mirror of https://github.com/ArduPilot/ardupilot
2594 lines
94 KiB
C#
2594 lines
94 KiB
C#
using System;
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using System.Collections.Generic; // Lists
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using System.Text; // stringbuilder
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using System.Drawing; // pens etc
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using System.IO; // file io
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using System.IO.Ports; // serial
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using System.Windows.Forms; // Forms
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using System.Collections; // hashs
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using System.Text.RegularExpressions; // regex
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using System.Xml; // GE xml alt reader
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using System.Net; // dns, ip address
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using System.Net.Sockets; // tcplistner
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using GMap.NET;
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using GMap.NET.WindowsForms;
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using System.Globalization; // language
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using GMap.NET.WindowsForms.Markers;
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using ZedGraph; // Graphs
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using System.Drawing.Drawing2D;
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using ArdupilotMega.Controls;
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using ArdupilotMega.Utilities;
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using ArdupilotMega.Controls.BackstageView;
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//using Crom.Controls.Docking;
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using log4net;
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using System.Reflection;
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// written by michael oborne
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namespace ArdupilotMega.GCSViews
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{
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partial class FlightData : MyUserControl, IActivate, IDeactivate
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{
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private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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public static int threadrun = 0;
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StreamWriter swlog;
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int tickStart = 0;
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RollingPointPairList list1 = new RollingPointPairList(1200);
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RollingPointPairList list2 = new RollingPointPairList(1200);
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RollingPointPairList list3 = new RollingPointPairList(1200);
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RollingPointPairList list4 = new RollingPointPairList(1200);
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RollingPointPairList list5 = new RollingPointPairList(1200);
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RollingPointPairList list6 = new RollingPointPairList(1200);
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RollingPointPairList list7 = new RollingPointPairList(1200);
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RollingPointPairList list8 = new RollingPointPairList(1200);
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RollingPointPairList list9 = new RollingPointPairList(1200);
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RollingPointPairList list10 = new RollingPointPairList(1200);
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System.Reflection.PropertyInfo list1item = null;
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System.Reflection.PropertyInfo list2item = null;
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System.Reflection.PropertyInfo list3item = null;
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System.Reflection.PropertyInfo list4item = null;
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System.Reflection.PropertyInfo list5item = null;
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System.Reflection.PropertyInfo list6item = null;
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System.Reflection.PropertyInfo list7item = null;
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System.Reflection.PropertyInfo list8item = null;
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System.Reflection.PropertyInfo list9item = null;
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System.Reflection.PropertyInfo list10item = null;
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CurveItem list1curve;
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CurveItem list2curve;
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CurveItem list3curve;
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CurveItem list4curve;
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CurveItem list5curve;
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CurveItem list6curve;
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CurveItem list7curve;
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CurveItem list8curve;
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CurveItem list9curve;
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CurveItem list10curve;
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internal static GMapOverlay kmlpolygons;
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internal static GMapOverlay geofence;
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Dictionary<Guid, Form> formguids = new Dictionary<Guid, Form>();
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bool huddropout = false;
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bool huddropoutresize = false;
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// private DockStateSerializer _serializer = null;
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List<PointLatLng> trackPoints = new List<PointLatLng>();
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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public static ArdupilotMega.Controls.HUD myhud = null;
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public static GMapControl mymap = null;
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bool playingLog = false;
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double LogPlayBackSpeed = 1.0;
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GMapMarker marker;
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AviWriter aviwriter;
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public SplitContainer MainHcopy = null;
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public static FlightData instance;
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protected override void Dispose(bool disposing)
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{
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threadrun = 0;
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MainV2.comPort.logreadmode = false;
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try
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{
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MainV2.config["FlightSplitter"] = hud1.Width;
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}
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catch { }
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System.Threading.Thread.Sleep(100);
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base.Dispose(disposing);
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}
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public FlightData()
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{
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InitializeComponent();
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instance = this;
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// _serializer = new DockStateSerializer(dockContainer1);
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// _serializer.SavePath = Application.StartupPath + Path.DirectorySeparatorChar + "FDscreen.xml";
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// dockContainer1.PreviewRenderer = new PreviewRenderer();
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//
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mymap = gMapControl1;
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myhud = hud1;
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MainHcopy = MainH;
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// setup default tuning graph
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if (MainV2.config["Tuning_Graph_Selected"] != null)
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{
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string line = MainV2.config["Tuning_Graph_Selected"].ToString();
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string[] lines = line.Split(new char[] { '|' }, StringSplitOptions.RemoveEmptyEntries);
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foreach (string option in lines)
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{
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chk_box_CheckedChanged((object)(new CheckBox() { Name = option, Checked = true }), new EventArgs());
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}
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}
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else
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{
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "roll", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "pitch", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_roll", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_pitch", Checked = true }), new EventArgs());
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}
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foreach (string item in MainV2.config.Keys)
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{
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if (item.StartsWith("hud1_useritem_"))
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{
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string selection = item.Replace("hud1_useritem_", "");
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CheckBox chk = new CheckBox();
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chk.Name = selection;
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chk.Checked = true;
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HUD.Custom cust = new HUD.Custom();
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cust.Header = MainV2.config[item].ToString();
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addHudUserItem(ref cust, chk);
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}
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}
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List<string> list = new List<string>();
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{
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list.Add("LOITER_UNLIM");
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list.Add("RETURN_TO_LAUNCH");
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list.Add("PREFLIGHT_CALIBRATION");
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list.Add("MISSION_START");
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list.Add("PREFLIGHT_REBOOT_SHUTDOWN");
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//DO_SET_SERVO
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//DO_REPEAT_SERVO
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}
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CMB_action.DataSource = list;
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CMB_modes.DataSource = Common.getModesList();
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CMB_modes.ValueMember = "Key";
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CMB_modes.DisplayMember = "Value";
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CMB_setwp.SelectedIndex = 0;
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zg1.Visible = true;
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CreateChart(zg1);
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// config map
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gMapControl1.MapType = MapType.GoogleSatellite;
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gMapControl1.MinZoom = 1;
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gMapControl1.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
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gMapControl1.OnMapZoomChanged += new MapZoomChanged(gMapControl1_OnMapZoomChanged);
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gMapControl1.Zoom = 3;
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gMapControl1.RoutesEnabled = true;
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gMapControl1.PolygonsEnabled = true;
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kmlpolygons = new GMapOverlay(gMapControl1, "kmlpolygons");
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gMapControl1.Overlays.Add(kmlpolygons);
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geofence = new GMapOverlay(gMapControl1, "geofence");
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gMapControl1.Overlays.Add(geofence);
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polygons = new GMapOverlay(gMapControl1, "polygons");
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gMapControl1.Overlays.Add(polygons);
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routes = new GMapOverlay(gMapControl1, "routes");
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gMapControl1.Overlays.Add(routes);
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try
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{
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if (MainV2.getConfig("GspeedMAX") != "")
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{
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Gspeed.MaxValue = float.Parse(MainV2.getConfig("GspeedMAX"));
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}
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}
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catch { }
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}
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void tabStatus_Resize(object sender, EventArgs e)
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{
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// localise it
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//Control tabStatus = sender as Control;
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// tabStatus.SuspendLayout();
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//foreach (Control temp in tabStatus.Controls)
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{
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// temp.DataBindings.Clear();
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//temp.Dispose();
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}
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//tabStatus.Controls.Clear();
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int x = 10;
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int y = 10;
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object thisBoxed = MainV2.cs;
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Type test = thisBoxed.GetType();
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foreach (var field in test.GetProperties())
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{
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// field.Name has the field's name.
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object fieldValue;
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try
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{
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fieldValue = field.GetValue(thisBoxed, null); // Get value
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}
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catch { continue; }
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// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
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TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
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bool add = true;
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MyLabel lbl1 = new MyLabel();
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MyLabel lbl2 = new MyLabel();
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try
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{
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lbl1 = (MyLabel)tabStatus.Controls.Find(field.Name, false)[0];
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lbl2 = (MyLabel)tabStatus.Controls.Find(field.Name + "value", false)[0];
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add = false;
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}
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catch { }
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if (add)
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{
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lbl1.Location = new Point(x, y);
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lbl1.Size = new System.Drawing.Size(75, 13);
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lbl1.Text = field.Name;
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lbl1.Name = field.Name;
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lbl1.Visible = true;
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lbl2.AutoSize = false;
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lbl2.Location = new Point(lbl1.Right + 5, y);
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lbl2.Size = new System.Drawing.Size(50, 13);
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//if (lbl2.Name == "")
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lbl2.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.bindingSource1, field.Name, false, System.Windows.Forms.DataSourceUpdateMode.OnValidation, "0"));
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lbl2.Name = field.Name + "value";
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lbl2.Visible = true;
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//lbl2.Text = fieldValue.ToString();
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tabStatus.Controls.Add(lbl1);
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tabStatus.Controls.Add(lbl2);
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}
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else
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{
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lbl1.Location = new Point(x, y);
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lbl2.Location = new Point(lbl1.Right + 5, y);
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}
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//Application.DoEvents();
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x += 0;
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y += 15;
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if (y > tabStatus.Height - 30)
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{
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x += 140;
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y = 10;
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}
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}
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tabStatus.Width = x;
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ThemeManager.ApplyThemeTo(tabStatus);
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// tabStatus.ResumeLayout();
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}
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public void Activate()
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{
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if (CB_tuning.Checked)
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ZedGraphTimer.Start();
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if (MainV2.MONO)
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{
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if (!hud1.Visible)
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hud1.Visible = true;
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if (!hud1.Enabled)
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hud1.Enabled = true;
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hud1.Dock = DockStyle.Fill;
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}
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for (int f = 1; f < 10; f++)
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{
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// load settings
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if (MainV2.config["quickView" + f] != null)
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{
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Control[] ctls = this.Controls.Find("quickView" + f, true);
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if (ctls.Length > 0)
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{
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// set description
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((QuickView)ctls[0]).desc = MainV2.cs.GetNameandUnit(MainV2.config["quickView" + f].ToString());
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// set databinding for value
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((QuickView)ctls[0]).DataBindings.Clear();
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((QuickView)ctls[0]).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, MainV2.config["quickView" + f].ToString(), true));
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}
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}
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}
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if (MainV2.comPort.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.param["BATT_MONITOR"] != 0)
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{
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hud1.batteryon = true;
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}
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else
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{
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hud1.batteryon = false;
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}
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foreach (Control ctl in splitContainer1.Panel2.Controls)
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{
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ctl.Visible = true;
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}
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}
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public void Deactivate()
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{
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if (MainV2.MONO)
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{
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hud1.Dock = DockStyle.None;
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hud1.Size = new System.Drawing.Size(5, 5);
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hud1.Enabled = false;
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hud1.Visible = false;
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}
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// hud1.Location = new Point(-1000,-1000);
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ZedGraphTimer.Stop();
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}
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void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
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{
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// Draw the background of the ListBox control for each item.
