mirror of https://github.com/ArduPilot/ardupilot
1004 lines
37 KiB
C#
1004 lines
37 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Text;
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using System.Windows.Forms;
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using System.IO.Ports;
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using System.IO;
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using System.Text.RegularExpressions;
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//using KMLib;
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//using KMLib.Feature;
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//using KMLib.Geometry;
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//using Core.Geometry;
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using ICSharpCode.SharpZipLib.Zip;
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using ICSharpCode.SharpZipLib.Checksums;
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using ICSharpCode.SharpZipLib.Core;
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using SharpKml.Base;
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using SharpKml.Dom;
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using SharpKml.Dom.GX;
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using System.Reflection;
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using System.Xml;
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using log4net;
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using ZedGraph; // Graphs
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namespace ArdupilotMega
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{
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public partial class MavlinkLog : Form
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{
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private static readonly ILog log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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List<CurrentState> flightdata = new List<CurrentState>();
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List<string> selection = new List<string>();
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Hashtable data = new Hashtable();
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public MavlinkLog()
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{
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InitializeComponent();
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zg1.GraphPane.YAxis.Title.IsVisible = false;
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zg1.GraphPane.Title.IsVisible = true;
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zg1.GraphPane.Title.Text = "Mavlink Log Graph";
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}
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private void writeKML(string filename)
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{
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SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
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{
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altmode = SharpKml.Dom.AltitudeMode.Absolute;
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}
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else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
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{
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altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
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}
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Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
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Document kml = new Document();
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Tour tour = new Tour() { Name = "First Person View" };
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Playlist tourplaylist = new Playlist();
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AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
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Style style = new Style();
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style.Id = "yellowLineGreenPoly";
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style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
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PolygonStyle pstyle = new PolygonStyle();
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pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
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style.Polygon = pstyle;
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kml.AddStyle(style);
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Style stylet = new Style();
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stylet.Id = "track";
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SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
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LabelStyle lst = new LabelStyle();
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lst.Scale = 0;
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stylet.Icon = ico;
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ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
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stylet.Icon.Scale = 0.5;
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stylet.Label = lst;
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kml.AddStyle(stylet);
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// create sub folders
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Folder planes = new Folder();
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planes.Name = "Planes";
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kml.AddFeature(planes);
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Folder points = new Folder();
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points.Name = "Points";
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kml.AddFeature(points);
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// coords for line string
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CoordinateCollection coords = new CoordinateCollection();
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int a = 1;
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int c = -1;
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DateTime lasttime = DateTime.MaxValue;
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DateTime starttime = DateTime.MinValue;
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Color stylecolor = Color.AliceBlue;
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string mode = "";
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if (flightdata.Count > 0)
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{
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mode = flightdata[0].mode;
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}
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foreach (CurrentState cs in flightdata)
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{
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progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
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progressBar1.Refresh();
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if (starttime == DateTime.MinValue)
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{
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starttime = cs.datetime;
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lasttime = cs.datetime;
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}
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if (mode != cs.mode || flightdata.Count == a)
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{
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c++;
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LineString ls = new LineString();
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ls.AltitudeMode = altmode;
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ls.Extrude = true;
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ls.Coordinates = coords;
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Placemark pm = new Placemark();
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pm.Name = c + " Flight Path " + mode;
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pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
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pm.Geometry = ls;
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SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
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ts.Begin = starttime;
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ts.End = cs.datetime;
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pm.Time = ts;
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// setup for next line
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mode = cs.mode;
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starttime = cs.datetime;
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stylecolor = colours[c % (colours.Length - 1)];
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Style style2 = new Style();
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style2.Line = new LineStyle(new Color32(stylecolor), 4);
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pm.StyleSelector = style2;
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kml.AddFeature(pm);
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coords = new CoordinateCollection();
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}
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coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
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SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
