mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
25bcfdd1e7
add arduino chip detect fix apm2,2.5 dialog test add write timeout. this will stop planner hangs on bad serial devices. change quickview decimal places to 0.00 fix map clicking issue. fix wind direction wrapping add airspeed use modify firmware screen from Marooned major flightdata tab change. add save/load polygon from file add some error handling dialogs
1248 lines
45 KiB
C#
1248 lines
45 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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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 AGaugeApp;
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using System.IO.Ports;
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using System.Threading;
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using ArdupilotMega.Attributes;
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using GMap.NET;
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using GMap.NET.WindowsForms;
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using GMap.NET.WindowsForms.Markers;
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using System.Security.Cryptography.X509Certificates;
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using System.Net;
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using System.Net.Sockets;
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using System.Xml; // config file
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using System.Runtime.InteropServices; // dll imports
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using log4net;
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using ZedGraph; // Graphs
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using ArdupilotMega;
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using System.Reflection;
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using ArdupilotMega.Utilities;
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using System.IO;
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using System.Drawing.Drawing2D;
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namespace ArdupilotMega
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{
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/// <summary>
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/// Struct as used in Ardupilot
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/// </summary>
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public struct Locationwp
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{
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public byte id; // command id
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public byte options;
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public float p1; // param 1
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public float p2; // param 2
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public float p3; // param 3
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public float p4; // param 4
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public float lat; // Lattitude * 10**7
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public float lng; // Longitude * 10**7
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public float alt; // Altitude in centimeters (meters * 100)
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};
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/// <summary>
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/// used to override the drawing of the waypoint box bounding
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/// </summary>
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public class GMapMarkerRect : GMapMarker
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{
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public Pen Pen = new Pen(Brushes.White, 2);
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public Color Color { get { return Pen.Color; } set { Pen.Color = value; } }
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public GMapMarker InnerMarker;
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public int wprad = 0;
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public GMapControl MainMap;
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public GMapMarkerRect(PointLatLng p)
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: base(p)
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{
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Pen.DashStyle = DashStyle.Dash;
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// do not forget set Size of the marker
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// if so, you shall have no event on it ;}
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Size = new System.Drawing.Size(50, 50);
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Offset = new System.Drawing.Point(-Size.Width / 2, -Size.Height / 2 - 20);
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}
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public override void OnRender(Graphics g)
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{
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base.OnRender(g);
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if (wprad == 0 || MainMap == null)
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return;
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// undo autochange in mouse over
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if (Pen.Color == Color.Blue)
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Pen.Color = Color.White;
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double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
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double height = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Height, 0)) * 1000.0);
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double m2pixelwidth = MainMap.Width / width;
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double m2pixelheight = MainMap.Height / height;
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GPoint loc = new GPoint((int)(LocalPosition.X - (m2pixelwidth * wprad * 2)), LocalPosition.Y);// MainMap.FromLatLngToLocal(wpradposition);
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g.DrawArc(Pen, new System.Drawing.Rectangle(LocalPosition.X - Offset.X - (Math.Abs(loc.X - LocalPosition.X) / 2), LocalPosition.Y - Offset.Y - Math.Abs(loc.X - LocalPosition.X) / 2, Math.Abs(loc.X - LocalPosition.X), Math.Abs(loc.X - LocalPosition.X)), 0, 360);
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}
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}
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public class GMapMarkerRover : GMapMarker
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{