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//e.DrawBackground();
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// Define the default color of the brush as black.
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Brush myBrush = Brushes.Black;
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LinearGradientBrush linear = new LinearGradientBrush(e.Bounds, Color.FromArgb(0x94, 0xc1, 0x1f), Color.FromArgb(0xcd, 0xe2, 0x96), LinearGradientMode.Vertical);
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e.Graphics.FillRectangle(linear, e.Bounds);
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// Draw the current item text based on the current Font
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// and the custom brush settings.
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e.Graphics.DrawString(((TabControl)sender).TabPages[e.Index].Text.ToString(),
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e.Font, myBrush, e.Bounds, StringFormat.GenericDefault);
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// If the ListBox has focus, draw a focus rectangle around the selected item.
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e.DrawFocusRectangle();
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}
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void gMapControl1_OnMapZoomChanged()
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{
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TRK_zoom.Value = gMapControl1.Zoom;
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
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}
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private void FlightData_Load(object sender, EventArgs e)
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{
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System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
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{
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IsBackground = true,
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Name = "FlightData updater"
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};
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t11.Start();
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//MainH.threads.Add(t11);
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TRK_zoom.Minimum = gMapControl1.MinZoom;
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TRK_zoom.Maximum = gMapControl1.MaxZoom + 1;
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TRK_zoom.Value = gMapControl1.Zoom;
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Zoomlevel.Minimum = gMapControl1.MinZoom;
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Zoomlevel.Maximum = gMapControl1.MaxZoom + 1;
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
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if (MainV2.config["CHK_autopan"] != null)
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CHK_autopan.Checked = bool.Parse(MainV2.config["CHK_autopan"].ToString());
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if (MainV2.config.Contains("FlightSplitter"))
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{
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// hud1.Width = int.Parse(MainV2.config["FlightSplitter"].ToString());
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// MainH.PerformLayout();
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MainH.SplitterDistance = int.Parse(MainV2.config["FlightSplitter"].ToString());
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}
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}
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private void mainloop()
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{
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//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
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//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
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threadrun = 1;
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EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
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DateTime lastdata = DateTime.MinValue;
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DateTime tracklast = DateTime.Now.AddSeconds(0);
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DateTime tunning = DateTime.Now.AddSeconds(0);
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DateTime mapupdate = DateTime.Now.AddSeconds(0);
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DateTime vidrec = DateTime.Now.AddSeconds(0);
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DateTime waypoints = DateTime.Now.AddSeconds(0);
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DateTime updatescreen = DateTime.Now;
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DateTime tsreal = DateTime.Now;
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double taketime = 0;
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double timeerror = 0;
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//comPort.stopall(true);
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while (threadrun == 1)
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{
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if (threadrun == 0) { return; }
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if (MainV2.giveComport == true)
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{
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System.Threading.Thread.Sleep(50);
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continue;
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}
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if (!MainV2.comPort.BaseStream.IsOpen)
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lastdata = DateTime.Now;
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// re-request servo data
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if (!(lastdata.AddSeconds(8) > DateTime.Now) && MainV2.comPort.BaseStream.IsOpen)
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{
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//Console.WriteLine("REQ streams - flightdata");
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try
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{
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//System.Threading.Thread.Sleep(1000);
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//comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
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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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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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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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catch { log.Error("Failed to request rates"); }
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lastdata = DateTime.Now.AddSeconds(120); // prevent flooding
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}
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if (!MainV2.comPort.logreadmode)
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System.Threading.Thread.Sleep(100); // max is only ever 10 hz
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try
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{
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if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
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{
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vidrec = DateTime.Now;
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hud1.streamjpgenable = true;
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//aviwriter.avi_start("test.avi");
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// add a frame
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aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length);
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// write header - so even partial files will play