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tstamp.When = cs.datetime;
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FlyTo flyto = new FlyTo();
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flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
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flyto.Mode = FlyToMode.Smooth;
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SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
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cam.AltitudeMode = altmode;
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cam.Latitude = cs.lat;
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cam.Longitude = cs.lng;
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cam.Altitude = cs.alt;
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cam.Heading = cs.yaw;
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cam.Roll = -cs.roll;
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cam.Tilt = (90 - (cs.pitch * -1));
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cam.GXTimePrimitive = tstamp;
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flyto.View = cam;
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//if (Math.Abs(flyto.Duration.Value) > 0.1)
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{
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tourplaylist.AddTourPrimitive(flyto);
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lasttime = cs.datetime;
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}
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Placemark pmplane = new Placemark();
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pmplane.Name = "Point " + a;
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pmplane.Time = tstamp;
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pmplane.Visibility = false;
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SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
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loc.Latitude = cs.lat;
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loc.Longitude = cs.lng;
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loc.Altitude = cs.alt;
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if (loc.Altitude < 0)
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loc.Altitude = 0.01;
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SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
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ori.Heading = cs.yaw;
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ori.Roll = -cs.roll;
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ori.Tilt = -cs.pitch;
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SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
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sca.X = 2;
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sca.Y = 2;
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sca.Z = 2;
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Model model = new Model();
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model.Location = loc;
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model.Orientation = ori;
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model.AltitudeMode = altmode;
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model.Scale = sca;
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try
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{
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Description desc = new Description();
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desc.Text = @"<![CDATA[
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<table>
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<tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
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<tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
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<tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
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<tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </td></tr>
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</table> ";
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// ]]>";
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pmplane.Description = desc;
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}
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catch { }
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SharpKml.Dom.Link link = new SharpKml.Dom.Link();
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link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
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model.Link = link;
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pmplane.Geometry = model;
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planes.AddFeature(pmplane);
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///
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Placemark pmt = new Placemark();
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SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
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pnt.AltitudeMode = altmode;
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pnt.Coordinate = new Vector(cs.lat,cs.lng,cs.alt);
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pmt.Name = "" + a;
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pmt.Description = pmplane.Description;
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pmt.Time = tstamp;
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pmt.Geometry = pnt;
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pmt.StyleUrl = new Uri("#track", UriKind.Relative);
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points.AddFeature(pmt);
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a++;
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}
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tour.Playlist = tourplaylist;
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kml.AddFeature(tour);
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Serializer serializer = new Serializer();
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serializer.Serialize(kml);
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//Console.WriteLine(serializer.Xml);
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StreamWriter sw = new StreamWriter(filename);
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sw.Write(serializer.Xml);
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sw.Close();
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// create kmz - aka zip file
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FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
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ZipOutputStream zipStream = new ZipOutputStream(fs);
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zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
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zipStream.UseZip64 = UseZip64.Off; // older zipfile
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// entry 1
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string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
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ZipEntry newEntry = new ZipEntry(entryName);
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newEntry.DateTime = DateTime.Now;
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zipStream.PutNextEntry(newEntry);
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// Zip the file in buffered chunks
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// the "using" will close the stream even if an exception occurs
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byte[] buffer = new byte[4096];
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using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
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{
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StreamUtils.Copy(streamReader, zipStream, buffer);
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}
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zipStream.CloseEntry();
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filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
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// entry 2
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entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
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newEntry = new ZipEntry(entryName);
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newEntry.DateTime = DateTime.Now;
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zipStream.PutNextEntry(newEntry);
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// Zip the file in buffered chunks
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// the "using" will close the stream even if an exception occurs
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buffer = new byte[4096];
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using (FileStream streamReader = File.OpenRead(filename))
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{
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StreamUtils.Copy(streamReader, zipStream, buffer);
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}
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zipStream.CloseEntry();
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zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
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zipStream.Close();
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}
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static void AddNamespace(Element element, string prefix, string uri)
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{
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// The Namespaces property is marked as internal.
