mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
9c836ab037
move mavlink structure/currentstate around for future mods update old firmware git hashs mod some error descriptions AP_mount camera trigger mod modify raw param display with units/range/desc add radio support for 868mhz update ch7 options updated dataflashlog format small df log parser mod for bad gps loc renable menu to always dock. right click for autohide
448 lines
17 KiB
C#
448 lines
17 KiB
C#
using System;
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using System.Collections;
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using System.ComponentModel;
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using System.Drawing;
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using System.IO;
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using System.Text;
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using System.Windows.Forms;
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using ArdupilotMega.Utilities;
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using log4net;
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using ArdupilotMega.Controls.BackstageView;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigRawParams : UserControl, IActivate
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{
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private static readonly ILog log =
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LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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private readonly ParameterMetaDataRepository _parameterMetaDataRepository;
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// Changes made to the params between writing to the copter
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readonly Hashtable _changes = new Hashtable();
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static Hashtable tooltips = new Hashtable();
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// ?
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internal bool startup = true;
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public struct paramsettings // hk's
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{
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public string name;
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public float minvalue;
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public float maxvalue;
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public float normalvalue;
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public float scale;
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public string desc;
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}
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public ConfigRawParams()
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{
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InitializeComponent();
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_parameterMetaDataRepository = new ParameterMetaDataRepository();
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}
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Hashtable loadParamFile(string Filename)
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{
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Hashtable param = new Hashtable();
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StreamReader sr = new StreamReader(Filename);
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while (!sr.EndOfStream)
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{
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string line = sr.ReadLine();
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if (line.Contains("NOTE:"))
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{
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CustomMessageBox.Show(line, "Saved Note");
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continue;
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}
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if (line.StartsWith("#"))
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continue;
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string[] items = line.Split(new char[] { ' ', ',', '\t' }, StringSplitOptions.RemoveEmptyEntries);
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if (items.Length != 2)
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continue;
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string name = items[0];
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float value = 0;
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try
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{
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value = float.Parse(items[1], System.Globalization.CultureInfo.InvariantCulture);// new System.Globalization.CultureInfo("en-US"));
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}
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catch (Exception ex) { log.Error(ex); throw new FormatException("Invalid number on param " + name + " : " + items[1].ToString()); }
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if (name == "SYSID_SW_MREV")
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continue;
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if (name == "WP_TOTAL")
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continue;
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if (name == "CMD_TOTAL")
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continue;
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if (name == "FENCE_TOTAL")
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continue;
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if (name == "SYS_NUM_RESETS")
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continue;
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if (name == "ARSPD_OFFSET")
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continue;
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if (name == "GND_ABS_PRESS")
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continue;
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if (name == "GND_TEMP")
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continue;
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if (name == "CMD_INDEX")
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continue;
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if (name == "LOG_LASTFILE")
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continue;
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if (name == "FORMAT_VERSION")
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continue;
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param[name] = value;
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}
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sr.Close();
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return param;
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}
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private void BUT_load_Click(object sender, EventArgs e)
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{
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var ofd = new OpenFileDialog
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{
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AddExtension = true,
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DefaultExt = ".param",
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RestoreDirectory = true,
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Filter = "Param List|*.param;*.parm"
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};
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var dr = ofd.ShowDialog();
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if (dr == DialogResult.OK)
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{
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Hashtable param2 = loadParamFile(ofd.FileName);
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foreach (string name in param2.Keys)
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{
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string value = param2[name].ToString();
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// set param table as well
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (name == "SYSID_SW_MREV")
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continue;
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if (name == "WP_TOTAL")
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continue;
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if (name == "CMD_TOTAL")
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continue;
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if (name == "FENCE_TOTAL")
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continue;
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if (name == "SYS_NUM_RESETS")
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continue;
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if (name == "ARSPD_OFFSET")
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continue;
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if (name == "GND_ABS_PRESS")
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continue;
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if (name == "GND_TEMP")
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continue;
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if (name == "CMD_INDEX")
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continue;
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if (name == "LOG_LASTFILE")
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continue;
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if (name == "FORMAT_VERSION")
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continue;
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if (row.Cells[0].Value.ToString() == name)
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{
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if (row.Cells[1].Value.ToString() != value.ToString())
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row.Cells[1].Value = value;
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break;
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}
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}
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}
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}
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}
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private void BUT_save_Click(object sender, EventArgs e)
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{
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var sfd = new SaveFileDialog
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{
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AddExtension = true,
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DefaultExt = ".param",
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RestoreDirectory = true,
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Filter = "Param List|*.param;*.parm"
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};
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var dr = sfd.ShowDialog();
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if (dr == DialogResult.OK)
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{
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StreamWriter sw = new StreamWriter(sfd.OpenFile());
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string input = DateTime.Now + " Frame : ";
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if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
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{
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input = DateTime.Now + " Plane: Skywalker";
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}
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Common.InputBox("Custom Note", "Enter your Notes/Frame Type etc", ref input);
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if (input != "")
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sw.WriteLine("#NOTE: " + input.Replace(',', '|'));
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foreach (DataGridViewRow row in Params.Rows)
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{
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float value = float.Parse(row.Cells[1].Value.ToString());
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sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
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}
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sw.Close();
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}
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}
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private void BUT_writePIDS_Click(object sender, EventArgs e)
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{
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var temp = (Hashtable)_changes.Clone();
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foreach (string value in temp.Keys)
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{
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try
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{
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MainV2.comPort.setParam(value, (float)_changes[value]);
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try
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{
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// set control as well
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var textControls = this.Controls.Find(value, true);
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if (textControls.Length > 0)
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{
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textControls[0].BackColor = Color.FromArgb(0x43, 0x44, 0x45);
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}
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}
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catch
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{
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}
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try
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{
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// set param table as well
