap.streamjpg); int bigger = img1.Height > img2.Height ? img1.Height : img2.Height; Image imgout = new Bitmap(img1.Width + img2.Width, bigger); Graphics grap = Graphics.FromImage(imgout); grap.DrawImageUnscaled(img1, 0, 0); grap.DrawImageUnscaled(img2, img1.Width, 0); MemoryStream streamjpg = new MemoryStream(); imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg); data = streamjpg.ToArray(); } header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n"; temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); stream.Write(data, 0, data.Length); header = "\r\n--APMPLANNER\r\n"; temp = encoding.GetBytes(header); stream.Write(temp, 0, temp.Length); } GCSViews.FlightData.mymap.streamjpgenable = false; GCSViews.FlightData.myhud.streamjpgenable = false; stream.Close(); } stream.Close(); } catch (Exception ee) { Console.WriteLine("Failed mjpg " + ee.Message); } } } private void TOOL_APMFirmware_SelectedIndexChanged(object sender, EventArgs e) { APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text); MainV2.cs.firmware = APMFirmware; } private void MainV2_Resize(object sender, EventArgs e) { Console.WriteLine("myview width " + MyView.Width + " height " + MyView.Height); Console.WriteLine("this width " + this.Width + " height " + this.Height); } private void MenuHelp_Click(object sender, EventArgs e) { MyView.Controls.Clear(); UserControl temp = new GCSViews.Help(); fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Dock = DockStyle.Fill; MyView.Controls.Add(temp); temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); } public static void updatecheck(Label loadinglabel) { try { string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"; bool update = updatecheck(loadinglabel, baseurl, ""); System.Diagnostics.Process P = new System.Diagnostics.Process(); if (MONO) { P.StartInfo.FileName = "mono"; P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\""; } else { P.StartInfo.FileName = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe"; P.StartInfo.Arguments = ""; try { foreach (string newupdater in Directory.GetFiles(Path.GetDirectoryName(Application.ExecutablePath), "Updater.exe*.new")) { File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true); File.Delete(newupdater); } } catch (Exception) { } } if (loadinglabel != null) loadinglabel.Text = "Starting Updater"; Console.WriteLine("Start " + P.StartInfo.FileName + " with " + P.StartInfo.Arguments); P.Start(); try { Application.Exit(); } catch { } } catch (Exception ex) { MessageBox.Show("Update Failed " + ex.Message); } } private static void updatelabel(Label loadinglabel, string text) { MainV2.instance.Invoke((MethodInvoker)delegate { loadinglabel.Text = text; }); Application.DoEvents(); } private static bool updatecheck(Label loadinglabel, string baseurl, string subdir) { bool update = false; List files = new List(); // Create a request using a URL that can receive a post. Console.WriteLine(baseurl); WebRequest request = WebRequest.Create(baseurl); request.Timeout = 10000; // Set the Method property of the request to POST. request.Method = "GET"; // Get the request stream. Stream dataStream; //= request.GetRequestStream(); // Get the response. WebResponse response = request.GetResponse(); // Display the status. Console.WriteLine(((HttpWebResponse)response).StatusDescription); // Get the stream containing content returned by the server. dataStream = response.GetResponseStream(); // Open the stream using a StreamReader for easy access. StreamReader reader = new StreamReader(dataStream); // Read the content. string responseFromServer = reader.ReadToEnd(); // Display the content. Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase); if (regex.IsMatch(responseFromServer)) { MatchCollection matchs = regex.Matches(responseFromServer); for (int i = 0; i < matchs.Count; i++) { if (matchs[i].Groups[1].Value.ToString().Contains("..")) continue; if (matchs[i].Groups[1].Value.ToString().Contains("http")) continue; files.Add(System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString())); } } //Console.WriteLine(responseFromServer); // Clean up the streams. reader.Close(); dataStream.Close(); response.Close(); string dir = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir; if (!Directory.Exists(dir)) Directory.CreateDirectory(dir); foreach (string file in files) { if (file.Equals("/")) { continue; } if (file.EndsWith("/")) { update = updatecheck(loadinglabel, baseurl + file, subdir.Replace("/", "\\") + file) && update; continue; } if (loadinglabel != null) updatelabel(loadinglabel, "Checking " + file); string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file; // Create a request using a URL that can receive a post. request = WebRequest.Create(baseurl + file); Console.Write(baseurl + file + " "); // Set the Method property of the request to POST. request.Method = "HEAD"; ((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path); // Get the response. response = request.GetResponse(); // Display the status. Console.WriteLine(((HttpWebResponse)response).StatusDescription); // Get the stream containing content returned by the server. //dataStream = response.GetResponseStream(); // Open the stream using a StreamReader for easy access. bool getfile = false; if (File.Exists(path)) { FileInfo fi = new FileInfo(path); Console.WriteLine(response.Headers[HttpResponseHeader.ETag]); if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0") { StreamWriter sw = new StreamWriter(path + ".etag"); sw.WriteLine(response.Headers[HttpResponseHeader.ETag]); sw.Close(); getfile = true; Console.WriteLine("NEW FILE " + file); } } else { getfile = true; Console.WriteLine("NEW FILE " + file); // get it } reader.Close(); //dataStream.Close(); response.Close(); if (getfile) { if (!update) { //DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo); //if (dr == DialogResult.Yes) { update = true; } //else { // return; } } if (loadinglabel != null) updatelabel(loadinglabel, "Getting " + file); // Create a request using a URL that can receive a post. request = WebRequest.Create(baseurl + file); // Set the Method property of the request to POST. request.Method = "GET"; // Get the response. response = request.GetResponse(); // Display the status. Console.WriteLine(((HttpWebResponse)response).StatusDescription); // Get the stream containing content returned by the server. dataStream = response.GetResponseStream(); long bytes = response.ContentLength; long contlen = bytes; byte[] buf1 = new byte[1024]; FileStream fs = new FileStream(path + ".new", FileMode.Create); // DateTime dt = DateTime.Now; dataStream.ReadTimeout = 30000; while (dataStream.CanRead) { Application.DoEvents(); try { if (dt.Second != DateTime.Now.Second) { if (loadinglabel != null) updatelabel(loadinglabel, "Getting " + file + ": " + Math.Abs(bytes) + " bytes");//(((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"; dt = DateTime.Now; } } catch { } Console.WriteLine(file + " " + bytes); int len = dataStream.Read(buf1, 0, 1024); if (len == 0) break; bytes -= len; fs.Write(buf1, 0, len); } fs.Close(); dataStream.Close(); response.Close(); } } //P.StartInfo.CreateNoWindow = true; //P.StartInfo.RedirectStandardOutput = true; return update; } private void toolStripMenuItem3_Click(object sender, EventArgs e) { } protected override bool ProcessCmdKey(ref Message msg, Keys keyData) { if (keyData == (Keys.Control | Keys.F)) { Form frm = new temp(); fixtheme(frm); frm.Show(); return true; } if (keyData == (Keys.Control | Keys.S)) { ScreenShot(); return true; } if (keyData == (Keys.Control | Keys.G)) // test { Form frm = new SerialOutput(); fixtheme(frm); frm.Show(); return true; } if (keyData == (Keys.Control | Keys.T)) // for override connect { try { MainV2.comPort.Open(false); } catch (Exception ex) { MessageBox.Show(ex.ToString()); } return true; } if (keyData == (Keys.Control | Keys.Y)) // for ryan beall { #if MAVLINK10 // write MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_STORAGE, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f); //read ///////MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_STORAGE, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f); #else MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_STORAGE_WRITE); #endif MessageBox.Show("Done MAV_ACTION_STORAGE_WRITE"); return true; } if (keyData == (Keys.Control | Keys.J)) // for jani { string data = "!!"; Common.InputBox("inject", "enter data to be written", ref data); MainV2.comPort.Write(data + "\r"); return true; } return base.ProcessCmdKey(ref msg, keyData); } private void starttest() { MyView.Controls.Clear(); UserControl temp = new GCSViews.test(); fixtheme(temp); temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top; temp.Dock = DockStyle.Fill; MyView.Controls.Add(temp); temp.ForeColor = Color.White; temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); } public void changelanguage(CultureInfo ci) { if (ci != null && !Thread.CurrentThread.CurrentUICulture.Equals(ci)) { Thread.CurrentThread.CurrentUICulture = ci; config["language"] = ci.Name; //System.Threading.Thread.CurrentThread.CurrentCulture = ci; HashSet views = new HashSet { FlightData, FlightPlanner, Simulation, Firmware }; foreach (Control view in MyView.Controls) views.Add(view); foreach (Control view in views) { if (view != null) { ComponentResourceManager rm = new ComponentResourceManager(view.GetType()); foreach (Control ctrl in view.Controls) applyresource(rm, ctrl); rm.ApplyResources(view, "$this"); } } } } private void applyresource(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); } } private void applyresource(ComponentResourceManager rm, Menu menu) { rm.ApplyResources(menu, menu.Name); foreach (MenuItem submenu in menu.MenuItems) applyresource(rm, submenu); } public static CultureInfo getcultureinfo(string name) { try { return new CultureInfo(name); } catch (Exception) { return null; } } private void MainV2_FormClosing(object sender, FormClosingEventArgs e) { config["MainHeight"] = this.Height; config["MainWidth"] = this.Width; config["MainMaximised"] = this.WindowState.ToString(); config["MainLocX"] = this.Location.X.ToString(); config["MainLocY"] = this.Location.Y.ToString(); try { comPort.logreadmode = false; if (comPort.logfile != null) comPort.logfile.Close(); } catch { } } public static string getConfig(string paramname) { if (config[paramname] != null) return config[paramname].ToString(); return ""; } public void changeunits() { try { // dist if (MainV2.config["distunits"] != null) { switch ((Common.distances)Enum.Parse(typeof(Common.distances), MainV2.config["distunits"].ToString())) { case Common.distances.Meters: MainV2.cs.multiplierdist = 1; break; case Common.distances.Feet: MainV2.cs.multiplierdist = 3.2808399f; break; } } // speed if (MainV2.config["speedunits"] != null) { switch ((Common.speeds)Enum.Parse(typeof(Common.speeds), MainV2.config["speedunits"].ToString())) { case Common.speeds.ms: MainV2.cs.multiplierspeed = 1; break; case Common.speeds.fps: MainV2.cs.multiplierdist = 3.2808399f; break; case Common.speeds.kph: MainV2.cs.multiplierspeed = 3.6f; break; case Common.speeds.mph: MainV2.cs.multiplierspeed = 2.23693629f; break; case Common.speeds.knots: MainV2.cs.multiplierspeed = 1.94384449f; break; } } } catch { } } private void CMB_baudrate_TextChanged(object sender, EventArgs e) { StringBuilder sb = new StringBuilder(); int baud = 0; for (int i = 0; i < CMB_baudrate.Text.Length; i++) if (char.IsDigit(CMB_baudrate.Text[i])) { sb.Append(CMB_baudrate.Text[i]); baud = baud * 10 + CMB_baudrate.Text[i] - '0'; } if (CMB_baudrate.Text != sb.ToString()) CMB_baudrate.Text = sb.ToString(); try { if (baud > 0 && comPort.BaseStream.BaudRate != baud) comPort.BaseStream.BaudRate = baud; } catch (Exception) { } } } }