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.rover.Width, global::ArdupilotMega.Properties.Resources.rover.Height);
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float heading = 0;
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float cog = -1;
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float target = -1;
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float nav_bearing = -1;
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public GMapControl MainMap;
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public GMapMarkerRover(PointLatLng p, float heading, float cog, float nav_bearing, float target, GMapControl map)
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: base(p)
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{
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this.heading = heading;
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this.cog = cog;
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this.target = target;
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this.nav_bearing = nav_bearing;
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Size = SizeSt;
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MainMap = map;
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}
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public override void OnRender(Graphics g)
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{
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Matrix temp = g.Transform;
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g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
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g.RotateTransform(-MainMap.Bearing);
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int length = 500;
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// anti NaN
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try
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{
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g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
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}
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catch { }
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g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
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// anti NaN
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try
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{
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g.RotateTransform(heading);
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}
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catch { }
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g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.rover, global::ArdupilotMega.Properties.Resources.rover.Width / -2, global::ArdupilotMega.Properties.Resources.rover.Height / -2);
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g.Transform = temp;
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}
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}
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public class GMapMarkerPlane : GMapMarker
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{
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.planeicon.Width, global::ArdupilotMega.Properties.Resources.planeicon.Height);
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float heading = 0;
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float cog = -1;
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float target = -1;
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float nav_bearing = -1;
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public GMapControl MainMap;
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public GMapMarkerPlane(PointLatLng p, float heading, float cog, float nav_bearing,float target, GMapControl map)
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: base(p)
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{
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this.heading = heading;
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this.cog = cog;
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this.target = target;
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this.nav_bearing = nav_bearing;
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Size = SizeSt;
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MainMap = map;
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}
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public override void OnRender(Graphics g)
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{
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Matrix temp = g.Transform;
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g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
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g.RotateTransform(-MainMap.Bearing);
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int length = 500;
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// anti NaN
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try
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{
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g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
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}
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catch { }
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g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
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// anti NaN
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try
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{
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float desired_lead_dist = 100;
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double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
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double m2pixelwidth = MainMap.Width / width;
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float alpha = ((desired_lead_dist * (float)m2pixelwidth) / MainV2.cs.radius) * rad2deg;
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if (MainV2.cs.radius < -1)
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{
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// fixme
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float p1 = (float)Math.Cos((cog) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
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float p2 = (float)Math.Sin((cog) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
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g.DrawArc(new Pen(Color.HotPink, 2), p1, p2, Math.Abs(MainV2.cs.radius) * 2, Math.Abs(MainV2.cs.radius) * 2, cog, alpha);
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}
