mirror of https://github.com/ArduPilot/ardupilot
573 lines
22 KiB
C#
573 lines
22 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Data;
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using System.Globalization;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Windows.Forms;
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using DirectShowLib;
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using ArdupilotMega.Controls.BackstageView;
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using ArdupilotMega.Controls;
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using ArdupilotMega.Utilities;
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using System.Threading;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigPlanner : UserControl, IActivate
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{
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private bool startup = false;
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private List<CultureInfo> _languages;
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public class GCSBitmapInfo
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{
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public int Width { get; set; }
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public int Height { get; set; }
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public long Fps { get; set; }
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public string Standard { get; set; }
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public AMMediaType Media { get; set; }
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public GCSBitmapInfo(int width, int height, long fps, string standard, AMMediaType media)
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{
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Width = width;
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Height = height;
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Fps = fps;
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Standard = standard;
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Media = media;
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}
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public override string ToString()
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{
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return Width.ToString() + " x " + Height.ToString() + String.Format(" {0:0.00} fps ", 10000000.0 / Fps) + Standard;
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}
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}
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public ConfigPlanner()
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{
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InitializeComponent();
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}
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private void BUT_videostart_Click(object sender, EventArgs e)
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{
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// stop first
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BUT_videostop_Click(sender, e);
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var bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
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try
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{
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MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
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MainV2.cam.Start();
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MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
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BUT_videostart.Enabled = false;
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}
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catch (Exception ex) { CustomMessageBox.Show("Camera Fail: " + ex.Message); }
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}
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private void BUT_videostop_Click(object sender, EventArgs e)
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{
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BUT_videostart.Enabled = true;
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if (MainV2.cam != null)
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{
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MainV2.cam.Dispose();
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MainV2.cam = null;
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}
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}
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private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
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{
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// the reason why i dont populate this list is because on linux/mac this call will fail.
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WebCamService.Capture capt = new WebCamService.Capture();
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List<string> devices = WebCamService.Capture.getDevices();
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CMB_videosources.DataSource = devices;
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capt.Dispose();
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}
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private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
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{
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int hr;
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int count;
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int size;
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object o;
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IBaseFilter capFilter = null;
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ICaptureGraphBuilder2 capGraph = null;
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AMMediaType media = null;
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VideoInfoHeader v;
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VideoStreamConfigCaps c;
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List<GCSBitmapInfo> modes = new List<GCSBitmapInfo>();
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// Get the ICaptureGraphBuilder2
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capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
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IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();
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DsDevice[] capDevices;
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capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
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// Add the video device
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hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
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try
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{
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DsError.ThrowExceptionForHR(hr);
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}
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catch (Exception ex)
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{
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CustomMessageBox.Show("Can not add video source\n" + ex.ToString());
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return;
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}
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// Find the stream config interface
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hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
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DsError.ThrowExceptionForHR(hr);
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IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
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if (videoStreamConfig == null)
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{
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throw new Exception("Failed to get IAMStreamConfig");
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}
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hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
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DsError.ThrowExceptionForHR(hr);
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IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
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for (int i = 0; i < count; i++)
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{
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IntPtr ptr = IntPtr.Zero;
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hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
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v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
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c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
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modes.Add(new GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
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}
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Marshal.FreeCoTaskMem(TaskMemPointer);
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DsUtils.FreeAMMediaType(media);
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CMB_videoresolutions.DataSource = modes;
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if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
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{
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try
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{
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CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
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}
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catch { } // ignore bad entries
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}
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}
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private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
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{
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GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;
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}
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private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.speechEnable = CHK_enablespeech.Checked;
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MainV2.config["speechenable"] = CHK_enablespeech.Checked;
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if (MainV2.speechEngine != null)
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MainV2.speechEngine.SpeakAsyncCancelAll();
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}
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private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.instance.changelanguage((CultureInfo)CMB_language.SelectedItem);
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#if !DEBUG
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MessageBox.Show("Please Restart the Planner");
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Application.Exit();
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#endif
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}