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PropertyInfo property = typeof(Element).GetProperty(
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"Namespaces",
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BindingFlags.Instance | BindingFlags.NonPublic);
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var namespaces = (XmlNamespaceManager)property.GetValue(element, null);
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namespaces.AddNamespace(prefix, uri);
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}
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private void Log_FormClosing(object sender, FormClosingEventArgs e)
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{
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}
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private void BUT_redokml_Click(object sender, EventArgs e)
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{
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OpenFileDialog openFileDialog1 = new OpenFileDialog();
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openFileDialog1.Filter = "*.tlog|*.tlog";
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openFileDialog1.FilterIndex = 2;
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openFileDialog1.RestoreDirectory = true;
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openFileDialog1.Multiselect = true;
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try
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{
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openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
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}
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catch { } // incase dir doesnt exist
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if (openFileDialog1.ShowDialog() == DialogResult.OK)
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{
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foreach (string logfile in openFileDialog1.FileNames)
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{
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MAVLink mine = new MAVLink();
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try
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{
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mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
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}
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catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
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mine.logreadmode = true;
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mine.packets.Initialize(); // clear
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CurrentState cs = new CurrentState();
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float oldlatlngsum = 0;
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int appui = 0;
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while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
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{
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// bar moves to 50 % in this step
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progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
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progressBar1.Invalidate();
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progressBar1.Refresh();
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byte[] packet = mine.readPacket();
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cs.datetime = mine.lastlogread;
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cs.UpdateCurrentSettings(null, true, mine);
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if (appui != DateTime.Now.Second)
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{
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// cant do entire app as mixes with flightdata timer
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this.Refresh();
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appui = DateTime.Now.Second;
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}
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try
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{
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if (MainV2.speechEngine != null)
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MainV2.speechEngine.SpeakAsyncCancelAll();
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}
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catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
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if ((float)(cs.lat + cs.lng) != oldlatlngsum
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&& cs.lat != 0 && cs.lng != 0)
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{
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Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + " lah " + (float)(cs.lat + cs.lng) + "!=" + oldlatlngsum);