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else if (MainV2.cs.radius > 1)
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{
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// correct
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float p1 = (float)Math.Cos((cog - 180) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
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float p2 = (float)Math.Sin((cog - 180) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
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g.DrawArc(new Pen(Color.HotPink, 2), -p1, -p2, MainV2.cs.radius * 2, MainV2.cs.radius * 2, cog - 180, alpha);
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}
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}
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catch { }
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try {
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g.RotateTransform(heading);
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} catch{}
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g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.planeicon, global::ArdupilotMega.Properties.Resources.planeicon.Width / -2, global::ArdupilotMega.Properties.Resources.planeicon.Height / -2);
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g.Transform = temp;
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}
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}
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public class GMapMarkerQuad : GMapMarker
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{
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.quadicon.Width, global::ArdupilotMega.Properties.Resources.quadicon.Height);
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float heading = 0;
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float cog = -1;
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float target = -1;
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public GMapMarkerQuad(PointLatLng p, float heading, float cog, float target)
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: base(p)
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{
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this.heading = heading;
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this.cog = cog;
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this.target = target;
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Size = SizeSt;
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}
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public override void OnRender(Graphics g)
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{
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Matrix temp = g.Transform;
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g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
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int length = 500;
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// anti NaN
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try
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{
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g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
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}
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catch { }
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//g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
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g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
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// anti NaN
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try
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{
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g.RotateTransform(heading);
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}
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catch { }
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g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quadicon, global::ArdupilotMega.Properties.Resources.quadicon.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quadicon.Height / -2);
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g.Transform = temp;
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}
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}
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public class PointLatLngAlt
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{
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public double Lat = 0;
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public double Lng = 0;
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public double Alt = 0;
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public string Tag = "";
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public Color color = Color.White;
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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public PointLatLngAlt(double lat, double lng, double alt, string tag)
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{
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this.Lat = lat;
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this.Lng = lng;
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this.Alt = alt;
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this.Tag = tag;
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}
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public PointLatLngAlt()
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{
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}
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public PointLatLngAlt(GMap.NET.PointLatLng pll)
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{
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this.Lat = pll.Lat;
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this.Lng = pll.Lng;
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}
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public PointLatLngAlt(Locationwp locwp)
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{
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this.Lat = locwp.lat;
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this.Lng = locwp.lng;
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this.Alt = locwp.alt;
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}
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public PointLatLngAlt(PointLatLngAlt plla)
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{
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this.Lat = plla.Lat;
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this.Lng = plla.Lng;
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this.Alt = plla.Alt;
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this.color = plla.color;