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aviwriter.avi_end(hud1.Width, hud1.Height, 10);
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}
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}
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catch { log.Error("Failed to write avi"); }
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|
|
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
|
|
{
|
|
if (threadrun == 0) { return; }
|
|
|
|
if (MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
MainV2.comPort.logreadmode = false;
|
|
try
|
|
{
|
|
MainV2.comPort.logplaybackfile.Close();
|
|
}
|
|
catch { log.Error("Failed to close logfile"); }
|
|
MainV2.comPort.logplaybackfile = null;
|
|
}
|
|
|
|
|
|
//Console.WriteLine(DateTime.Now.Millisecond);
|
|
|
|
if (updatescreen.AddMilliseconds(300) < DateTime.Now)
|
|
{
|
|
try
|
|
{
|
|
updatePlayPauseButton(true);
|
|
updateLogPlayPosition();
|
|
}
|
|
catch { log.Error("Failed to update log playback pos"); }
|
|
updatescreen = DateTime.Now;
|
|
}
|
|
|
|
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
|
|
|
|
DateTime logplayback = MainV2.comPort.lastlogread;
|
|
try
|
|
{
|
|
MainV2.comPort.readPacket();
|
|
}
|
|
catch { log.Error("Failed to read log packet"); }
|
|
|
|
double act = (MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
|
|
|
|
if (act > 9999 || act < 0)
|
|
act = 0;
|
|
|
|
double ts = 0;
|
|
if (LogPlayBackSpeed == 0)
|
|
LogPlayBackSpeed = 0.01;
|
|
try
|
|
{
|
|
ts = Math.Min((act / LogPlayBackSpeed), 1000);
|
|
}
|
|
catch { }
|
|
|
|
double timetook = (DateTime.Now - tsreal).TotalMilliseconds;
|
|
if (timetook != 0)
|
|
{
|
|
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
|
|
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
|
|
//if ((taketime - timetook) < 0)
|
|
{
|
|
timeerror += (taketime - timetook);
|
|
if (ts != 0)
|
|
{
|
|
ts += timeerror;
|
|
timeerror = 0;
|
|
}
|
|
}
|
|
if (ts > 1000)
|
|
ts = 1000;
|
|
}
|
|
|
|
taketime = ts;
|
|
tsreal = DateTime.Now;
|
|
|
|
if (ts > 0 && ts < 1000)
|
|
System.Threading.Thread.Sleep((int)ts);
|
|
|
|
|
|
|
|
if (threadrun == 0) { return; }
|
|
|
|
tracklast = tracklast.AddMilliseconds(ts - act);
|
|
tunning = tunning.AddMilliseconds(ts - act);
|
|
|
|
if (tracklast.Month != DateTime.Now.Month)
|
|
{
|
|
tracklast = DateTime.Now;
|
|
tunning = DateTime.Now;
|
|
}
|
|
|
|
try
|
|
{
|
|
if (MainV2.comPort.logplaybackfile != null && MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
|
|
{
|
|
MainV2.comPort.logreadmode = false;
|
|
}
|
|
}
|
|
catch { MainV2.comPort.logreadmode = false; }
|
|
}
|
|
else
|
|
{
|
|
// ensure we know to stop
|
|
if (MainV2.comPort.logreadmode)
|
|
MainV2.comPort.logreadmode = false;
|
|
updatePlayPauseButton(false);
|
|
|
|
if (!playingLog && MainV2.comPort.logplaybackfile != null)
|
|
{
|
|
continue;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
try
|
|
{
|
|
//Console.WriteLine(DateTime.Now.Millisecond);
|
|
updateBindingSource();
|
|
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
|
|
|
|
if (ArdupilotMega.Controls.OpenGLtest.instance != null)
|
|
{
|
|
ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll, MainV2.cs.pitch, MainV2.cs.yaw);
|
|
ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat, MainV2.cs.lng, MainV2.cs.alt, "here");
|
|
}
|
|
|
|
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
|
|
{
|
|
|
|
double time = (Environment.TickCount - tickStart) / 1000.0;
|
|
if (list1item != null)
|
|
list1.Add(time, (float)list1item.GetValue((object)MainV2.cs, null));
|
|
if (list2item != null)
|
|
list2.Add(time, (float)list2item.GetValue((object)MainV2.cs, null));
|
|
if (list3item != null)
|
|
list3.Add(time, (float)list3item.GetValue((object)MainV2.cs, null));
|
|
if (list4item != null)
|
|
list4.Add(time, (float)list4item.GetValue((object)MainV2.cs, null));
|
|
if (list5item != null)
|
|
list5.Add(time, (float)list5item.GetValue((object)MainV2.cs, null));
|
|
if (list6item != null)
|
|
list6.Add(time, (float)list6item.GetValue((object)MainV2.cs, null));
|
|
if (list7item != null)
|
|
list7.Add(time, (float)list7item.GetValue((object)MainV2.cs, null));
|
|
if (list8item != null)
|
|
list8.Add(time, (float)list8item.GetValue((object)MainV2.cs, null));
|
|
if (list9item != null)
|
|
list9.Add(time, (float)list9item.GetValue((object)MainV2.cs, null));
|
|
if (list10item != null)
|
|
list10.Add(time, (float)list10item.GetValue((object)MainV2.cs, null));
|
|
}
|
|
|
|
if (tracklast.AddSeconds(1) < DateTime.Now)
|
|
{
|
|
if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True")
|
|
{
|
|
// dont holdinvalidation here
|
|
setMapBearing();
|
|
}
|
|
|
|
if (route == null)
|
|
{
|
|
route = new GMapRoute(trackPoints, "track");
|
|
routes.Routes.Add(route);
|
|
}
|
|
|
|
PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
|
|
|
|
gMapControl1.HoldInvalidation = true;
|
|
|
|
int cnt = 0;
|
|
|
|
while (gMapControl1.inOnPaint == true)
|
|
{
|
|
System.Threading.Thread.Sleep(1);
|
|
cnt++;
|
|
}
|
|
|
|
if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
|
|
{
|
|
// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
|
|
route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
|
|
}
|
|
if (MainV2.cs.lat != 0)
|
|
{
|
|
// trackPoints.Add(currentloc);
|
|
route.Points.Add(currentloc);
|
|
}
|
|
|
|
|
|
// if (CB_tuning.Checked == false) // draw if in view
|
|
{
|
|
|
|
while (gMapControl1.inOnPaint == true)
|
|
{
|
|
System.Threading.Thread.Sleep(1);
|
|
}
|
|
|
|
//route = new GMapRoute(route.Points, "track");
|
|
//track.Stroke = Pens.Red;
|
|
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
|
|
//route.Stroke.Width = 5;
|
|
//route.Tag = "track";
|
|
|
|
//updateClearRoutes();
|
|
|
|
gMapControl1.UpdateRouteLocalPosition(route);
|
|
|
|
if (waypoints.AddSeconds(10) < DateTime.Now)
|
|
{
|
|
//Console.WriteLine("Doing FD WP's");
|
|
updateMissionRouteMarkers();
|
|
|
|
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.wps.Values)
|
|
{
|
|
if (plla.x == 0 || plla.y == 0)
|
|
continue;
|
|
|
|
if (plla.command == (byte)MAVLink.MAV_CMD.ROI)
|
|
{
|
|
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int)plla.z, Color.Red, routes);
|
|
continue;
|
|
}
|
|
|
|
string tag = plla.seq.ToString();
|
|
if (plla.seq == 0 && plla.current != 2)
|
|
{
|
|
tag = "Home";
|
|
}
|
|
if (plla.current == 2)
|
|
{
|
|
continue;
|
|
}
|
|
|
|
addpolygonmarker(tag, plla.y, plla.x, (int)plla.z, Color.White, polygons);
|
|
}
|
|
|
|
RegeneratePolygon();
|
|
|
|
waypoints = DateTime.Now;
|
|
}
|
|
|
|
//routes.Polygons.Add(poly);
|
|
|
|
if (route.Points.Count > 0)
|
|
{
|
|
// add primary route icon
|
|
if (routes.Markers.Count != 1)
|
|
{
|
|
routes.Markers.Clear();
|
|
routes.Markers.Add(new GMapMarkerCross(currentloc));
|
|
}
|
|
|
|
if (MainV2.cs.mode.ToLower() == "guided" && MainV2.comPort.GuidedMode.x != 0)
|
|
{
|
|
addpolygonmarker("Guided Mode", MainV2.comPort.GuidedMode.y, MainV2.comPort.GuidedMode.x, (int)MainV2.comPort.GuidedMode.z, Color.Blue, routes);
|
|
}
|
|
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1) { ToolTipText = MainV2.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
|
|
{
|
|
routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
|
|
}
|
|
else
|
|
{
|
|
routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
|
|
}
|
|
|
|
if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
|
|
{
|
|
updateMapPosition(currentloc);
|
|
mapupdate = DateTime.Now;
|
|
}
|
|
|
|
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
|
|
{
|
|
updateMapPosition(currentloc);
|
|
updateMapZoom(17);
|
|
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
|
|
}
|
|
}
|
|
|
|
gMapControl1.HoldInvalidation = false;
|
|
|
|
gMapControl1.Invalidate();
|
|
}
|
|
|
|
tracklast = DateTime.Now;
|
|
}
|
|
}
|
|
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
|
|
}
|
|
Console.WriteLine("FD Main loop exit");
|
|
}
|
|
|
|
private void setMapBearing()
|
|
{
|
|
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
gMapControl1.Bearing = (int)MainV2.cs.yaw;
|
|
});
|
|
}
|
|
|
|
|
|
// to prevent cross thread calls while in a draw and exception
|
|
private void updateClearRoutes()
|
|
{
|
|
// not async
