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ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigMount.cs

380 lines
14 KiB
C#
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using System;
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
using ArdupilotMega.Presenter;
using Transitions;
using System.Collections;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigMount : UserControl, IActivate
{
private Transition[] _ErrorTransition;
private Transition _NoErrorTransition;
bool startup = true;
public string ParamHead = "MNT_";
public ConfigMount()
{
InitializeComponent();
var delay = new Transition(new TransitionType_Linear(2000));
var fadeIn = new Transition(new TransitionType_Linear(800));
_ErrorTransition = new[] { delay, fadeIn };
_NoErrorTransition = new Transition(new TransitionType_Linear(10));
//setup button actions
foreach (var btn in Controls.Cast<Control>().OfType<Button>())
btn.Click += HandleButtonClick;
LNK_wiki.MouseEnter += (s, e) => FadeLinkTo((LinkLabel)s, Color.CornflowerBlue);
LNK_wiki.MouseLeave += (s, e) => FadeLinkTo((LinkLabel)s, Color.WhiteSmoke);
SetErrorMessageOpacity();
comboBox1.Items.AddRange(Enum.GetNames(typeof(ChannelCameraShutter)));
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
{
mavlinkComboBoxTilt.Items.AddRange(Enum.GetNames(typeof(Channelap)));
mavlinkComboBoxRoll.Items.AddRange(Enum.GetNames(typeof(Channelap)));
mavlinkComboBoxPan.Items.AddRange(Enum.GetNames(typeof(Channelap)));
}
else
{
mavlinkComboBoxTilt.Items.AddRange(Enum.GetNames(typeof(Channelac)));
mavlinkComboBoxRoll.Items.AddRange(Enum.GetNames(typeof(Channelac)));
mavlinkComboBoxPan.Items.AddRange(Enum.GetNames(typeof(Channelac)));
}
}
// 0 = disabled 1 = enabled
enum Channelap
{
Disable = 0,
RC5 = 1,
RC6 = 1,
RC7 = 1,
RC8 = 1,
RC9 = 1,
RC10 = 1,
RC11 = 1
}
// 0 = disabled 1 = enabled
enum Channelac
{
Disable = 0,
RC5 = 1,
RC6 = 1,
RC7 = 1,
RC8 = 1,
RC10 = 1,
RC11 = 1
}
enum ChannelCameraShutter
{
Disable = 0,
RC5 = 5,
RC6 = 6,
RC7 = 7,
RC8 = 8,
RC10 = 10,
RC11 = 11,
Relay = 1,
Transistor = 4
}
enum Channelinput
{
Disable = 0,
RC5 = 5,
RC6 = 6,
RC7 = 7,
RC8 = 8
}
public void Activate()
{
Hashtable copy = new Hashtable(MainV2.comPort.MAV.param);
foreach (string item in copy.Keys)
{
if (item.EndsWith("_FUNCTION"))
{
switch (MainV2.comPort.MAV.param[item].ToString())
{
case "6":
mavlinkComboBoxPan.Text = item.Replace("_FUNCTION", "");
break;
case "7":
mavlinkComboBoxTilt.Text = item.Replace("_FUNCTION", "");
break;
case "8":
mavlinkComboBoxRoll.Text = item.Replace("_FUNCTION", "");
break;
case "10":
comboBox1.Text = item.Replace("_FUNCTION", "");
break;
default:
break;
}
}
}
startup = false;
try
{
updateShutter();
updatePitch();
updateRoll();
updateYaw();
CHK_stab_tilt.setup(1, 0, ParamHead+"STAB_TILT", MainV2.comPort.MAV.param);
CHK_stab_roll.setup(1, 0, ParamHead+"STAB_ROLL", MainV2.comPort.MAV.param);
CHK_stab_pan.setup(1, 0, ParamHead+"STAB_PAN", MainV2.comPort.MAV.param);
NUD_CONTROL_x.setup(-180, 180, 100, 1, ParamHead+"CONTROL_X",MainV2.comPort.MAV.param);
NUD_CONTROL_y.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Y", MainV2.comPort.MAV.param);
NUD_CONTROL_z.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Z", MainV2.comPort.MAV.param);
NUD_NEUTRAL_x.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_X", MainV2.comPort.MAV.param);
NUD_NEUTRAL_y.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Y", MainV2.comPort.MAV.param);