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this.Tag = plla.Tag;
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}
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public PointLatLng Point()
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{
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return new PointLatLng(Lat, Lng);
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}
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public override bool Equals(Object pllaobj)
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{
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PointLatLngAlt plla = (PointLatLngAlt)pllaobj;
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if (plla == null)
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return false;
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if (this.Lat == plla.Lat &&
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this.Lng == plla.Lng &&
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this.Alt == plla.Alt &&
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this.color == plla.color &&
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this.Tag == plla.Tag)
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{
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return true;
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}
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return false;
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}
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public override int GetHashCode()
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{
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return (int)((Lat + Lng + Alt) * 100);
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}
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public override string ToString()
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{
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return Lat + "," + Lng + "," + Alt;
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}
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/// <summary>
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/// Calc Distance in M
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/// </summary>
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/// <param name="p2"></param>
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/// <returns>Distance in M</returns>
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public double GetDistance(PointLatLngAlt p2)
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{
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double d = Lat * 0.017453292519943295;
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double num2 = Lng * 0.017453292519943295;
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double num3 = p2.Lat * 0.017453292519943295;
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double num4 = p2.Lng * 0.017453292519943295;
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double num5 = num4 - num2;
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double num6 = num3 - d;
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double num7 = Math.Pow(Math.Sin(num6 / 2.0), 2.0) + ((Math.Cos(d) * Math.Cos(num3)) * Math.Pow(Math.Sin(num5 / 2.0), 2.0));
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double num8 = 2.0 * Math.Atan2(Math.Sqrt(num7), Math.Sqrt(1.0 - num7));
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return (6371 * num8) * 1000.0; // M
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}
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public double GetDistance2(PointLatLngAlt p2)
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{
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//http://www.movable-type.co.uk/scripts/latlong.html
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var R = 6371; // 6371 km
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var dLat = (p2.Lat - Lat) * deg2rad;
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var dLon = (p2.Lng - Lng) * deg2rad;
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var lat1 = Lat * deg2rad;
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var lat2 = p2.Lat * deg2rad;
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var a = Math.Sin(dLat / 2) * Math.Sin(dLat / 2) +
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Math.Sin(dLon / 2) * Math.Sin(dLon / 2) * Math.Cos(lat1) * Math.Cos(lat2);
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var c = 2.0 * Math.Atan2(Math.Sqrt(a), Math.Sqrt(1 - a));
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var d = R * c * 1000.0; // M
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return d;
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}
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}
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class NoCheckCertificatePolicy : ICertificatePolicy
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{
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public bool CheckValidationResult(ServicePoint srvPoint, X509Certificate certificate, WebRequest request, int certificateProblem)
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{
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return true;
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}
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}
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public class Common
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{
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private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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public enum distances
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{
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Meters,
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Feet
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}
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public enum speeds
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{
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ms,
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fps,
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kph,
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mph,
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knots
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}
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public enum ap_product
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{
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[DisplayText("HIL")]
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AP_PRODUCT_ID_NONE = 0x00, // Hardware in the loop
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[DisplayText("APM1 1280")]
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AP_PRODUCT_ID_APM1_1280 = 0x01,// APM1 with 1280 CPUs