|
|
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
routes.Routes.Clear();
|
|
routes.Routes.Add(route);
|
|
});
|
|
}
|
|
|
|
// to prevent cross thread calls while in a draw and exception
|
|
private void updateMissionRouteMarkers()
|
|
{
|
|
// not async
|
|
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
polygons.Markers.Clear();
|
|
routes.Markers.Clear();
|
|
});
|
|
}
|
|
|
|
|
|
private void updatePlayPauseButton(bool playing)
|
|
{
|
|
if (playing)
|
|
{
|
|
if (BUT_playlog.Text == "Pause")
|
|
return;
|
|
|
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
BUT_playlog.Text = "Pause";
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
else
|
|
{
|
|
if (BUT_playlog.Text == "Play")
|
|
return;
|
|
|
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
BUT_playlog.Text = "Play";
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
}
|
|
|
|
private void updateBindingSource()
|
|
{
|
|
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
MainV2.cs.UpdateCurrentSettings(bindingSource1);
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
|
|
private void updateMapPosition(PointLatLng currentloc)
|
|
{
|
|
this.BeginInvoke((MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
gMapControl1.Position = currentloc;
|
|
//hud1.Refresh();
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
|
|
private void updateMapZoom(int zoom)
|
|
{
|
|
this.BeginInvoke((MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
gMapControl1.Zoom = zoom;
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
|
|
private void updateLogPlayPosition()
|
|
{
|
|
this.BeginInvoke((MethodInvoker)delegate()
|
|
{
|
|
try
|
|
{
|
|
if (tracklog.Visible)
|
|
tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100);
|
|
if (lbl_logpercent.Visible)
|
|
lbl_logpercent.Text = (MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length).ToString("0.00%");
|
|
}
|
|
catch { }
|
|
});
|
|
}
|
|
|
|
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
|
|
{
|
|
try
|
|
{
|
|
PointLatLng point = new PointLatLng(lat, lng);
|
|
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
|
|
m.ToolTipMode = MarkerTooltipMode.Always;
|
|
m.ToolTipText = tag;
|
|
m.Tag = tag;
|
|
|
|
GMapMarkerRect mBorders = new GMapMarkerRect(point);
|
|
{
|
|
|
|
mBorders.InnerMarker = m;
|
|
try
|
|
{
|
|
mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.cs.multiplierdist);
|
|
}
|
|
catch { }
|
|
mBorders.MainMap = gMapControl1;
|
|
if (color.HasValue)
|
|
{
|
|
mBorders.Color = color.Value;
|
|
}
|
|
}
|
|
|
|
overlay.Markers.Add(m);
|
|
overlay.Markers.Add(mBorders);
|
|
}
|
|
catch (Exception) { }
|
|
}
|
|
|
|
private void addpolygonmarkerred(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
|
|
{
|
|
try
|
|
{
|
|
PointLatLng point = new PointLatLng(lat, lng);
|
|
GMapMarkerGoogleRed m = new GMapMarkerGoogleRed(point);
|
|
m.ToolTipMode = MarkerTooltipMode.Always;
|
|
m.ToolTipText = tag;
|
|
m.Tag = tag;
|
|
|
|
GMapMarkerRect mBorders = new GMapMarkerRect(point);
|
|
{
|
|
mBorders.InnerMarker = m;
|
|
}
|
|
|
|
overlay.Markers.Add(m);
|
|
overlay.Markers.Add(mBorders);
|
|
}
|
|
catch (Exception) { }
|
|
}
|
|
|
|
/// <summary>
|
|
/// used to redraw the polygon
|
|
/// </summary>
|
|
void RegeneratePolygon()
|
|
{
|
|
List<PointLatLng> polygonPoints = new List<PointLatLng>();
|
|
|
|
if (routes == null)
|
|
return;
|
|
|
|
foreach (GMapMarker m in polygons.Markers)
|
|
{
|
|
if (m is GMapMarkerRect)
|
|
{
|
|
m.Tag = polygonPoints.Count;
|
|
polygonPoints.Add(m.Position);
|
|
}
|
|
}
|
|
|
|
if (polygon == null)
|
|
{
|
|
polygon = new GMapPolygon(polygonPoints, "polygon test");
|
|
polygons.Polygons.Add(polygon);
|
|
}
|
|
else
|
|
{
|
|
polygon.Points.Clear();
|
|
polygon.Points.AddRange(polygonPoints);
|
|
|
|
polygon.Stroke = new Pen(Color.Yellow, 4);
|
|
|
|
if (polygons.Polygons.Count == 0)
|
|
{
|
|
polygons.Polygons.Add(polygon);
|
|
}
|
|
else
|
|
{
|
|
gMapControl1.UpdatePolygonLocalPosition(polygon);
|
|
}
|
|
}
|
|
}
|
|
|
|
GMapPolygon polygon;
|
|
GMapOverlay polygons;
|
|
GMapOverlay routes;
|
|
GMapRoute route;
|
|
|
|
public void CreateChart(ZedGraphControl zgc)
|
|
{
|
|
GraphPane myPane = zgc.GraphPane;
|
|
|
|
// Set the titles and axis labels
|
|
myPane.Title.Text = "Tuning";
|
|
myPane.XAxis.Title.Text = "Time (s)";
|
|
myPane.YAxis.Title.Text = "Unit";
|
|
|
|
// Show the x axis grid
|
|
myPane.XAxis.MajorGrid.IsVisible = true;
|
|
|
|
myPane.XAxis.Scale.Min = 0;
|
|
myPane.XAxis.Scale.Max = 5;
|
|
|
|
// Make the Y axis scale red
|
|
myPane.YAxis.Scale.FontSpec.FontColor = Color.White;
|
|
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
|
|
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
|
|
myPane.YAxis.MajorTic.IsOpposite = false;
|
|
myPane.YAxis.MinorTic.IsOpposite = false;
|
|
// Don't display the Y zero line
|
|
myPane.YAxis.MajorGrid.IsZeroLine = true;
|
|
// Align the Y axis labels so they are flush to the axis
|
|
myPane.YAxis.Scale.Align = AlignP.Inside;
|
|
// Manually set the axis range
|
|
//myPane.YAxis.Scale.Min = -1;
|
|
//myPane.YAxis.Scale.Max = 1;
|
|
|
|
// Fill the axis background with a gradient
|
|
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
|
|
|
|
// Sample at 50ms intervals
|
|
ZedGraphTimer.Interval = 100;
|
|
//timer1.Enabled = true;
|
|
//timer1.Start();
|
|
|
|
|
|
// Calculate the Axis Scale Ranges
|
|
zgc.AxisChange();
|
|
|
|
tickStart = Environment.TickCount;
|
|
|
|
|
|
}
|
|
|
|
private void timer1_Tick(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
// Make sure that the curvelist has at least one curve
|
|
if (zg1.GraphPane.CurveList.Count <= 0)
|
|
return;
|
|
|
|
// Get the first CurveItem in the graph
|
|
LineItem curve = zg1.GraphPane.CurveList[0] as LineItem;
|
|
if (curve == null)
|
|
return;
|
|
|
|
// Get the PointPairList
|
|
IPointListEdit list = curve.Points as IPointListEdit;
|
|
// If this is null, it means the reference at curve.Points does not
|
|
// support IPointListEdit, so we won't be able to modify it
|
|
if (list == null)
|
|
return;
|
|
|
|
// Time is measured in seconds
|
|
double time = (Environment.TickCount - tickStart) / 1000.0;
|
|
|
|
// Keep the X scale at a rolling 30 second interval, with one
|
|
// major step between the max X value and the end of the axis
|
|
Scale xScale = zg1.GraphPane.XAxis.Scale;
|
|
if (time > xScale.Max - xScale.MajorStep)
|
|
{
|
|
xScale.Max = time + xScale.MajorStep;
|
|
xScale.Min = xScale.Max - 10.0;
|
|
}
|
|
|
|
// Make sure the Y axis is rescaled to accommodate actual data
|
|
zg1.AxisChange();
|
|
|
|
// Force a redraw
|
|
|
|
zg1.Invalidate();
|
|
}
|
|
catch { }
|
|
|
|
}
|
|
|
|
private void FlightData_FormClosing(object sender, FormClosingEventArgs e)
|
|
{
|
|
ZedGraphTimer.Stop();
|
|
threadrun = 0;
|
|
try
|
|
{
|
|
if (MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
MainV2.comPort.Close();
|
|
}
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
private void BUT_clear_track_Click(object sender, EventArgs e)
|
|
{
|
|
if (route != null)
|
|
route.Points.Clear();
|
|
}
|
|
|
|
private void BUT_save_log_Click(object sender, EventArgs e)
|
|
{
|
|
// close existing log first
|
|
if (swlog != null)
|
|
swlog.Close();
|
|
|
|
try
|
|
{
|
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
|
|
swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm") + " telem.log");
|
|
}
|
|
catch { CustomMessageBox.Show("Log creation error"); }
|
|
}
|
|
|
|
private void BUTactiondo_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
#if MAVLINK10
|
|
MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text), 1, 0, 1, 0, 0, 0, 0);
|
|
#else
|
|
comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
|
|
#endif
|
|
}
|
|
catch { CustomMessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUTrestartmission_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
|
|
//comPort.doAction(MAVLink09.MAV_ACTION.MAV_ACTION_RETURN); // set nav from
|
|
//System.Threading.Thread.Sleep(100);
|
|
MainV2.comPort.setWPCurrent(1); // set nav to
|
|
//System.Threading.Thread.Sleep(100);
|
|
//comPort.doAction(MAVLink09.MAV_ACTION.MAV_ACTION_SET_AUTO); // set auto
|
|
}
|
|
