mirror of https://github.com/ArduPilot/ardupilot
376 lines
14 KiB
C#
376 lines
14 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Data;
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using System.Globalization;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Windows.Forms;
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using DirectShowLib;
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using ArdupilotMega.Controls.BackstageView;
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using ArdupilotMega.Controls;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigPlanner : BackStageViewContentPanel
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{
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// AR todo: replicate this functionality
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private bool startup = false;
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public ConfigPlanner()
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{
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InitializeComponent();
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}
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private void BUT_videostart_Click(object sender, EventArgs e)
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{
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// stop first
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BUT_videostop_Click(sender, e);
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var bmp = (GCSViews.Configuration.GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
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try
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{
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MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
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MainV2.cam.showhud = CHK_hudshow.Checked;
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MainV2.cam.Start();
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MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
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BUT_videostart.Enabled = false;
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}
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catch (Exception ex) { CustomMessageBox.Show("Camera Fail: " + ex.Message); }
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}
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private void BUT_videostop_Click(object sender, EventArgs e)
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{
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BUT_videostart.Enabled = true;
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if (MainV2.cam != null)
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{
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MainV2.cam.Dispose();
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MainV2.cam = null;
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}
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}
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private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
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{
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// the reason why i dont populate this list is because on linux/mac this call will fail.
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WebCamService.Capture capt = new WebCamService.Capture();
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List<string> devices = WebCamService.Capture.getDevices();
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CMB_videosources.DataSource = devices;
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capt.Dispose();
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}
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private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
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{
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int hr;
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int count;
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int size;
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object o;
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IBaseFilter capFilter = null;
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ICaptureGraphBuilder2 capGraph = null;
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AMMediaType media = null;
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VideoInfoHeader v;
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VideoStreamConfigCaps c;
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List<GCSViews.Configuration.GCSBitmapInfo> modes = new List<GCSViews.Configuration.GCSBitmapInfo>();
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// Get the ICaptureGraphBuilder2
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capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
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IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();
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DsDevice[] capDevices;
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capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
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// Add the video device
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hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
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try
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{
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DsError.ThrowExceptionForHR(hr);
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}
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catch (Exception ex)
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{
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CustomMessageBox.Show("Can not add video source\n" + ex.ToString());
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return;
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}
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// Find the stream config interface
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hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
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DsError.ThrowExceptionForHR(hr);
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IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
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if (videoStreamConfig == null)
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{
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throw new Exception("Failed to get IAMStreamConfig");
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}
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hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
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DsError.ThrowExceptionForHR(hr);
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IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
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for (int i = 0; i < count; i++)
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{
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IntPtr ptr = IntPtr.Zero;
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hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
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v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
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c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
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modes.Add(new GCSViews.Configuration.GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
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}
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Marshal.FreeCoTaskMem(TaskMemPointer);
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DsUtils.FreeAMMediaType(media);
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CMB_videoresolutions.DataSource = modes;
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if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
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{
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CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
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}
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}
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private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
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{
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GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;
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}
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private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.speechEnable = CHK_enablespeech.Checked;
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MainV2.config["speechenable"] = CHK_enablespeech.Checked;
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if (MainV2.speechEngine != null)
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MainV2.speechEngine.SpeakAsyncCancelAll();
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}
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private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.instance.changelanguage((CultureInfo)CMB_language.SelectedItem);
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#if !DEBUG
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MessageBox.Show("Please Restart the Planner");
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Application.Exit();
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#endif
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}
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private void CMB_osdcolor_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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if (CMB_osdcolor.Text != "")
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{
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MainV2.config["hudcolor"] = CMB_osdcolor.Text;
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GCSViews.FlightData.myhud.hudcolor = Color.FromKnownColor((KnownColor)Enum.Parse(typeof(KnownColor), CMB_osdcolor.Text));
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}
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}
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private void CHK_speechwaypoint_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechwaypointenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Heading to Waypoint {wpn}";
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if (MainV2.config["speechwaypoint"] != null)
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speechstring = MainV2.config["speechwaypoint"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechwaypoint"] = speechstring;
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}
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}
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private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Mode changed to {mode}";
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if (MainV2.config["speechmode"] != null)
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speechstring = MainV2.config["speechmode"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechmode"] = speechstring;
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}
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}
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private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
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if (MainV2.config["speechcustom"] != null)
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speechstring = MainV2.config["speechcustom"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechcustom"] = speechstring;
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}
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}
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private void BUT_rerequestparams_Click(object sender, EventArgs e)
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{
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if (!MainV2.comPort.BaseStream.IsOpen)
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return;
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((MyButton)sender).Enabled = false;
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try
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{
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MainV2.comPort.getParamList();
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}
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catch { CustomMessageBox.Show("Error: getting param list"); }
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((MyButton)sender).Enabled = true;
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startup = true;
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startup = false;
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}
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private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "WARNING, Battery at {batv} Volt";
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if (MainV2.config["speechbattery"] != null)
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speechstring = MainV2.config["speechbattery"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechbattery"] = speechstring;
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speechstring = "9.6";
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if (MainV2.config["speechbatteryvolt"] != null)
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speechstring = MainV2.config["speechbatteryvolt"].ToString();
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Common.InputBox("Battery Level", "What Voltage do you want to warn at?", ref speechstring);
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MainV2.config["speechbatteryvolt"] = speechstring;
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}
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}
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private void BUT_Joystick_Click(object sender, EventArgs e)
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{
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Form joy = new JoystickSetup();
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ThemeManager.ApplyThemeTo(joy);
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joy.Show();
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}
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private void CMB_distunits_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["distunits"] = CMB_distunits.Text;
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MainV2.instance.ChangeUnits();
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}
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private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speedunits"] = CMB_speedunits.Text;
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MainV2.instance.ChangeUnits();
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}
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private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
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}
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private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
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}
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private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
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}
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private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
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}
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private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
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{
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MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
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MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
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}
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private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.comPort.debugmavlink = CHK_mavdebug.Checked;
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}
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private void CHK_resetapmonconnect_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.config[((CheckBox)sender).Name] = ((CheckBox)sender).Checked.ToString();
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}
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private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.config["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();
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if (((CheckBox)sender).Checked)
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{
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string speechstring = "WARNING, low altitude {alt}";
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if (MainV2.config["speechalt"] != null)
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speechstring = MainV2.config["speechalt"].ToString();
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Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
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MainV2.config["speechalt"] = speechstring;
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speechstring = "2";
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if (MainV2.config["speechaltheight"] != null)
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speechstring = MainV2.config["speechaltheight"].ToString();
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Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
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MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.cs.multiplierdist).ToString(); // save as m
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}
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}
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private void NUM_tracklength_ValueChanged(object sender, EventArgs e)
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{
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MainV2.config["NUM_tracklength"] = NUM_tracklength.Value.ToString();
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}
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private void CHK_loadwponconnect_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.config["loadwpsonconnect"] = CHK_loadwponconnect.Checked.ToString();
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}
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private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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CustomMessageBox.Show("You need to restart the planner for this to take effect");
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MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
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}
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}
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}
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