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[DisplayText("APM1 2560")]
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AP_PRODUCT_ID_APM1_2560 = 0x02,// APM1 with 2560 CPUs
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[DisplayText("SITL")]
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AP_PRODUCT_ID_SITL = 0x03,// Software in the loop
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[DisplayText("APM2 ES C4")]
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AP_PRODUCT_ID_APM2ES_REV_C4 = 0x14,// APM2 with MPU6000ES_REV_C4
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[DisplayText("APM2 ES C5")]
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AP_PRODUCT_ID_APM2ES_REV_C5 = 0x15, // APM2 with MPU6000ES_REV_C5
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[DisplayText("APM2 ES D6")]
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AP_PRODUCT_ID_APM2ES_REV_D6 = 0x16, // APM2 with MPU6000ES_REV_D6
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[DisplayText("APM2 ES D7")]
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AP_PRODUCT_ID_APM2ES_REV_D7 = 0x17, // APM2 with MPU6000ES_REV_D7
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[DisplayText("APM2 ES D8")]
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AP_PRODUCT_ID_APM2ES_REV_D8 = 0x18, // APM2 with MPU6000ES_REV_D8
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[DisplayText("APM2 C4")]
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AP_PRODUCT_ID_APM2_REV_C4 = 0x54,// APM2 with MPU6000_REV_C4
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[DisplayText("APM2 C5")]
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AP_PRODUCT_ID_APM2_REV_C5 = 0x55, // APM2 with MPU6000_REV_C5
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[DisplayText("APM2 D6")]
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AP_PRODUCT_ID_APM2_REV_D6 = 0x56, // APM2 with MPU6000_REV_D6
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[DisplayText("APM2 D7")]
|
|
AP_PRODUCT_ID_APM2_REV_D7 = 0x57, // APM2 with MPU6000_REV_D7
|
|
[DisplayText("APM2 D8")]
|
|
AP_PRODUCT_ID_APM2_REV_D8 = 0x58, // APM2 with MPU6000_REV_D8
|
|
[DisplayText("APM2 D9")]
|
|
AP_PRODUCT_ID_APM2_REV_D9 = 0x59 // APM2 with MPU6000_REV_D9
|
|
}
|
|
|
|
public enum apmmodes
|
|
{
|
|
[DisplayText("Manual")]
|
|
MANUAL = 0,
|
|
[DisplayText("Circle")]
|
|
CIRCLE = 1,
|
|
[DisplayText("Stabilize")]
|
|
STABILIZE = 2,
|
|
[DisplayText("FBW A")]
|
|
FLY_BY_WIRE_A = 5,
|
|
[DisplayText("FBW B")]
|
|
FLY_BY_WIRE_B = 6,
|
|
[DisplayText("Auto")]
|
|
AUTO = 10,
|
|
[DisplayText("RTL")]
|
|
RTL = 11,
|
|
[DisplayText("Loiter")]
|
|
LOITER = 12,
|
|
[DisplayText("Guided")]
|
|
GUIDED = 15
|
|
}
|
|
|
|
public enum aprovermodes
|
|
{
|
|
[DisplayText("Manual")]
|
|
MANUAL = 0,
|
|
[DisplayText("Circle")]
|
|
CIRCLE = 1,
|
|
[DisplayText("Learning")]
|
|
LEARNING = 2,
|
|
[DisplayText("FBW A")]
|
|
FLY_BY_WIRE_A = 5,
|
|
[DisplayText("FBW B")]
|
|
FLY_BY_WIRE_B = 6,
|
|
[DisplayText("Auto")]
|
|
AUTO = 10,
|
|
[DisplayText("RTL")]
|
|
RTL = 11,
|
|
[DisplayText("Loiter")]
|
|
LOITER = 12,
|
|
[DisplayText("Guided")]
|
|
GUIDED = 15,
|
|
HEADALT = 17,
|
|
SARSEC = 18,
|
|
SARGRID = 19,
|
|
THERMAL = 20,
|
|
LAND = 21
|
|
}
|
|
|
|
public enum ac2modes
|
|
{
|
|
[DisplayText("Stabilize")]
|
|
STABILIZE = 0, // hold level position
|
|
[DisplayText("Acro")]
|
|
ACRO = 1, // rate control
|
|
[DisplayText("Alt Hold")]
|
|
ALT_HOLD = 2, // AUTO control
|
|
[DisplayText("Auto")]
|
|
AUTO = 3, // AUTO control
|
|
[DisplayText("Guided")]
|
|
GUIDED = 4, // AUTO control
|
|
[DisplayText("Loiter")]
|
|
LOITER = 5, // Hold a single location
|
|
[DisplayText("RTL")]
|
|
RTL = 6, // AUTO control
|
|
[DisplayText("Circle")]
|
|
CIRCLE = 7,
|
|
[DisplayText("Pos Hold")]
|
|
POSITION = 8,
|
|
[DisplayText("Land")]
|
|
LAND = 9, // AUTO control
|
|
OF_LOITER = 10,
|
|
[DisplayText("Toy")]
|
|
TOY = 11
|
|
}
|
|
|
|
public enum ac2ch7modes
|
|
{
|
|
[DisplayText("Do Nothing")]
|
|
CH7_DO_NOTHING = 0,
|
|
[DisplayText("Set Hover")]
|
|
CH7_SET_HOVER = 1,
|
|
[DisplayText("Flip")]
|
|
CH7_FLIP = 2,
|
|
[DisplayText("Simple Mode")]
|
|
CH7_SIMPLE_MODE = 3,
|
|
[DisplayText("Return to Launch")]
|
|
CH7_RTL = 4,
|
|
[DisplayText("Automatic Trim")]
|
|
CH7_AUTO_TRIM = 5,
|
|
[DisplayText("ADC Filter")]
|
|
CH7_ADC_FILTER = 6,
|
|
[DisplayText("Save Waypoint")]
|
|
CH7_SAVE_WP = 7
|
|
}
|
|
|
|
public enum ac2ch6modes
|
|
{
|
|
// CH_6 Tuning
|
|
// -----------
|
|
CH6_NONE = 0,
|
|
// Attitude
|
|
CH6_STABILIZE_KP = 1,
|
|
CH6_STABILIZE_KI = 2,
|
|
CH6_YAW_KP = 3,
|
|
// Rate
|
|
CH6_RATE_KP = 4,
|
|
CH6_RATE_KI = 5,
|
|
CH6_RATE_KD = 21,
|
|
CH6_YAW_RATE_KP = 6,
|
|
// Altitude rate controller
|
|
CH6_THROTTLE_KP = 7,
|
|
// Extras
|
|
CH6_TOP_BOTTOM_RATIO = 8,
|
|
CH6_RELAY = 9,
|
|
CH6_TRAVERSE_SPEED = 10,
|
|
|
|
CH6_NAV_P = 11,
|
|
CH6_LOITER_P = 12,
|
|
CH6_HELI_EXTERNAL_GYRO = 13,
|
|
|
|
// altitude controller
|
|
CH6_THR_HOLD_KP = 14,
|
|
CH6_Z_GAIN = 15,
|
|
//CH6_DAMP = 16,
|
|
|
|
// optical flow controller
|
|
CH6_OPTFLOW_KP = 17,
|
|
CH6_OPTFLOW_KI = 18,
|
|
CH6_OPTFLOW_KD = 19,
|
|
|
|
CH6_NAV_I = 20,
|
|
CH6_LOITER_RATE_P = 22,
|
|
CH6_LOITER_RATE_D = 23,
|
|
CH6_YAW_KI = 24,
|
|
CH6_ACRO_KP = 25,
|
|
CH6_YAW_RATE_KD = 26,
|
|
CH6_LOITER_KI = 27,
|
|
CH6_LOITER_RATE_KI = 28,
|
|
CH6_STABILIZE_KD = 29
|
|
}
|
|
|
|
public static void linearRegression()
|
|
{
|
|
double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 };
|
|
|
|
double xAvg = 0;
|
|
double yAvg = 0;
|
|
|
|
for (int x = 0; x < values.Length; x++)
|
|
{
|
|
xAvg += x;
|
|
yAvg += values[x];
|
|
}
|
|
|
|
xAvg = xAvg / values.Length;
|
|
yAvg = yAvg / values.Length;
|
|
|
|
|
|
double v1 = 0;
|
|
double v2 = 0;
|
|
|
|
for (int x = 0; x < values.Length; x++)
|
|
{
|
|
v1 += (x - xAvg) * (values[x] - yAvg);
|
|
v2 += Math.Pow(x - xAvg, 2);
|
|
}
|
|
|
|
double a = v1 / v2;
|
|
double b = yAvg - a * xAvg;
|
|
|
|
log.Debug("y = ax + b");
|
|
log.DebugFormat("a = {0}, the slope of the trend line.", Math.Round(a, 2));
|
|
log.DebugFormat("b = {0}, the intercept of the trend line.", Math.Round(b, 2));
|
|
|
|
//Console.ReadLine();
|
|
}
|
|
|
|
|
|
|
|
|
|
public static bool getFilefromNet(string url,string saveto) {
|
|
try
|
|
{
|
|
// this is for mono to a ssl server
|
|
//ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
|
|
|
|
ServicePointManager.ServerCertificateValidationCallback =
|
|
new System.Net.Security.RemoteCertificateValidationCallback((sender, certificate, chain, policyErrors) => { return true; });
|
|
|
|
// Create a request using a URL that can receive a post.
|
|
WebRequest request = WebRequest.Create(url);
|
|
request.Timeout = 10000;
|
|
// Set the Method property of the request to POST.
|
|
request.Method = "GET";
|
|
// Get the response.