catch { CustomMessageBox.Show("The command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void FlightData_Resize(object sender, EventArgs e)
|
|
{
|
|
//Gspeed;
|
|
//Galt;
|
|
//Gheading;
|
|
//attitudeIndicatorInstrumentControl1;
|
|
}
|
|
|
|
private void CB_tuning_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (CB_tuning.Checked)
|
|
{
|
|
splitContainer1.Panel1Collapsed = false;
|
|
ZedGraphTimer.Enabled = true;
|
|
ZedGraphTimer.Start();
|
|
zg1.Visible = true;
|
|
zg1.Refresh();
|
|
}
|
|
else
|
|
{
|
|
splitContainer1.Panel1Collapsed = true;
|
|
ZedGraphTimer.Enabled = false;
|
|
ZedGraphTimer.Stop();
|
|
zg1.Visible = false;
|
|
}
|
|
}
|
|
|
|
private void BUT_RAWSensor_Click(object sender, EventArgs e)
|
|
{
|
|
Form temp = new RAW_Sensor();
|
|
ThemeManager.ApplyThemeTo(temp);
|
|
temp.Show();
|
|
}
|
|
|
|
private void gMapControl1_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
PointLatLng gotolocation = new PointLatLng();
|
|
|
|
private void gMapControl1_MouseDown(object sender, MouseEventArgs e)
|
|
{
|
|
gotolocation = gMapControl1.FromLocalToLatLng(e.X, e.Y);
|
|
}
|
|
|
|
private void goHereToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
CustomMessageBox.Show("Please Connect First");
|
|
return;
|
|
}
|
|
|
|
if (MainV2.comPort.GuidedMode.z == 0)
|
|
{
|
|
flyToHereAltToolStripMenuItem_Click(null, null);
|
|
|
|
if (MainV2.comPort.GuidedMode.z == 0)
|
|
return;
|
|
}
|
|
|
|
if (gotolocation.Lat == 0 || gotolocation.Lng == 0)
|
|
{
|
|
CustomMessageBox.Show("Bad Lat/Long");
|
|
return;
|
|
}
|
|
|
|
Locationwp gotohere = new Locationwp();
|
|
|
|
gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
|
|
gotohere.alt = (float)(MainV2.comPort.GuidedMode.z); // back to m
|
|
gotohere.lat = (float)(gotolocation.Lat);
|
|
gotohere.lng = (float)(gotolocation.Lng);
|
|
|
|
try
|
|
{
|
|
MainV2.comPort.setGuidedModeWP(gotohere);
|
|
}
|
|
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
|
|
|
|
}
|
|
|
|
private void Zoomlevel_ValueChanged(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
if (gMapControl1.MaxZoom + 1 == (double)Zoomlevel.Value)
|
|
{
|
|
gMapControl1.Zoom = (double)Zoomlevel.Value - .1;
|
|
}
|
|
else
|
|
{
|
|
gMapControl1.Zoom = (double)Zoomlevel.Value;
|
|
}
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
private void gMapControl1_MouseMove(object sender, MouseEventArgs e)
|
|
{
|
|
PointLatLng point = gMapControl1.FromLocalToLatLng(e.X, e.Y);
|
|
|
|
if (e.Button == MouseButtons.Left)
|
|
{
|
|
double latdif = gotolocation.Lat - point.Lat;
|
|
double lngdif = gotolocation.Lng - point.Lng;
|
|
|
|
try
|
|
{
|
|
gMapControl1.Position = new PointLatLng(gMapControl1.Position.Lat + latdif, gMapControl1.Position.Lng + lngdif);
|
|
}
|
|
catch { }
|
|
}
|
|
else
|
|
{
|
|
// setup a ballon with home distance
|
|
if (marker != null)
|
|
{
|
|
if (routes.Markers.Contains(marker))
|
|
routes.Markers.Remove(marker);
|
|
}
|
|
|
|
if (MainV2.getConfig("CHK_disttohomeflightdata") != false.ToString())
|
|
{
|
|
marker = new GMapMarkerRect(point);
|
|
marker.ToolTip = new GMapToolTip(marker);
|
|
marker.ToolTipMode = MarkerTooltipMode.Always;
|
|
marker.ToolTipText = "Dist to Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.cs.HomeLocation.Point()) * 1000) * MainV2.cs.multiplierdist).ToString("0");
|
|
|
|
routes.Markers.Add(marker);
|
|
}
|
|
}
|
|
}
|
|
|
|
private void FlightData_ParentChanged(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.cam != null)
|
|
{
|
|
MainV2.cam.camimage += new WebCamService.CamImage(cam_camimage);
|
|
}
|
|
|
|
// QUAD
|
|
if (MainV2.comPort.param.ContainsKey("WP_SPEED_MAX"))
|
|
{
|
|
modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.param["WP_SPEED_MAX"] / 100.0);
|
|
} // plane with airspeed
|
|
else if (MainV2.comPort.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.param.ContainsKey("ARSPD_ENABLE")
|
|
&& MainV2.comPort.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.param["ARSPD_ENABLE"] == 1
|
|
&& (float)MainV2.comPort.param["ARSPD_USE"] == 1)
|
|
{
|
|
modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.param["TRIM_ARSPD_CM"] / 100.0);
|
|
} // plane without airspeed
|
|
else if (MainV2.comPort.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.param.ContainsKey("ARSPD_USE")
|
|
&& (float)MainV2.comPort.param["ARSPD_USE"] == 0)
|
|
{
|
|
modifyandSetSpeed.Value = (decimal)(float)MainV2.comPort.param["TRIM_THROTTLE"]; // percent
|
|
}
|
|
|
|
MainV2.comPort.ParamListChanged += FlightData_ParentChanged;
|
|
}
|
|
|
|
void cam_camimage(Image camimage)
|
|
{
|
|
hud1.bgimage = camimage;
|
|
}
|
|
|
|
private void BUT_Homealt_Click(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.cs.altoffsethome != 0)
|
|
{
|
|
MainV2.cs.altoffsethome = 0;
|
|
}
|
|
else
|
|
{
|
|
MainV2.cs.altoffsethome = MainV2.cs.alt / MainV2.cs.multiplierdist;
|
|
}
|
|
}
|
|
|
|
private void gMapControl1_Resize(object sender, EventArgs e)
|
|
{
|
|
gMapControl1.Zoom = gMapControl1.Zoom + 0.01;
|
|
}
|
|
|
|
private void BUT_loadtelem_Click(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.comPort.logplaybackfile != null)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.logplaybackfile.Close();
|
|
MainV2.comPort.logplaybackfile = null;
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
OpenFileDialog fd = new OpenFileDialog();
|
|
fd.AddExtension = true;
|
|
fd.Filter = "Ardupilot Telemtry log (*.tlog)|*.tlog|Mavlink Log (*.mavlog)|*.mavlog";
|
|
fd.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs";
|
|
fd.DefaultExt = ".tlog";
|
|
DialogResult result = fd.ShowDialog();
|
|
string file = fd.FileName;
|
|
if (file != "")
|
|
{
|
|
try
|
|
{
|
|
BUT_clear_track_Click(sender, e);
|
|
|
|
MainV2.comPort.logreadmode = false;
|
|
MainV2.comPort.logplaybackfile = new BinaryReader(File.OpenRead(file));
|
|
MainV2.comPort.lastlogread = DateTime.MinValue;
|
|
|
|
tracklog.Value = 0;
|
|
tracklog.Minimum = 0;
|
|
tracklog.Maximum = 100;
|
|
}
|
|
catch { CustomMessageBox.Show("Error: Failed to write log file"); }
|
|
}
|
|
}
|
|
|
|
private void BUT_playlog_Click(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.comPort.logreadmode)
|
|
{
|
|
MainV2.comPort.logreadmode = false;
|
|
ZedGraphTimer.Stop();
|
|
playingLog = false;
|
|
}
|
|
else
|
|
{
|
|
// BUT_clear_track_Click(sender, e);
|
|
MainV2.comPort.logreadmode = true;
|
|
list1.Clear();
|
|
list2.Clear();
|
|
list3.Clear();
|
|
list4.Clear();
|
|
list5.Clear();
|
|
list6.Clear();
|
|
list7.Clear();
|
|
list8.Clear();
|
|
list9.Clear();
|
|
list10.Clear();
|
|
tickStart = Environment.TickCount;
|
|
|
|
zg1.GraphPane.XAxis.Scale.Min = 0;
|
|
zg1.GraphPane.XAxis.Scale.Max = 1;
|
|
ZedGraphTimer.Start();
|
|
playingLog = true;
|
|
}
|
|
}
|
|
|
|
private void tracklog_Scroll(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
BUT_clear_track_Click(sender, e);
|
|
|
|
MainV2.comPort.lastlogread = DateTime.MinValue;
|
|
|
|
if (MainV2.comPort.logplaybackfile != null)
|
|
MainV2.comPort.logplaybackfile.BaseStream.Position = (long)(MainV2.comPort.logplaybackfile.BaseStream.Length * (tracklog.Value / 100.0));
|
|
|
|
updateLogPlayPosition();
|
|
}
|
|
catch { } // ignore any invalid
|
|
}
|
|
|
|
private void tabPage1_Resize(object sender, EventArgs e)
|
|
{
|
|
int mywidth, myheight;
|
|
|
|
// localize it
|
|
Control tabGauges = sender as Control;
|
|
|
|
float scale = tabGauges.Width / (float)tabGauges.Height;
|
|
|
|
if (scale > 0.5 && scale < 1.9)
|
|
{// square
|
|
Gvspeed.Visible = true;
|
|
|
|
if (tabGauges.Height < tabGauges.Width)
|
|
myheight = tabGauges.Height / 2;
|
|
else
|
|
myheight = tabGauges.Width / 2;
|
|
|
|
Gvspeed.Height = myheight;
|
|
Gspeed.Height = myheight;
|
|
Galt.Height = myheight;
|
|
Gheading.Height = myheight;
|
|
|
|
Gvspeed.Location = new Point(0, 0);
|
|
Gspeed.Location = new Point(Gvspeed.Right, 0);
|
|
|
|
|
|
Galt.Location = new Point(0, Gspeed.Bottom);
|
|
Gheading.Location = new Point(Galt.Right, Gspeed.Bottom);
|
|
|
|
return;
|
|
}
|
|
|
|
if (tabGauges.Width < 500)
|
|
{
|
|
Gvspeed.Visible = false;
|
|
mywidth = tabGauges.Width / 3;
|
|
|
|
Gspeed.Height = mywidth;
|
|
Galt.Height = mywidth;
|
|
Gheading.Height = mywidth;
|
|
|
|
Gspeed.Location = new Point(0, 0);