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private void CMB_osdcolor_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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if (CMB_osdcolor.Text != "")
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{
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MainV2.config["hudcolor"] = CMB_osdcolor.Text;
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GCSViews.FlightData.myhud.hudcolor = Color.FromKnownColor((KnownColor)Enum.Parse(typeof(KnownColor), CMB_osdcolor.Text));
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}
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}
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private void CHK_speechwaypoint_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechwaypointenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Heading to Waypoint {wpn}";
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if (MainV2.config["speechwaypoint"] != null)
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speechstring = MainV2.config["speechwaypoint"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechwaypoint"] = speechstring;
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}
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}
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private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Mode changed to {mode}";
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if (MainV2.config["speechmode"] != null)
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speechstring = MainV2.config["speechmode"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechmode"] = speechstring;
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}
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}
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private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
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if (MainV2.config["speechcustom"] != null)
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speechstring = MainV2.config["speechcustom"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechcustom"] = speechstring;
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}
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}
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private void BUT_rerequestparams_Click(object sender, EventArgs e)
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{
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if (!MainV2.comPort.BaseStream.IsOpen)
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return;
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((MyButton)sender).Enabled = false;
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try
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{
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MainV2.comPort.getParamList();
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}
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catch { CustomMessageBox.Show("Error: getting param list"); }
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((MyButton)sender).Enabled = true;
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startup = true;
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startup = false;
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}
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private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "WARNING, Battery at {batv} Volt";
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if (MainV2.config["speechbattery"] != null)
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speechstring = MainV2.config["speechbattery"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechbattery"] = speechstring;
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speechstring = "9.6";
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if (MainV2.config["speechbatteryvolt"] != null)
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speechstring = MainV2.config["speechbatteryvolt"].ToString();
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Common.InputBox("Battery Level", "What Voltage do you want to warn at?", ref speechstring);
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MainV2.config["speechbatteryvolt"] = speechstring;
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}
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}
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private void BUT_Joystick_Click(object sender, EventArgs e)
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{
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Form joy = new JoystickSetup();
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ThemeManager.ApplyThemeTo(joy);
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joy.Show();
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}
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private void CMB_distunits_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["distunits"] = CMB_distunits.Text;
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MainV2.instance.ChangeUnits();
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}
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private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speedunits"] = CMB_speedunits.Text;
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MainV2.instance.ChangeUnits();
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}
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private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
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}
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private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
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}
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private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
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}
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private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
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}
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private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
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}
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private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.comPort.debugmavlink = CHK_mavdebug.Checked;
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}
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private void CHK_resetapmonconnect_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.config[((CheckBox)sender).Name] = ((CheckBox)sender).Checked.ToString();
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}
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private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "WARNING, low altitude {alt}";
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if (MainV2.config["speechalt"] != null)
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speechstring = MainV2.config["speechalt"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechalt"] = speechstring;
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speechstring = "2";
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if (MainV2.config["speechaltheight"] != null)
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speechstring = MainV2.config["speechaltheight"].ToString();
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Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
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MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.cs.multiplierdist).ToString(); // save as m
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}
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}
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private void NUM_tracklength_ValueChanged(object sender, EventArgs e)
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{
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MainV2.config["NUM_tracklength"] = NUM_tracklength.Value.ToString();
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}
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private void CHK_loadwponconnect_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.config["loadwpsonconnect"] = CHK_loadwponconnect.Checked.ToString();
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}
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private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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CustomMessageBox.Show("You need to restart the planner for this to take effect");
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MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
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}
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// This load handler now only contains code that should execute once
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// on start up. See Activate() for the remainder
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private void ConfigPlanner_Load(object sender, EventArgs e)
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{
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startup = true;
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startup = false;
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}
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private void CMB_osdcolor_DrawItem(object sender, DrawItemEventArgs e)
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{
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if (e.Index < 0)
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return;
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Graphics g = e.Graphics;
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Rectangle rect = e.Bounds;
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Brush brush = null;
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if ((e.State & DrawItemState.Selected) == 0)
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brush = new SolidBrush(CMB_osdcolor.BackColor);
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else
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brush = SystemBrushes.Highlight;
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g.FillRectangle(brush, rect);
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brush = new SolidBrush(Color.FromName((string)CMB_osdcolor.Items[e.Index]));
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g.FillRectangle(brush, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
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g.DrawRectangle(Pens.Black, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
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if ((e.State & DrawItemState.Selected) == 0)
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brush = new SolidBrush(CMB_osdcolor.ForeColor);
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else
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brush = SystemBrushes.HighlightText;
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g.DrawString(CMB_osdcolor.Items[e.Index].ToString(),
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CMB_osdcolor.Font, brush, rect.X + 35, rect.Top + rect.Height - CMB_osdcolor.Font.Height);
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}
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private void CMB_videosources_Click(object sender, EventArgs e)
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{
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// the reason why i dont populate this list is because on linux/mac this call will fail.