|
|
WebResponse response = request.GetResponse();
|
|
// Display the status.
|
|
log.Info(((HttpWebResponse)response).StatusDescription);
|
|
if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
|
|
return false;
|
|
// Get the stream containing content returned by the server.
|
|
Stream dataStream = response.GetResponseStream();
|
|
|
|
long bytes = response.ContentLength;
|
|
long contlen = bytes;
|
|
|
|
byte[] buf1 = new byte[1024];
|
|
|
|
FileStream fs = new FileStream(saveto + ".new", FileMode.Create);
|
|
|
|
DateTime dt = DateTime.Now;
|
|
|
|
while (dataStream.CanRead && bytes > 0)
|
|
{
|
|
Application.DoEvents();
|
|
log.Debug(saveto + " " + bytes);
|
|
int len = dataStream.Read(buf1, 0, buf1.Length);
|
|
bytes -= len;
|
|
fs.Write(buf1, 0, len);
|
|
}
|
|
|
|
fs.Close();
|
|
dataStream.Close();
|
|
response.Close();
|
|
|
|
File.Delete(saveto);
|
|
File.Move(saveto + ".new", saveto);
|
|
|
|
return true;
|
|
}
|
|
catch (Exception ex) { log.Info("getFilefromNet(): " + ex.ToString()); return false; }
|
|
}
|
|
|
|
public static Type getModes()
|
|
{
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
return typeof(apmmodes);
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
|
{
|
|
return typeof(ac2modes);
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
|
|
{
|
|
return typeof(aprovermodes);
|
|
}
|
|
|
|
return null;
|
|
}
|
|
|
|
public static List<KeyValuePair<int,string>> getModesList()
|
|
{
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
var flightModes = EnumTranslator.Translate<apmmodes>();
|
|
return flightModes.ToList();
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
|
{
|
|
var flightModes = EnumTranslator.Translate<ac2modes>();
|
|
return flightModes.ToList();
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
|
|
{
|
|
var flightModes = EnumTranslator.Translate<aprovermodes>();
|
|
return flightModes.ToList();
|
|
}
|
|
|
|
return null;
|
|
}
|
|
|
|
public static Form LoadingBox(string title, string promptText)
|
|
{
|
|
Form form = new Form();
|
|
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
|
|
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
|
|
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
|
|
|
|
form.Text = title;
|
|
label.Text = promptText;
|
|
|
|
label.SetBounds(9, 50, 372, 13);
|
|
|
|
label.AutoSize = true;
|
|
|
|
form.ClientSize = new Size(396, 107);
|
|
form.Controls.AddRange(new Control[] { label });
|
|
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
|
|
form.FormBorderStyle = FormBorderStyle.FixedDialog;
|
|
form.StartPosition = FormStartPosition.CenterScreen;
|
|
form.MinimizeBox = false;
|
|
form.MaximizeBox = false;
|
|
|
|
ThemeManager.ApplyThemeTo(form);
|
|
|
|
form.Show();
|
|
form.Refresh();
|
|
label.Refresh();
|
|
Application.DoEvents();
|
|
return form;
|
|
}
|
|
|
|
public static DialogResult MessageShowAgain(string title, string promptText)
|
|
{
|
|
Form form = new Form();
|
|
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
|
|
CheckBox chk = new CheckBox();
|
|
ArdupilotMega.Controls.MyButton buttonOk = new ArdupilotMega.Controls.MyButton();
|
|
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
|
|
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
|
|
|
|
form.Text = title;
|
|
label.Text = promptText;
|
|
|
|
chk.Tag = ("SHOWAGAIN_" + title.Replace(" ","_"));
|
|
chk.AutoSize = true;
|
|
chk.Text = "Show me again?";
|
|
chk.Checked = true;
|
|