|
|
}
|
|
else
|
|
{
|
|
Gvspeed.Visible = true;
|
|
mywidth = tabGauges.Width / 4;
|
|
|
|
Gvspeed.Height = mywidth;
|
|
Gspeed.Height = mywidth;
|
|
Galt.Height = mywidth;
|
|
Gheading.Height = mywidth;
|
|
|
|
Gvspeed.Location = new Point(0, 0);
|
|
Gspeed.Location = new Point(Gvspeed.Right, 0);
|
|
}
|
|
|
|
Galt.Location = new Point(Gspeed.Right, 0);
|
|
Gheading.Location = new Point(Galt.Right, 0);
|
|
|
|
}
|
|
|
|
private void BUT_setmode_Click(object sender, EventArgs e)
|
|
{
|
|
MainV2.comPort.setMode(CMB_modes.Text);
|
|
}
|
|
|
|
private void BUT_setwp_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
MainV2.comPort.setWPCurrent((ushort)CMB_setwp.SelectedIndex); // set nav to
|
|
}
|
|
catch { CustomMessageBox.Show("The command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void CMB_setwp_Click(object sender, EventArgs e)
|
|
{
|
|
CMB_setwp.Items.Clear();
|
|
|
|
CMB_setwp.Items.Add("0 (Home)");
|
|
|
|
if (MainV2.comPort.param["CMD_TOTAL"] != null)
|
|
{
|
|
int wps = int.Parse(MainV2.comPort.param["CMD_TOTAL"].ToString());
|
|
for (int z = 1; z <= wps; z++)
|
|
{
|
|
CMB_setwp.Items.Add(z.ToString());
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_quickauto_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
MainV2.comPort.setMode("Auto");
|
|
}
|
|
catch { CustomMessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_quickrtl_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
MainV2.comPort.setMode("RTL");
|
|
}
|
|
catch { CustomMessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_quickmanual_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
|
|
MainV2.comPort.setMode("Manual");
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
|
MainV2.comPort.setMode("Stabilize");
|
|
|
|
}
|
|
catch { CustomMessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_log2kml_Click(object sender, EventArgs e)
|
|
{
|
|
Form frm = new MavlinkLog();
|
|
ThemeManager.ApplyThemeTo(frm);
|
|
frm.ShowDialog();
|
|
}
|
|
|
|
private void BUT_joystick_Click(object sender, EventArgs e)
|
|
{
|
|
Form joy = new JoystickSetup();
|
|
ThemeManager.ApplyThemeTo(joy);
|
|
joy.Show();
|
|
}
|
|
|
|
private void CMB_modes_Click(object sender, EventArgs e)
|
|
{
|
|
CMB_modes.DataSource = Common.getModesList();
|
|
CMB_modes.ValueMember = "Key";
|
|
CMB_modes.DisplayMember = "Value";
|
|
}
|
|
|
|
private void hud1_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
if (huddropout)
|
|
return;
|
|
|
|
SubMainLeft.Panel1Collapsed = true;
|
|
Form dropout = new Form();
|
|
dropout.Size = new System.Drawing.Size(hud1.Width, hud1.Height + 20);
|
|
SubMainLeft.Panel1.Controls.Remove(hud1);
|
|
dropout.Controls.Add(hud1);
|
|
dropout.Resize += new EventHandler(dropout_Resize);
|
|
dropout.FormClosed += new FormClosedEventHandler(dropout_FormClosed);
|
|
dropout.Show();
|
|
huddropout = true;
|
|
}
|
|
|
|
void dropout_FormClosed(object sender, FormClosedEventArgs e)
|
|
{
|
|
//GetFormFromGuid(GetOrCreateGuid("fd_hud_guid")).Controls.Add(hud1);
|
|
SubMainLeft.Panel1.Controls.Add(hud1);
|
|
SubMainLeft.Panel1Collapsed = false;
|
|
huddropout = false;
|
|
}
|
|
|
|
void dropout_Resize(object sender, EventArgs e)
|
|
{
|
|
if (huddropoutresize)
|
|
return;
|
|
|
|
huddropoutresize = true;
|
|
|
|
int hudw = hud1.Width;
|
|
int hudh = hud1.Height;
|
|
|
|
int formh = ((Form)sender).Height - 30;
|
|
int formw = ((Form)sender).Width;
|
|
|
|
if (((Form)sender).Height < hudh)
|
|
{
|
|
if (((Form)sender).WindowState == FormWindowState.Maximized)
|
|
{
|
|
Point tl = ((Form)sender).DesktopLocation;
|
|
((Form)sender).WindowState = FormWindowState.Normal;
|
|
((Form)sender).Location = tl;
|
|
}
|
|
((Form)sender).Width = (int)(formh * 1.333f);
|
|
((Form)sender).Height = (int)(formh) + 20;
|
|
}
|
|
hud1.Refresh();
|
|
huddropoutresize = false;
|
|
}
|
|
|
|
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
|
|
|
|
|
|
if (tabControl1.SelectedTab == tabStatus)
|
|
{
|
|
tabStatus_Resize(sender, e);
|
|
}
|
|
else
|
|
{
|
|
foreach (Control temp in tabStatus.Controls)
|
|
{
|
|
// temp.DataBindings.Clear();
|
|
// temp.Dispose();
|
|
// tabStatus.Controls.Remove(temp);
|
|
}
|
|
|
|
if (tabControl1.SelectedTab == tabQuick)
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
private void Gspeed_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
string max = "60";
|
|
if (DialogResult.OK == Common.InputBox("Enter Max", "Enter Max Speed", ref max))
|
|
{
|
|
Gspeed.MaxValue = float.Parse(max);
|
|
MainV2.config["GspeedMAX"] = Gspeed.MaxValue.ToString();
|
|
}
|
|
}
|
|
|
|
private void recordHudToAVIToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
stopRecordToolStripMenuItem_Click(sender, e);
|
|
|
|
CustomMessageBox.Show("Output avi will be saved to the log folder");
|
|
|
|
aviwriter = new AviWriter();
|
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
|
|
aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".avi");
|
|
|
|
recordHudToAVIToolStripMenuItem.Text = "Recording";
|
|
}
|
|
|
|
private void stopRecordToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
recordHudToAVIToolStripMenuItem.Text = "Start Recording";
|
|
|
|
if (aviwriter != null)
|
|
aviwriter.avi_close();
|
|
|
|
aviwriter = null;
|
|
}
|
|
|
|
bool setupPropertyInfo(ref System.Reflection.PropertyInfo input, string name, object source)
|
|
{
|
|
Type test = source.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
if (field.Name == name)
|
|
{
|
|
input = field;
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
private void zg1_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 50,
|
|
Height = 250,
|
|
Text = "Graph This"
|
|
};
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
{
|
|
CheckBox chk_box = new CheckBox();
|
|
chk_box.Text = "Logarithmic";
|
|
chk_box.Name = "Logarithmic";
|
|
chk_box.Location = new Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
chk_box.CheckedChanged += new EventHandler(chk_log_CheckedChanged);
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
}
|
|
|
|
y += 20;
|
|
|
|
object thisBoxed = MainV2.cs;
|
|
Type test = thisBoxed.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
// field.Name has the field's name.
|
|
object fieldValue;
|
|
try
|
|
{
|
|
fieldValue = field.GetValue(thisBoxed, null); // Get value
|
|
}
|
|
catch { continue; }
|
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
|
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
|
|
|
|
if (!(typeCode == TypeCode.Single))
|
|
continue;
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
if (list1item != null && list1item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list2item != null && list2item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list3item != null && list3item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list4item != null && list4item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list5item != null && list5item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list6item != null && list6item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list7item != null && list7item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list8item != null && list8item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list9item != null && list9item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list10item != null && list10item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
|
|
chk_box.Text = field.Name;
|
|
chk_box.Name = field.Name;
|
|
chk_box.Location = new Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
chk_box.CheckedChanged += new EventHandler(chk_box_CheckedChanged);
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 50)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
|
|
selectform.Width = x + 100;
|
|
}
|
|
}
|
|
ThemeManager.ApplyThemeTo(selectform);
|
|
selectform.Show();
|
|
}
|
|
|
|
private void hud_UserItem(object sender, EventArgs e)
|
|
{
|
|
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 50,
|
|
Height = 250,
|
|
Text = "Display This"
|
|
};
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
object thisBoxed = MainV2.cs;
|
|
Type test = thisBoxed.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
// field.Name has the field's name.