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == value)
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{
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row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
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_changes.Remove(value);
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break;
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}
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}
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}
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catch { }
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}
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catch
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{
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CustomMessageBox.Show("Set " + value + " Failed");
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}
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}
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}
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private void BUT_compare_Click(object sender, EventArgs e)
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{
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Hashtable param2 = new Hashtable();
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var ofd = new OpenFileDialog
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{
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AddExtension = true,
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DefaultExt = ".param",
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RestoreDirectory = true,
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Filter = "Param List|*.param;*.parm"
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};
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var dr = ofd.ShowDialog();
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if (dr == DialogResult.OK)
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{
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param2 = loadParamFile(ofd.FileName);
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Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.MAV.param, param2);
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ThemeManager.ApplyThemeTo(paramCompareForm);
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paramCompareForm.ShowDialog();
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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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((Control)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 (Exception ex)
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{
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log.Error("Exception getting param list", ex);
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CustomMessageBox.Show("Error: getting param list");
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}
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((Control)sender).Enabled = true;
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startup = true;
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processToScreen();
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startup = false;
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// Todo: this populates or the combos etc and what not. This shoudl prob be a bsv button
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}
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void Params_CellValueChanged(object sender, DataGridViewCellEventArgs e)
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{
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if (e.RowIndex == -1 || e.ColumnIndex == -1 || startup == true || e.ColumnIndex != 1)
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return;
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try
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{
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if (Params[Command.Index, e.RowIndex].Value.ToString().EndsWith("_REV") && (Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("RC") || Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("HS")))
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{
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if (Params[e.ColumnIndex, e.RowIndex].Value.ToString() == "0")
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Params[e.ColumnIndex, e.RowIndex].Value = "-1";
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}
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Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Green;
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_changes[Params[0, e.RowIndex].Value] = float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString());
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}
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catch (Exception)
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{
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Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Red;
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}
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Params.Focus();
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}
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void readToolTips()
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{
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string data = global::ArdupilotMega.Properties.Resources.MAVParam;
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string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
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foreach (var tip in tips)
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{
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if (!tip.StartsWith("||"))
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continue;
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string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
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if (cols.Length >= 8)
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{
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paramsettings param = new paramsettings();
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try
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{
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param.name = cols[1];
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param.desc = AddNewLinesForTooltip(cols[7]);
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param.scale = float.Parse(cols[5]);
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param.minvalue = float.Parse(cols[2]);
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param.maxvalue = float.Parse(cols[3]);
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param.normalvalue = float.Parse(cols[4]);
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}
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catch { }
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tooltips[cols[1]] = param;
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}
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}
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}
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// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
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private const int maximumSingleLineTooltipLength = 50;
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private static string AddNewLinesForTooltip(string text)
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{
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if (text.Length < maximumSingleLineTooltipLength)
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return text;
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int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
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StringBuilder sb = new StringBuilder();
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int currentLinePosition = 0;
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for (int textIndex = 0; textIndex < text.Length; textIndex++)
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{
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// If we have reached the target line length and the next
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// character is whitespace then begin a new line.
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if (currentLinePosition >= lineLength &&
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char.IsWhiteSpace(text[textIndex]))
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{
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sb.Append(Environment.NewLine);
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currentLinePosition = 0;
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}
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// If we have just started a new line, skip all the whitespace.
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if (currentLinePosition == 0)
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while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
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textIndex++;
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// Append the next character.
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if (textIndex < text.Length) sb.Append(text[textIndex]);
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currentLinePosition++;
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}
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return sb.ToString();
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}
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internal void processToScreen()
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{
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toolTip1.RemoveAll();
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Params.Rows.Clear();
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// process hashdefines and update display
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foreach (string value in MainV2.comPort.MAV.param.Keys)
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{
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if (value == null || value == "")
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continue;
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//System.Diagnostics.Debug.WriteLine("Doing: " + value);
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Params.Rows.Add();
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Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
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Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)MainV2.comPort.MAV.param[value]).ToString("0.###");
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try
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{
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string metaDataDescription = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Description);
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if (!String.IsNullOrEmpty(metaDataDescription))
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{
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Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = metaDataDescription;
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Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = metaDataDescription;
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string range = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Range);
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string options = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Values);
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string units = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Units);
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Params.Rows[Params.RowCount - 1].Cells[Units.Index].Value = units;
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Params.Rows[Params.RowCount - 1].Cells[Options.Index].Value = range + options;
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Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = metaDataDescription;
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}
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else if (tooltips[value] != null)
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{
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//Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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//Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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// Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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// Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = "Old: "+((paramsettings)tooltips[value]).desc;
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//Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
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//Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
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//Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());
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}
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}
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catch { }
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}
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Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
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}
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public void Activate()
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{
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// read tooltips
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if (tooltips.Count == 0)
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readToolTips();
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startup = true;
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processToScreen();
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startup = false;
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}
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}
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}
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