chk.Location = new Point(9,80);
|
|
|
|
if (MainV2.config[(string)chk.Tag] != null && (string)MainV2.config[(string)chk.Tag] == "False") // skip it
|
|
{
|
|
form.Dispose();
|
|
chk.Dispose();
|
|
buttonOk.Dispose();
|
|
label.Dispose();
|
|
return DialogResult.OK;
|
|
}
|
|
|
|
chk.CheckStateChanged += new EventHandler(chk_CheckStateChanged);
|
|
|
|
buttonOk.Text = "OK";
|
|
buttonOk.DialogResult = DialogResult.OK;
|
|
buttonOk.Location = new Point(form.Right - 100 ,80);
|
|
|
|
label.SetBounds(9, 40, 372, 13);
|
|
|
|
label.AutoSize = true;
|
|
|
|
form.ClientSize = new Size(396, 107);
|
|
form.Controls.AddRange(new Control[] { label, chk, buttonOk });
|
|
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
|
|
form.FormBorderStyle = FormBorderStyle.FixedDialog;
|
|
form.StartPosition = FormStartPosition.CenterScreen;
|
|
form.MinimizeBox = false;
|
|
form.MaximizeBox = false;
|
|
|
|
ThemeManager.ApplyThemeTo(form);
|
|
|
|
DialogResult dialogResult =form.ShowDialog();
|
|
|
|
form.Dispose();
|
|
|
|
form = null;
|
|
|
|
return dialogResult;
|
|
}
|
|
|
|
static void chk_CheckStateChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[(string)((CheckBox)(sender)).Tag] = ((CheckBox)(sender)).Checked.ToString();
|
|
}
|
|
|
|
//from http://www.csharp-examples.net/inputbox/
|
|
public static DialogResult InputBox(string title, string promptText, ref string value)
|
|
{
|
|
Form form = new Form();
|
|
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
|
|
TextBox textBox = new TextBox();
|
|
ArdupilotMega.Controls.MyButton buttonOk = new ArdupilotMega.Controls.MyButton();
|
|
ArdupilotMega.Controls.MyButton buttonCancel = new ArdupilotMega.Controls.MyButton();
|
|
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
|
|
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
|
|
|
|
form.TopMost = true;
|
|
form.TopLevel = true;
|
|
|
|
form.Text = title;
|
|
label.Text = promptText;
|
|
textBox.Text = value;
|
|
|
|
buttonOk.Text = "OK";
|
|
buttonCancel.Text = "Cancel";
|
|
buttonOk.DialogResult = DialogResult.OK;
|
|
buttonCancel.DialogResult = DialogResult.Cancel;
|
|
|
|
label.SetBounds(9, 20, 372, 13);
|
|
textBox.SetBounds(12, 36, 372, 20);
|
|
buttonOk.SetBounds(228, 72, 75, 23);
|
|
buttonCancel.SetBounds(309, 72, 75, 23);
|
|
|
|
label.AutoSize = true;
|
|
textBox.Anchor = textBox.Anchor | AnchorStyles.Right;
|
|
buttonOk.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;
|
|
buttonCancel.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;
|
|
|
|
form.ClientSize = new Size(396, 107);
|
|
form.Controls.AddRange(new Control[] { label, textBox, buttonOk, buttonCancel });
|
|
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
|
|
form.FormBorderStyle = FormBorderStyle.FixedSingle;
|
|
form.StartPosition = FormStartPosition.CenterScreen;
|
|
form.MinimizeBox = false;
|
|
form.MaximizeBox = false;
|
|
form.AcceptButton = buttonOk;
|
|
form.CancelButton = buttonCancel;
|
|
|
|
ThemeManager.ApplyThemeTo(form);
|
|
|
|
DialogResult dialogResult = DialogResult.Cancel;
|
|
|
|
Console.WriteLine("Input Box");
|
|
|
|
form.ShowDialog();
|
|
|
|
Console.WriteLine("Input Box 2");
|
|
|
|
dialogResult = form.DialogResult;
|
|
|
|
if (dialogResult == DialogResult.OK)
|
|
{
|
|
value = textBox.Text;
|
|
}
|
|
|
|
form.Dispose();
|
|
|
|
form = null;
|
|
|
|
return dialogResult;
|
|
}
|
|
|
|
public static string speechConversion(string input)
|
|
{
|
|
if (MainV2.cs.wpno == 0)