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CurrentState cs2 = (CurrentState)cs.Clone();
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flightdata.Add(cs2);
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oldlatlngsum = (cs.lat + cs.lng);
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}
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}
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mine.logreadmode = false;
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mine.logplaybackfile.Close();
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mine.logplaybackfile = null;
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Application.DoEvents();
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writeGPX(logfile);
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writeKML(logfile + ".kml");
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flightdata.Clear();
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progressBar1.Value = 100;
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}
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}
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}
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private void writeGPX(string filename)
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{
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System.Xml.XmlTextWriter xw = new System.Xml.XmlTextWriter(Path.GetDirectoryName(filename) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".gpx", Encoding.ASCII);
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xw.WriteStartElement("gpx");
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xw.WriteStartElement("trk");
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xw.WriteStartElement("trkseg");
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foreach (CurrentState cs in flightdata)
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{
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xw.WriteStartElement("trkpt");
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xw.WriteAttributeString("lat", cs.lat.ToString(new System.Globalization.CultureInfo("en-US")));
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xw.WriteAttributeString("lon", cs.lng.ToString(new System.Globalization.CultureInfo("en-US")));
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xw.WriteElementString("ele", cs.alt.ToString(new System.Globalization.CultureInfo("en-US")));
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xw.WriteElementString("time", cs.datetime.ToString("yyyy-MM-ddTHH:mm:sszzzzzz"));
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xw.WriteElementString("course", (cs.yaw).ToString(new System.Globalization.CultureInfo("en-US")));
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xw.WriteElementString("roll", cs.roll.ToString(new System.Globalization.CultureInfo("en-US")));
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xw.WriteElementString("pitch", cs.pitch.ToString(new System.Globalization.CultureInfo("en-US")));
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//xw.WriteElementString("speed", mod.model.Orientation.);
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//xw.WriteElementString("fix", cs.altitude);
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xw.WriteEndElement();
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}
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xw.WriteEndElement();
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xw.WriteEndElement();
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xw.WriteEndElement();
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xw.Close();
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}
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public static Color HexStringToColor(string hexColor)
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{
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string hc = (hexColor);
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if (hc.Length != 8)
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{
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// you can choose whether to throw an exception
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//throw new ArgumentException("hexColor is not exactly 6 digits.");
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return Color.Empty;
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}
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string a = hc.Substring(0, 2);
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string r = hc.Substring(6, 2);
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string g = hc.Substring(4, 2);
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string b = hc.Substring(2, 2);
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Color color = Color.Empty;
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try