NUD_NEUTRAL_z.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Z", MainV2.comPort.MAV.param);
NUD_RETRACT_x.setup(-180, 180, 100, 1, ParamHead+"RETRACT_X", MainV2.comPort.MAV.param);
NUD_RETRACT_y.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Y", MainV2.comPort.MAV.param);
NUD_RETRACT_z.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Z", MainV2.comPort.MAV.param);
}
catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n" + ex.ToString()); this.Enabled = false; return; }
}
void ensureDisabled(ComboBox cmb, int number, string exclude = "")
{
foreach (string item in cmb.Items)
{
if (MainV2.comPort.MAV.param.ContainsKey(item+"_FUNCTION")) {
float ans = (float)MainV2.comPort.MAV.param[item+"_FUNCTION"];
if (item == exclude)
continue;
if (ans == number)
{
MainV2.comPort.setParam(item + "_FUNCTION",0);
}
}
}
}
void updateShutter()
{
// shutter
if (comboBox1.Text == "")
return;
if (comboBox1.Text != "Disable")
{
if (comboBox1.Text == ChannelCameraShutter.Relay.ToString())
{
ensureDisabled(comboBox1, 10);
MainV2.comPort.setParam("CAM_TRIGG_TYPE", 1);
}
else if (comboBox1.Text == ChannelCameraShutter.Transistor.ToString())
{
ensureDisabled(comboBox1, 10);
MainV2.comPort.setParam("CAM_TRIGG_TYPE", 4);
}
else
{
MainV2.comPort.setParam(comboBox1.Text + "_FUNCTION", 10);
// servo
MainV2.comPort.setParam("CAM_TRIGG_TYPE", 0);
}
}
else
{
// servo
MainV2.comPort.setParam("CAM_TRIGG_TYPE", 0);
ensureDisabled(comboBox1, 10);
}
mavlinkNumericUpDownShutM.setup(800, 2200, 1, 1, comboBox1.Text + "_MIN", MainV2.comPort.MAV.param);
mavlinkNumericUpDownShutMX.setup(800, 2200, 1, 1, comboBox1.Text + "_MAX", MainV2.comPort.MAV.param);
mavlinkNumericUpDown1.setup(800, 2200, 1, 1, "CAM_SERVO_OFF", MainV2.comPort.MAV.param);
mavlinkNumericUpDown2.setup(800, 2200, 1, 1, "CAM_SERVO_ON", MainV2.comPort.MAV.param);
mavlinkNumericUpDown5.setup(1, 200, 1, 1, "CAM_DURATION", MainV2.comPort.MAV.param);
}
void updatePitch()
{
// pitch
if (mavlinkComboBoxTilt.Text == "")
return;
if (mavlinkComboBoxTilt.Text != "Disable")
{
MainV2.comPort.setParam(mavlinkComboBoxTilt.Text + "_FUNCTION", 7);
//MainV2.MainV2.comPort.setParam(ParamHead+"STAB_TILT", 1);
}
else
{
//MainV2.comPort.setParam(ParamHead+"STAB_TILT", 0);
ensureDisabled(mavlinkComboBoxTilt, 7);
}
mavlinkNumericUpDownTSM.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text +"_MIN", MainV2.comPort.MAV.param);
mavlinkNumericUpDownTSMX.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text + "_MAX", MainV2.comPort.MAV.param);
mavlinkNumericUpDownTAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_TIL", MainV2.comPort.MAV.param);
mavlinkNumericUpDownTAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_TIL", MainV2.comPort.MAV.param);
mavlinkCheckBoxTR.setup(-1, 1, mavlinkComboBoxTilt.Text + "_REV", MainV2.comPort.MAV.param);
CMB_inputch_tilt.setup(typeof(Channelinput), ParamHead+"RC_IN_TILT", MainV2.comPort.MAV.param);
}
void updateRoll()
{
// roll
if (mavlinkComboBoxRoll.Text == "")
return;
if (mavlinkComboBoxRoll.Text != "Disable")
{
MainV2.comPort.setParam(mavlinkComboBoxRoll.Text + "_FUNCTION", 8);
//MainV2.comPort.setParam(ParamHead+"STAB_ROLL", 1);
}
else
{
//MainV2.comPort.setParam(ParamHead+"STAB_ROLL", 0);
ensureDisabled(mavlinkComboBoxRoll,8);
}
mavlinkNumericUpDownRSM.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text +"_MIN", MainV2.comPort.MAV.param);
mavlinkNumericUpDownRSMX.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text + "_MAX", MainV2.comPort.MAV.param);
mavlinkNumericUpDownRAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_ROL", MainV2.comPort.MAV.param);
mavlinkNumericUpDownRAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_ROL", MainV2.comPort.MAV.param);
mavlinkCheckBoxRR.setup(-1, 1, mavlinkComboBoxRoll.Text + "_REV", MainV2.comPort.MAV.param);
CMB_inputch_roll.setup(typeof(Channelinput), ParamHead+"RC_IN_ROLL", MainV2.comPort.MAV.param);
}
void updateYaw()
{
// yaw
if (mavlinkComboBoxPan.Text == "")
return;
if (mavlinkComboBoxPan.Text != "Disable")
{
MainV2.comPort.setParam(mavlinkComboBoxPan.Text + "_FUNCTION", 6);
//MainV2.comPort.setParam(ParamHead+"STAB_PAN", 1);
}
else
{
//MainV2.comPort.setParam(ParamHead+"STAB_PAN", 0);
ensureDisabled(mavlinkComboBoxPan,6);
}
mavlinkNumericUpDownPSM.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MIN", MainV2.comPort.MAV.param);
mavlinkNumericUpDownPSMX.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MAX", MainV2.comPort.MAV.param);
mavlinkNumericUpDownPAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_PAN", MainV2.comPort.MAV.param);
mavlinkNumericUpDownPAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_PAN", MainV2.comPort.MAV.param);
mavlinkCheckBoxPR.setup(-1, 1, mavlinkComboBoxPan.Text + "_REV", MainV2.comPort.MAV.param);
CMB_inputch_pan.setup(typeof(Channelinput), ParamHead+"RC_IN_PAN", MainV2.comPort.MAV.param);
}
private void SetErrorMessageOpacity()
{
/* if (_presenter.HasError)
{
// Todo - is this the prob? maybe single log trasition
var t = new Transition(new TransitionType_Acceleration(1000));
t.add(PBOX_WarningIcon, "Opacity", 1.0F);
t.add(LBL_Error, "Opacity", 1.0F);
t.run();
//Transition.runChain(_ErrorTransition);
}
else*/
{
_NoErrorTransition.run();
}
}
private static void FadeLinkTo(LinkLabel l, Color c)
{
var changeColorTransition = new Transition(new TransitionType_Linear(300));
changeColorTransition.add(l, "LinkColor", c);
changeColorTransition.run();
}
// Common handler for all buttons
// Will execute an ICommand if one is found on the button Tag
private static void HandleButtonClick(object sender, EventArgs e)
{
if (sender is Button)
{
var cmd = (sender as Button).Tag as ICommand;
if (cmd != null)
if (cmd.CanExecute(null))
cmd.Execute(null);
}
}
// Something has changed on the presenter - This may be an Icommand
// enabled state, so update the buttons as appropriate
void CheckCommandStates(object sender, PropertyChangedEventArgs propertyChangedEventArgs)
{
foreach (var btn in Controls.Cast<Control>().OfType<Button>())
{
var cmd = btn.Tag as ICommand;
if (cmd != null)
btn.Enabled = cmd.CanExecute(null);
}
}
private void LNK_Wiki_Clicked(object sender, LinkLabelLinkClickedEventArgs e)
{
Process.Start(new ProcessStartInfo("http://code.google.com/p/arducopter/wiki/AC2_Camera"));
}
private void mavlinkComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup == true)
return;
ComboBox cmb = sender as ComboBox;
try
{
// cleanup all others - disableing any previous selection
ensureDisabled(cmb, 6, mavlinkComboBoxPan.Text);
ensureDisabled(cmb, 7, mavlinkComboBoxTilt.Text);
ensureDisabled(cmb, 8, mavlinkComboBoxRoll.Text);
// enable 3 axis stabilize
if (MainV2.comPort.MAV.param.ContainsKey(ParamHead+"MODE"))
MainV2.comPort.setParam(ParamHead+"MODE", 3);
updateShutter();
updatePitch();
updateRoll();
updateYaw();
}
catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n" + ex.ToString()); return; }
}
}
}
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