|
|
object fieldValue;
|
|
try
|
|
{
|
|
fieldValue = field.GetValue(thisBoxed, null); // Get value
|
|
}
|
|
catch { continue; }
|
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
|
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
|
|
|
|
if (!(typeCode == TypeCode.Single))
|
|
continue;
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
chk_box.Text = field.Name;
|
|
chk_box.Name = field.Name;
|
|
chk_box.Tag = (sender);
|
|
chk_box.Location = new Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
if (hud1.CustomItems.ContainsKey(field.Name))
|
|
{
|
|
chk_box.Checked = true;
|
|
}
|
|
|
|
chk_box.CheckedChanged += chk_box_hud_UserItem_CheckedChanged;
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 50)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
|
|
selectform.Width = x + 100;
|
|
}
|
|
}
|
|
ThemeManager.ApplyThemeTo(selectform);
|
|
selectform.Show();
|
|
}
|
|
|
|
void addHudUserItem(ref HUD.Custom cust, CheckBox sender)
|
|
{
|
|
setupPropertyInfo(ref cust.Item, (sender).Name, MainV2.cs);
|
|
|
|
hud1.CustomItems.Add((sender).Name, cust);
|
|
|
|
hud1.Invalidate();
|
|
}
|
|
|
|
void chk_box_hud_UserItem_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
HUD.Custom cust = new HUD.Custom();
|
|
|
|
string prefix = ((CheckBox)sender).Name + ": ";
|
|
if (MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name] != null)
|
|
prefix = (string)MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name];
|
|
|
|
Common.InputBox("Header", "Please enter your item prefix", ref prefix);
|
|
|
|
MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name] = prefix;
|
|
|
|
cust.Header = prefix;
|
|
|
|
addHudUserItem(ref cust, (CheckBox)sender);
|
|
}
|
|
else
|
|
{
|
|
if (hud1.CustomItems.ContainsKey(((CheckBox)sender).Name))
|
|
{
|
|
hud1.CustomItems.Remove(((CheckBox)sender).Name);
|
|
}
|
|
MainV2.config.Remove("hud1_useritem_" + ((CheckBox)sender).Name);
|
|
hud1.Invalidate();
|
|
}
|
|
}
|
|
|
|
void chk_log_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
zg1.GraphPane.YAxis.Type = AxisType.Log;
|
|
}
|
|
else
|
|
{
|
|
zg1.GraphPane.YAxis.Type = AxisType.Linear;
|
|
}
|
|
}
|
|
|
|
void chk_box_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
if (list1item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list1.Clear();
|
|
list1curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list1, Color.Red, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list2item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list2.Clear();
|
|
list2curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list2, Color.Blue, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list3item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list3.Clear();
|
|
list3curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list3, Color.Green, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list4item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list4.Clear();
|
|
list4curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list4, Color.Orange, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list5item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list5.Clear();
|
|
list5curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list5, Color.Yellow, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list6item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list6item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list6.Clear();
|
|
list6curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list6, Color.Magenta, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list7item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list7item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list7.Clear();
|
|
list7curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list7, Color.Purple, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list8item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list8item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list8.Clear();
|
|
list8curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list8, Color.LimeGreen, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list9item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list9item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list9.Clear();
|
|
list9curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list9, Color.Cyan, SymbolType.None);
|
|
}
|
|
}
|
|
else if (list10item == null)
|
|
{
|
|
if (setupPropertyInfo(ref list10item, ((CheckBox)sender).Name, MainV2.cs))
|
|
{
|
|
list10.Clear();
|
|
list10curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list10, Color.Violet, SymbolType.None);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
CustomMessageBox.Show("Max 10 at a time.");
|
|
((CheckBox)sender).Checked = false;
|
|
}
|
|
ThemeManager.ApplyThemeTo(this);
|
|
|
|
string selected = "";
|
|
try
|
|
{
|
|
selected = selected + zg1.GraphPane.CurveList[0].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[1].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[2].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[3].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[4].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[5].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[6].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[7].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[8].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[9].Label.Text + "|";
|
|
selected = selected + zg1.GraphPane.CurveList[10].Label.Text + "|";
|
|
}
|
|
catch { }
|
|
MainV2.config["Tuning_Graph_Selected"] = selected;
|
|
}
|
|
else
|
|
{
|
|
// reset old stuff
|
|
if (list1item != null && list1item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list1item = null;
|
|
zg1.GraphPane.CurveList.Remove(list1curve);
|
|
}
|
|
if (list2item != null && list2item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list2item = null;
|
|
zg1.GraphPane.CurveList.Remove(list2curve);
|
|
}
|
|
if (list3item != null && list3item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list3item = null;
|
|
zg1.GraphPane.CurveList.Remove(list3curve);
|
|
}
|
|
if (list4item != null && list4item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list4item = null;
|
|
zg1.GraphPane.CurveList.Remove(list4curve);
|
|
}
|
|
if (list5item != null && list5item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list5item = null;
|
|
zg1.GraphPane.CurveList.Remove(list5curve);
|
|
}
|
|
if (list6item != null && list6item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list6item = null;
|
|
zg1.GraphPane.CurveList.Remove(list6curve);
|
|
}
|
|
if (list7item != null && list7item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list7item = null;
|
|
zg1.GraphPane.CurveList.Remove(list7curve);
|
|
}
|
|
if (list8item != null && list8item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list8item = null;
|
|
zg1.GraphPane.CurveList.Remove(list8curve);
|
|
}
|
|
if (list9item != null && list9item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list9item = null;
|
|
zg1.GraphPane.CurveList.Remove(list9curve);
|
|
}
|
|
if (list10item != null && list10item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list10item = null;
|
|
zg1.GraphPane.CurveList.Remove(list10curve);
|
|
}
|
|
}
|
|
}
|
|
|
|
private void pointCameraHereToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
CustomMessageBox.Show("Please Connect First");
|
|
return;
|
|
}
|
|
|
|
string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
|
|
Common.InputBox("Enter Alt", "Enter Target Alt (absolute)", ref alt);
|
|
|
|
int intalt = (int)(100 * MainV2.cs.multiplierdist);
|
|
if (!int.TryParse(alt, out intalt))
|
|
{
|
|
CustomMessageBox.Show("Bad Alt");
|
|
return;
|
|
}
|
|
|
|
if (gotolocation.Lat == 0 || gotolocation.Lng == 0)
|
|
{
|
|
CustomMessageBox.Show("Bad Lat/Long");
|
|
return;
|
|
}
|
|
|
|
MainV2.comPort.setMountConfigure(MAVLink.MAV_MOUNT_MODE.GPS_POINT, true, true, true);
|
|
MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true);
|
|
|
|
}
|
|
|
|
private void BUT_script_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(ScriptStart))
|
|
{
|
|
IsBackground = true,
|
|
Name = "Script Thread"
|
|
};
|
|
t11.Start();
|
|
}
|
|
|
|
void ScriptStart()
|
|
{
|
|
string myscript = @"
|
|
# cs.???? = currentstate, any variable on the status tab in the planner can be used.
|
|
# Script = options are
|
|
# Script.Sleep(ms)
|
|
# Script.ChangeParam(name,value)
|
|
# Script.GetParam(name)
|
|
# Script.ChangeMode(mode) - same as displayed in mode setup screen 'AUTO'
|
|
# Script.WaitFor(string,timeout)
|
|
# Script.SendRC(channel,pwm,sendnow)
|
|
#
|
|
|
|
print 'Start Script'
|
|
for chan in range(1,9):
|
|
Script.SendRC(chan,1500,False)
|
|
Script.SendRC(3,Script.GetParam('RC3_MIN'),True)
|
|
|
|
Script.Sleep(5000)
|
|
while cs.lat == 0:
|
|
print 'Waiting for GPS'
|
|
Script.Sleep(1000)
|
|
print 'Got GPS'
|
|
jo = 10 * 13
|
|
print jo
|
|
Script.SendRC(3,1000,False)
|
|
Script.SendRC(4,2000,True)
|
|
cs.messages.Clear()
|
|
Script.WaitFor('ARMING MOTORS',30000)
|
|
Script.SendRC(4,1500,True)
|
|
print 'Motors Armed!'
|
|
|
|
Script.SendRC(3,1700,True)
|
|
while cs.alt < 50:
|
|
Script.Sleep(50)
|
|
|
|
Script.SendRC(5,2000,True) # acro
|
|
|
|
Script.SendRC(1,2000,False) # roll
|
|
Script.SendRC(3,1370,True) # throttle
|
|
while cs.roll > -45: # top hald 0 - 180
|
|
Script.Sleep(5)
|
|
while cs.roll < -45: # -180 - -45
|
|
Script.Sleep(5)
|
|
|
|
Script.SendRC(5,1500,False) # stabalise
|
|
Script.SendRC(1,1500,True) # level roll
|
|
Script.Sleep(2000) # 2 sec to stabalise
|
|
Script.SendRC(3,1300,True) # throttle back to land
|
|
|
|
thro = 1350 # will decend
|
|
|
|
while cs.alt > 0.1:
|
|
Script.Sleep(300)
|
|
|
|
Script.SendRC(3,1000,False)
|
|
Script.SendRC(4,1000,True)
|
|
Script.WaitFor('DISARMING MOTORS',30000)
|
|
Script.SendRC(4,1500,True)
|
|
|
|
print 'Roll complete'
|
|
|
|
";
|
|
|
|
// CustomMessageBox.Show("This is Very ALPHA");
|
|
|
|
Form scriptedit = new Form();
|
|
|
|
scriptedit.Size = new System.Drawing.Size(500, 500);
|
|
|
|
TextBox tb = new TextBox();
|
|
|
|
tb.Dock = DockStyle.Fill;
|
|
|
|
tb.ScrollBars = ScrollBars.Both;
|
|
tb.Multiline = true;
|
|
|
|
tb.Location = new Point(0, 0);
|
|
tb.Size = new System.Drawing.Size(scriptedit.Size.Width - 30, scriptedit.Size.Height - 30);
|
|
|
|
scriptedit.Controls.Add(tb);
|
|
|
|
tb.Text = myscript;
|
|
|
|
scriptedit.ShowDialog();
|
|
|
|
if (DialogResult.Yes == CustomMessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo))
|
|
{
|
|
|
|
Script scr = new Script();
|
|
|
|
scr.runScript(tb.Text);
|
|
}
|
|
}
|
|
|
|
private void CHK_autopan_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config["CHK_autopan"] = CHK_autopan.Checked.ToString();
|
|
}
|
|
|
|
private void NUM_playbackspeed_Scroll(object sender, EventArgs e)
|
|
{
|
|
LogPlayBackSpeed = NUM_playbackspeed.Value;
|
|
lbl_playbackspeed.Text = "x " + LogPlayBackSpeed;
|
|
}
|
|
|
|
private void setMJPEGSourceToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
string url = MainV2.config["mjpeg_url"] != null ? MainV2.config["mjpeg_url"].ToString() : @"http://127.0.0.1:56781/map.jpg";
|
|
|
|
if (DialogResult.OK == Common.InputBox("Mjpeg url", "Enter the url to the mjpeg source url", ref url))
|
|
{
|
|
|
|
MainV2.config["mjpeg_url"] = url;
|
|
|
|
Utilities.CaptureMJPEG.Stop();
|
|
|
|
Utilities.CaptureMJPEG.URL = url;
|
|
|
|
Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);
|
|
|
|
Utilities.CaptureMJPEG.runAsync();
|
|
}
|
|
else
|
|
{
|
|
Utilities.CaptureMJPEG.Stop();
|
|
}
|
|
}
|
|
|
|
void CaptureMJPEG_OnNewImage(object sender, EventArgs e)
|
|
{
|
|
GCSViews.FlightData.myhud.bgimage = (Image)sender;
|
|
}
|
|
|
|
private void setAspectRatioToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
hud1.SixteenXNine = !hud1.SixteenXNine;
|
|
hud1.doResize();
|
|
}
|
|
|
|
private void quickView_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 50,
|
|
Height = 250,
|
|
Text = "Display This"
|
|
};
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
object thisBoxed = MainV2.cs;
|
|
Type test = thisBoxed.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
// field.Name has the field's name.