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{
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int ai
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= Int32.Parse(a, System.Globalization.NumberStyles.HexNumber);
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int ri
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= Int32.Parse(r, System.Globalization.NumberStyles.HexNumber);
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int gi
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= Int32.Parse(g, System.Globalization.NumberStyles.HexNumber);
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int bi
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= Int32.Parse(b, System.Globalization.NumberStyles.HexNumber);
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color = Color.FromArgb(ai, ri, gi, bi);
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}
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catch
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{
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// you can choose whether to throw an exception
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//throw new ArgumentException("Conversion failed.");
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return Color.Empty;
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}
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return color;
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}
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private void BUT_humanreadable_Click(object sender, EventArgs e)
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{
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OpenFileDialog openFileDialog1 = new OpenFileDialog();
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openFileDialog1.Filter = "*.tlog|*.tlog";
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openFileDialog1.FilterIndex = 2;
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openFileDialog1.RestoreDirectory = true;
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openFileDialog1.Multiselect = true;
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try
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{
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openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
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}
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catch { } // incase dir doesnt exist
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if (openFileDialog1.ShowDialog() == DialogResult.OK)
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{
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foreach (string logfile in openFileDialog1.FileNames)
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{
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MAVLink mine = new MAVLink();
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mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
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mine.logreadmode = true;
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|
mine.packets.Initialize(); // clear
|
|
|
|
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile)+ Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt");
|
|
|
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|
{
|
|
// bar moves to 100 % in this step
|
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
|
|
|
|
progressBar1.Refresh();
|
|
//Application.DoEvents();
|
|
|
|
byte[] packet = mine.readPacket();
|
|
string text = "";
|
|
mine.DebugPacket(packet, ref text);
|
|
|
|
sw.Write(mine.lastlogread +" "+text);
|
|
}
|
|
|
|
sw.Close();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
mine.logreadmode = false;
|
|
mine.logplaybackfile.Close();
|
|
mine.logplaybackfile = null;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_graphmavlog_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
//http://devreminder.wordpress.com/net/net-framework-fundamentals/c-dynamic-math-expression-evaluation/
|
|
//http://www.c-sharpcorner.com/UploadFile/mgold/CodeDomCalculator08082005003253AM/CodeDomCalculator.aspx
|
|
|
|
//string mathExpression = "(1+1)*3";
|
|
//Console.WriteLine(String.Format("{0}={1}",mathExpression, Evaluate(mathExpression)));
|
|
|
|
|
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|
openFileDialog1.FilterIndex = 2;
|
|
openFileDialog1.RestoreDirectory = true;
|
|
openFileDialog1.Multiselect = false;
|
|
try
|
|
{
|
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|
}
|
|
catch { } // incase dir doesnt exist
|
|
|
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|
{
|
|
List<string> fields = GetLogFileValidFields(openFileDialog1.FileName);
|
|
|
|
zg1.GraphPane.CurveList.Clear();
|
|
|
|
//GetLogFileData(zg1, openFileDialog1.FileName, fields);
|
|
|
|
try
|
|
{
|
|
// fix new line types
|
|
ThemeManager.ApplyThemeTo(this);
|
|
|
|
zg1.Invalidate();
|
|
zg1.AxisChange();
|
|
}
|
|
catch { }
|
|
}
|
|