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WebCamService.Capture capt = new WebCamService.Capture();
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List<string> devices = WebCamService.Capture.getDevices();
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CMB_videosources.DataSource = devices;
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capt.Dispose();
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}
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private void CHK_maprotation_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["CHK_maprotation"] = CHK_maprotation.Checked.ToString();
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}
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// Called every time that this control is made current in the backstage view
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public void Activate()
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{
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startup = true; // flag to ignore changes while we programatically populate controls
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CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));
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// set distance/speed unit states
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CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
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CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
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// setup language selection
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var cultureCodes = new[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" };
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_languages = cultureCodes
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.Select(CultureInfoEx.GetCultureInfo)
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.Where(c => c != null)
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.ToList();
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CMB_language.DisplayMember = "DisplayName";
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CMB_language.DataSource = _languages;
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var currentUiCulture = Thread.CurrentThread.CurrentUICulture;
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for (int i = 0; i < _languages.Count; i++)
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{
|
|
if (currentUiCulture.IsChildOf(_languages[i]))
|
|
{
|
|
CMB_language.SelectedIndex = i;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// setup up camera button states
|
|
if (MainV2.cam != null)
|
|
{
|
|
BUT_videostart.Enabled = false;
|
|
CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
|
|
}
|
|
else
|
|
{
|
|
BUT_videostart.Enabled = true;
|
|
}
|
|
|
|
// setup speech states
|
|
SetCheckboxFromConfig("speechenable", CHK_enablespeech);
|
|
SetCheckboxFromConfig("speechwaypointenabled", CHK_speechwaypoint);
|
|
SetCheckboxFromConfig("speechmodeenabled", CHK_speechmode);
|
|
SetCheckboxFromConfig("speechcustomenabled", CHK_speechcustom);
|
|
SetCheckboxFromConfig("speechbatteryenabled", CHK_speechbattery);
|
|
SetCheckboxFromConfig("speechaltenabled", CHK_speechaltwarning);
|
|
|
|
// this can't fail because it set at startup
|
|
NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());
|
|
|
|
// get wps on connect
|
|
SetCheckboxFromConfig("loadwpsonconnect", CHK_loadwponconnect);
|
|
|
|
// setup other config state
|
|
SetCheckboxFromConfig("CHK_resetapmonconnect", CHK_resetapmonconnect);
|
|
|
|
CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
|
|
CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
|
|
CMB_raterc.Text = MainV2.cs.raterc.ToString();
|
|
CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
|
|
CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
|
|
|
|
SetCheckboxFromConfig("CHK_GDIPlus", CHK_GDIPlus);
|
|
SetCheckboxFromConfig("CHK_maprotation", CHK_maprotation);
|
|
|
|
//set hud color state
|
|
string hudcolor = (string)MainV2.config["hudcolor"];
|
|
int index = CMB_osdcolor.Items.IndexOf(hudcolor ?? "White");
|
|
CMB_osdcolor.SelectedIndex = index;
|
|
|
|
|
|
if (MainV2.config["distunits"] != null)
|
|
CMB_distunits.Text = MainV2.config["distunits"].ToString();
|
|
if (MainV2.config["speedunits"] != null)
|
|
CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
|
|
}
|
|
|
|
|
|
|
|
private static void SetCheckboxFromConfig(string configKey, CheckBox chk)
|
|
{
|
|
if (MainV2.config[configKey] != null)
|
|
chk.Checked = bool.Parse(MainV2.config[configKey].ToString());
|
|
}
|
|
}
|
|
}
|