|
|
object fieldValue;
|
|
try
|
|
{
|
|
fieldValue = field.GetValue(thisBoxed, null); // Get value
|
|
}
|
|
catch { continue; }
|
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
|
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
|
|
|
|
if (!(typeCode == TypeCode.Single))
|
|
continue;
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
if (((QuickView)sender).Tag == field.Name)
|
|
chk_box.Checked = true;
|
|
|
|
chk_box.Text = field.Name;
|
|
chk_box.Name = field.Name;
|
|
chk_box.Tag = ((QuickView)sender);
|
|
chk_box.Location = new Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
chk_box.CheckedChanged += new EventHandler(chk_box_quickview_CheckedChanged);
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 50)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
|
|
selectform.Width = x + 100;
|
|
}
|
|
}
|
|
ThemeManager.ApplyThemeTo(selectform);
|
|
selectform.Show();
|
|
}
|
|
|
|
void chk_box_quickview_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
// save settings
|
|
MainV2.config[((QuickView)((CheckBox)sender).Tag).Name] = ((CheckBox)sender).Name;
|
|
|
|
// set description
|
|
string desc = ((CheckBox)sender).Name;
|
|
((QuickView)((CheckBox)sender).Tag).Tag = desc;
|
|
|
|
desc = MainV2.cs.GetNameandUnit(desc);
|
|
|
|
((QuickView)((CheckBox)sender).Tag).desc = desc;
|
|
|
|
// set databinding for value
|
|
((QuickView)((CheckBox)sender).Tag).DataBindings.Clear();
|
|
((QuickView)((CheckBox)sender).Tag).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, ((CheckBox)sender).Name, true));
|
|
|
|
// close selection form
|
|
((Form)((CheckBox)sender).Parent).Close();
|
|
}
|
|
}
|
|
|
|
private void flyToHereAltToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
string alt = "100";
|
|
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
|
{
|
|
alt = (10 * MainV2.cs.multiplierdist).ToString("0");
|
|
}
|
|
else
|
|
{
|
|
alt = (100 * MainV2.cs.multiplierdist).ToString("0");
|
|
}
|
|
|
|
if (MainV2.config.ContainsKey("guided_alt"))
|
|
alt = MainV2.config["guided_alt"].ToString();
|
|
|
|
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Guided Mode Alt", ref alt))
|
|
return;
|
|
|
|
MainV2.config["guided_alt"] = alt;
|
|
|
|
int intalt = (int)(100 * MainV2.cs.multiplierdist);
|
|
if (!int.TryParse(alt, out intalt))
|
|
{
|
|
CustomMessageBox.Show("Bad Alt");
|
|
return;
|
|
}
|
|
|
|
MainV2.comPort.GuidedMode.z = intalt;
|
|
|
|
if (MainV2.cs.mode == "Guided")
|
|
{
|
|
MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.comPort.GuidedMode.z, lat = (float)MainV2.comPort.GuidedMode.x, lng = (float)MainV2.comPort.GuidedMode.y });
|
|
}
|
|
}
|
|
|
|
private void flightPlannerToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
foreach (Control ctl in splitContainer1.Panel2.Controls)
|
|
{
|
|
ctl.Visible = false;
|
|
}
|
|
|
|
foreach (MainSwitcher.Screen sc in MainV2.View.screens)
|
|
{
|
|
if (sc.Name == "FlightPlanner")
|
|
{
|
|
MyButton but = new MyButton() { Location = new Point(splitContainer1.Panel2.Width / 2, 0), Text = "Close" };
|
|
but.Click += new EventHandler(but_Click);
|
|
|
|
splitContainer1.Panel2.Controls.Add(but);
|
|
splitContainer1.Panel2.Controls.Add(sc.Control);
|
|
ThemeManager.ApplyThemeTo(sc.Control);
|
|
|
|
sc.Control.Dock = DockStyle.Fill;
|
|
sc.Control.Visible = true;
|
|
|
|
if (sc.Control is IActivate)
|
|
{
|
|
((IActivate)(sc.Control)).Activate();
|
|
}
|
|
|
|
but.BringToFront();
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void but_Click(object sender, EventArgs e)
|
|
{
|
|
foreach (MainSwitcher.Screen sc in MainV2.View.screens)
|
|
{
|
|
if (sc.Name == "FlightPlanner")
|
|
{
|
|
splitContainer1.Panel2.Controls.Remove(sc.Control);
|
|
splitContainer1.Panel2.Controls.Remove((Control)sender);
|
|
sc.Control.Visible = false;
|
|
|
|
if (sc.Control is IDeactivate)
|
|
{
|
|
((IDeactivate)(sc.Control)).Deactivate();
|
|
}
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
foreach (Control ctl in splitContainer1.Panel2.Controls)
|
|
{
|
|
ctl.Visible = true;
|
|
}
|
|
}
|
|
|
|
private void tabQuick_Resize(object sender, EventArgs e)
|
|
{
|
|
int height = ((Control)sender).Height / 6;
|
|
quickView1.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
quickView2.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
quickView3.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
quickView4.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
quickView5.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
quickView6.Size = new System.Drawing.Size(tabQuick.Width, height);
|
|
}
|
|
|
|
private void hud1_Resize(object sender, EventArgs e)
|
|
{
|
|
Console.WriteLine("HUD resize " + hud1.Width + " " + hud1.Height);
|
|
|
|
SubMainLeft.SplitterDistance = hud1.Height;
|
|
|
|
try
|
|
{
|
|
// dockContainer1.SetHeight(dockhud, hud1.Height);
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
private void resetToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
//dockContainer1.Clear();
|
|
//SetupDocking();
|
|
this.Refresh();
|
|
}
|
|
|
|
private void BUT_ARM_Click(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
return;
|
|
|
|
// arm the MAV
|
|
try
|
|
{
|
|
bool ans = MainV2.comPort.doARM(MainV2.cs.armed);
|
|
if (ans == false)
|
|
CustomMessageBox.Show("Error: Arm message rejected by MAV");
|
|
}
|
|
catch { CustomMessageBox.Show("Error: No responce from MAV"); }
|
|
|
|
|
|
}
|
|
|
|
private void modifyandSetAlt_Click(object sender, EventArgs e)
|
|
{
|
|
int newalt = (int)modifyandSetAlt.Value;
|
|
try
|
|
{
|
|
MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt / MainV2.cs.multiplierdist });
|
|
}
|
|
catch { CustomMessageBox.Show("Error sending command"); }
|
|
//MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.cs.wpno, newalt);
|
|
}
|
|
|
|
private void gMapControl1_MouseLeave(object sender, EventArgs e)
|
|
{
|
|
if (marker != null)
|
|
{
|
|
if (routes.Markers.Contains(marker))
|
|
routes.Markers.Remove(marker);
|
|
}
|
|
}
|
|
|
|
private void modifyandSetSpeed_Click(object sender, EventArgs e)
|
|
{
|
|
// QUAD
|
|
if (MainV2.comPort.param.ContainsKey("WP_SPEED_MAX"))
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("WP_SPEED_MAX", ((float)modifyandSetSpeed.Value * 100.0f));
|
|
}
|
|
catch { CustomMessageBox.Show("Error sending command"); }
|
|
} // plane with airspeed
|
|
else if (MainV2.comPort.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.param.ContainsKey("ARSPD_ENABLE")
|
|
&& MainV2.comPort.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.param["ARSPD_ENABLE"] == 1
|
|
&& (float)MainV2.comPort.param["ARSPD_USE"] == 1)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("TRIM_ARSPD_CM", ((float)modifyandSetSpeed.Value * 100.0f));
|
|
}
|
|
catch { CustomMessageBox.Show("Error sending command"); }
|
|
} // plane without airspeed
|
|
else if (MainV2.comPort.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.param.ContainsKey("ARSPD_USE")
|
|
&& (float)MainV2.comPort.param["ARSPD_USE"] == 0)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("TRIM_THROTTLE", (float)modifyandSetSpeed.Value);
|
|
}
|
|
catch { CustomMessageBox.Show("Error sending command"); }
|
|
}
|
|
}
|
|
|
|
private void modifyandSetSpeed_ParentChanged(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void triggerCameraToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setDigicamControl(true);
|
|
}
|
|
catch { CustomMessageBox.Show("Error sending command"); }
|
|
}
|
|
|
|
private void TRK_zoom_Scroll(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
if (gMapControl1.MaxZoom + 1 == (double)TRK_zoom.Value)
|
|
{
|
|
gMapControl1.Zoom = (double)TRK_zoom.Value - .1;
|
|
}
|
|
else
|
|
{
|
|
gMapControl1.Zoom = (double)TRK_zoom.Value;
|
|
}
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
}
|
|
}
|