}
|
|
|
|
static int[] ColourValues = new int[] {
|
|
0xFF0000,0x00FF00,0x0000FF,0xFFFF00,0xFF00FF,0x00FFFF,0x000000,
|
|
0x800000,0x008000,0x000080,0x808000,0x800080,0x008080,0x808080,
|
|
0xC00000,0x00C000,0x0000C0,0xC0C000,0xC000C0,0x00C0C0,0xC0C0C0,
|
|
0x400000,0x004000,0x000040,0x404000,0x400040,0x004040,0x404040,
|
|
0x200000,0x002000,0x000020,0x202000,0x200020,0x002020,0x202020,
|
|
0x600000,0x006000,0x000060,0x606000,0x600060,0x006060,0x606060,
|
|
0xA00000,0x00A000,0x0000A0,0xA0A000,0xA000A0,0x00A0A0,0xA0A0A0,
|
|
0xE00000,0x00E000,0x0000E0,0xE0E000,0xE000E0,0x00E0E0,0xE0E0E0,
|
|
};
|
|
|
|
|
|
private void GetLogFileData(ZedGraphControl zg1, string logfile, List<string> lookforfields)
|
|
{
|
|
if (zg1 == null)
|
|
return;
|
|
|
|
if (lookforfields != null && lookforfields.Count == 0)
|
|
return;
|
|
|
|
PointPairList[] lists = new PointPairList[lookforfields.Count];
|
|
|
|
Random rand = new Random();
|
|
|
|
// setup arrays
|
|
for (int a = 0; a < lookforfields.Count; a++)
|
|
{
|
|
lists[a] = new PointPairList();
|
|
}
|
|
|
|
{
|
|
|
|
MAVLink MavlinkInterface = new MAVLink();
|
|
MavlinkInterface.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
MavlinkInterface.logreadmode = true;
|
|
|
|
MavlinkInterface.packets.Initialize(); // clear
|
|
|
|
int appui = 0;
|
|
|
|
// to get first packet time
|
|
MavlinkInterface.readPacket();
|
|
|
|
DateTime startlogtime = MavlinkInterface.lastlogread;
|
|
|
|
while (MavlinkInterface.logplaybackfile.BaseStream.Position < MavlinkInterface.logplaybackfile.BaseStream.Length)
|
|
{
|
|
progressBar1.Value = (int)((float)MavlinkInterface.logplaybackfile.BaseStream.Position / (float)MavlinkInterface.logplaybackfile.BaseStream.Length * 100.0f);
|
|
progressBar1.Refresh();
|
|
|
|
byte[] packet = MavlinkInterface.readPacket();
|
|
|
|
object data = MavlinkInterface.DebugPacket(packet, false);
|
|
|
|
Type test = data.GetType();
|
|
|
|
foreach (var field in test.GetFields())
|
|
{
|
|
// field.Name has the field's name.
|
|
|
|
object fieldValue = field.GetValue(data); // Get value
|
|
|
|
if (field.FieldType.IsArray)
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
string currentitem = field.Name + " " + field.DeclaringType.Name;
|
|
int a = 0;
|
|
foreach (var lookforfield in lookforfields)
|
|
{
|
|
|
|
if (currentitem == lookforfield)
|
|
{
|
|
object value = field.GetValue(data);
|
|
// seconds scale
|
|
double time = (MavlinkInterface.lastlogread - startlogtime).TotalMilliseconds / 1000.0;
|
|
|
|
if (value.GetType() == typeof(Single))
|
|
{
|
|
lists[a].Add(time, (Single)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(short))
|
|
{
|
|
lists[a].Add(time, (short)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(ushort))
|
|
{
|
|
lists[a].Add(time, (ushort)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(byte))
|
|
{
|
|
lists[a].Add(time, (byte)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(Int32))
|
|
{
|
|
lists[a].Add(time, (Int32)field.GetValue(data));
|
|
}
|
|
}
|
|
a++;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (appui != DateTime.Now.Second)
|
|
{
|
|
// cant do entire app as mixes with flightdata timer
|
|
this.Refresh();
|
|
appui = DateTime.Now.Second;
|
|
}
|
|
}
|
|
|
|
MavlinkInterface.logreadmode = false;
|
|
MavlinkInterface.logplaybackfile.Close();
|
|
MavlinkInterface.logplaybackfile = null;
|
|
|
|
|
|
//writeKML(logfile + ".kml");
|
|
|
|
progressBar1.Value = 100;
|
|
}
|
|
|
|
int step = 0;
|
|
|
|
zg1.GraphPane.AddY2Axis("PWM");
|
|
zg1.GraphPane.AddY2Axis("Angle");
|
|
|
|
//zg1.GraphPane.XAxis.Title.Text = "Seconds";
|
|
|
|
// setup display and arrays
|
|
for (int a = 0; a < lookforfields.Count; a++)
|
|
{
|
|
LineItem myCurve;
|
|
|
|
int colorvalue = ColourValues[step % ColourValues.Length];
|
|
step++;
|
|
|
|
myCurve = zg1.GraphPane.AddCurve(lookforfields[a].Replace("__mavlink_", ""), lists[a], Color.FromArgb(unchecked(colorvalue + (int)0xff000000)), SymbolType.None);
|
|
|
|
double xMin, xMax, yMin, yMax;
|
|
|
|
myCurve.GetRange(out xMin, out xMax, out yMin, out yMax, true, false, zg1.GraphPane);
|
|
|
|
if (yMin > 900 && yMax < 2100)
|
|
{
|
|
myCurve.IsY2Axis = true;
|
|
myCurve.YAxisIndex = 0;
|
|
zg1.GraphPane.Y2Axis.IsVisible = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
private List<string> GetLogFileValidFields(string logfile)
|
|
{
|
|
Form selectform = SelectDataToGraphForm();
|
|
|
|
Hashtable seenIt = new Hashtable();
|
|
|
|
selection = new List<string>();
|
|
|
|
List<string> options = new List<string>();
|
|
|
|
this.data.Clear();
|
|
|
|
colorStep = 0;
|
|
|
|
{
|
|
|
|
MAVLink MavlinkInterface = new MAVLink();
|
|
MavlinkInterface.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
MavlinkInterface.logreadmode = true;
|
|
|
|
MavlinkInterface.packets.Initialize(); // clear
|
|
|
|
// to get first packet time
|
|
MavlinkInterface.readPacket();
|
|
|
|
DateTime startlogtime = MavlinkInterface.lastlogread;
|
|
|
|
while (MavlinkInterface.logplaybackfile.BaseStream.Position < MavlinkInterface.logplaybackfile.BaseStream.Length)
|
|
{
|
|
progressBar1.Value = (int)((float)MavlinkInterface.logplaybackfile.BaseStream.Position / (float)MavlinkInterface.logplaybackfile.BaseStream.Length * 100.0f);
|
|
progressBar1.Refresh();
|
|
|
|
byte[] packet = MavlinkInterface.readPacket();
|
|
|
|
object data = MavlinkInterface.DebugPacket(packet, false);
|
|
|
|
Type test = data.GetType();
|
|
|
|
foreach (var field in test.GetFields())
|
|
{
|
|
// field.Name has the field's name.
|
|
|
|
object fieldValue = field.GetValue(data); // Get value
|
|
|
|
if (field.FieldType.IsArray)
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
if (!seenIt.ContainsKey(field.DeclaringType.Name + "." + field.Name))
|
|
{
|
|
seenIt[field.DeclaringType.Name + "." + field.Name] = 1;
|
|
//AddDataOption(selectform, field.Name + " " + field.DeclaringType.Name);
|
|
options.Add(field.DeclaringType.Name + "." + field.Name);
|
|
}
|
|
|
|
if (!this.data.ContainsKey(field.Name + " " + field.DeclaringType.Name))
|
|
this.data[field.Name + " " + field.DeclaringType.Name] = new PointPairList();
|
|
|
|
PointPairList list = ((PointPairList)this.data[field.Name + " " + field.DeclaringType.Name]);
|
|
|
|
object value = fieldValue;
|
|
// seconds scale
|
|
double time = (MavlinkInterface.lastlogread - startlogtime).TotalMilliseconds / 1000.0;
|
|
|
|
if (value.GetType() == typeof(Single))
|
|
{
|
|
list.Add(time, (Single)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(short))
|
|
{
|
|
list.Add(time, (short)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(ushort))
|
|
{
|
|
list.Add(time, (ushort)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(byte))
|
|
{
|
|
list.Add(time, (byte)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(Int32))
|
|
{
|
|
list.Add(time, (Int32)field.GetValue(data));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
MavlinkInterface.logreadmode = false;
|
|
MavlinkInterface.logplaybackfile.Close();
|
|
MavlinkInterface.logplaybackfile = null;
|
|
|
|
// custom sort based on packet name
|
|
//options.Sort(delegate(string c1, string c2) { return String.Compare(c1.Substring(0,c1.IndexOf('.')),c2.Substring(0,c2.IndexOf('.')));});
|
|
|
|
// this needs sorting
|
|
foreach (string item in options)
|
|
{
|
|
var items = item.Split('.');
|
|
AddDataOption(selectform, items[1] + " " + items[0]);
|
|
}
|
|
|
|
selectform.Show();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
}
|
|
|
|
return selection;
|
|
}
|
|
|
|
private void AddDataOption(Form selectform, string Name)
|
|
{
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
log.Info("Add Option " + Name);
|
|
|
|
chk_box.Text = Name;
|
|
chk_box.Name = Name;
|
|
chk_box.Location = new System.Drawing.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;
|
|
}
|
|
}
|
|
|
|
int colorStep = 0;
|
|
|
|
void chk_box_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
selection.Add(((CheckBox)sender).Name);
|
|
|
|
LineItem myCurve;
|
|
|
|
int colorvalue = ColourValues[colorStep % ColourValues.Length];
|
|
colorStep++;
|
|
|
|
myCurve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name.Replace("__mavlink_", ""), (PointPairList)data[((CheckBox)sender).Name], Color.FromArgb(unchecked(colorvalue + (int)0xff000000)), SymbolType.None);
|
|
|
|
myCurve.Tag = ((CheckBox)sender).Name;
|
|
|
|
if (myCurve.Tag.ToString() == "roll __mavlink_attitude_t" ||
|
|
myCurve.Tag.ToString() == "pitch __mavlink_attitude_t" ||
|
|
myCurve.Tag.ToString() == "yaw __mavlink_attitude_t")
|
|
{
|
|
PointPairList ppl = new PointPairList((PointPairList)data[((CheckBox)sender).Name]);
|
|
for (int a = 0; a < ppl.Count; a++)
|
|
{
|
|
ppl[a].Y = ppl[a].Y * (180.0 / Math.PI);
|
|
}
|
|
|
|
myCurve.Points = ppl;
|
|
}
|
|
|
|
double xMin, xMax, yMin, yMax;
|
|
|
|
myCurve.GetRange(out xMin, out xMax, out yMin, out yMax, true, false, zg1.GraphPane);
|
|
|
|
if (yMin > 900 && yMax < 2100 && yMin < 2100)
|
|
{
|
|
myCurve.IsY2Axis = true;
|
|
myCurve.YAxisIndex = 0;
|
|
zg1.GraphPane.Y2Axis.IsVisible = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
selection.Remove(((CheckBox)sender).Name);
|
|
foreach (var item in zg1.GraphPane.CurveList)
|
|
{
|
|
if (item.Tag == ((CheckBox)sender).Name)
|
|
{
|
|
zg1.GraphPane.CurveList.Remove(item);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
// fix new line types
|
|
ThemeManager.ApplyThemeTo(this);
|
|
|
|
zg1.Invalidate();
|
|
zg1.AxisChange();
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
private Form SelectDataToGraphForm()
|
|
{
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 50,
|
|
Height = 500,
|
|
Text = "Graph This",
|
|
TopLevel = true
|
|
};
|
|
|
|
x = 10;
|
|
y = 10;
|
|
|
|
{
|
|
CheckBox chk_box = new CheckBox();
|
|
chk_box.Text = "Logarithmic";
|
|
chk_box.Name = "Logarithmic";
|
|
chk_box.Location = new System.Drawing.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;
|
|
|
|
ThemeManager.ApplyThemeTo(selectform);
|
|
|
|
return selectform;
|
|
}
|
|
}
|
|
} |