|
|
{
|
|
input = input.Replace("{wpn}", "Home");
|
|
}
|
|
else
|
|
{
|
|
input = input.Replace("{wpn}", MainV2.cs.wpno.ToString());
|
|
}
|
|
|
|
input = input.Replace("{asp}", MainV2.cs.airspeed.ToString("0"));
|
|
|
|
input = input.Replace("{alt}", MainV2.cs.alt.ToString("0"));
|
|
|
|
input = input.Replace("{wpa}", MainV2.cs.targetalt.ToString("0"));
|
|
|
|
input = input.Replace("{gsp}", MainV2.cs.groundspeed.ToString("0"));
|
|
|
|
input = input.Replace("{mode}", MainV2.cs.mode.ToString());
|
|
|
|
input = input.Replace("{batv}", MainV2.cs.battery_voltage.ToString("0.00"));
|
|
|
|
return input;
|
|
}
|
|
}
|
|
|
|
public class VerticalProgressBar : HorizontalProgressBar
|
|
{
|
|
protected override CreateParams CreateParams
|
|
{
|
|
get
|
|
{
|
|
CreateParams cp = base.CreateParams;
|
|
cp.Style |= 0x04;
|
|
return cp;
|
|
}
|
|
}
|
|
}
|
|
|
|
public class VerticalProgressBar2 : HorizontalProgressBar2
|
|
{
|
|
protected override void OnPaint(PaintEventArgs e)
|
|
{
|
|
e.Graphics.TranslateTransform(0, e.Graphics.ClipBounds.Height);
|
|
e.Graphics.RotateTransform(270);
|
|
e.Graphics.ScaleTransform((float)this.Height / (float)this.Width, (float)this.Width / (float)this.Height);
|
|
base.OnPaint(e);
|
|
}
|
|
}
|
|
|
|
public class HorizontalProgressBar2 : BSE.Windows.Forms.ProgressBar
|
|
{
|
|
private string m_Text;
|
|
int offset = 0;
|
|
int _min = 0;
|
|
int _max = 0;
|
|
int _value = 0;
|
|
System.Windows.Forms.Label lbl1 = new System.Windows.Forms.Label();
|
|
System.Windows.Forms.Label lbl = new System.Windows.Forms.Label();
|
|
public bool reverse = false;
|
|
int displayvalue = 0;
|
|
|
|
public HorizontalProgressBar2()
|
|
: base()
|
|
{
|
|
}
|
|
|
|
public new int Value
|
|
{
|
|
get { return _value; }
|
|
set
|
|
{
|
|
if (_value == value)
|
|
return;
|
|
_value = value;
|
|
displayvalue = _value;
|
|
|
|
if (reverse)
|
|
{
|
|
int dif = _value - Minimum;
|
|
_value = Maximum - dif;
|
|
}
|
|
|
|
int ans = _value + offset;
|
|
if (ans <= base.Minimum)
|
|
{
|
|
ans = base.Minimum + 1; // prevent an exception for the -1 hack
|
|
}
|
|
else if (ans >= base.Maximum)
|
|
{
|
|
ans = base.Maximum;
|
|
}
|
|
|
|
base.Value = ans;
|
|
|
|
if (this.DesignMode) return;
|
|
|
|
if (this.Parent != null)
|
|
{
|
|
this.Parent.Controls.Add(lbl);
|
|
this.Parent.Controls.Add(lbl1);
|
|
}
|
|
}
|
|
}
|
|
|
|
public new int Minimum
|
|
{
|
|
get { return _min; }
|
|
set
|
|
{
|
|
_min = value;
|
|
if (_min < 0)
|
|
{
|
|
base.Minimum = 0; offset = (_max - value) / 2; base.Maximum = _max - value;
|
|
}
|
|
else
|
|
{
|
|
base.Minimum = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
public new int Maximum { get { return _max; } set { _max = value; base.Maximum = value; } }
|
|
|
|
[System.ComponentModel.Browsable(true),
|
|
System.ComponentModel.Category("Mine"),
|
|
System.ComponentModel.Description("Text under Bar")]
|
|
public string Label
|
|
{
|
|
get
|
|
{
|
|
return m_Text;
|
|
}
|
|
set
|
|
{
|
|
if (m_Text != value)
|
|
{
|
|
m_Text = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
private void drawlbl(Graphics e)
|
|
{
|
|
lbl.Location = new Point(this.Location.X, this.Location.Y + this.Height + 2);
|
|
lbl.ClientSize = new Size(this.Width, 13);
|
|
lbl.TextAlign = ContentAlignment.MiddleCenter;
|
|
lbl.Text = m_Text;
|
|
|
|
lbl1.Location = new Point(this.Location.X, this.Location.Y + this.Height + 15);
|
|
lbl1.ClientSize = new Size(this.Width, 13);
|
|
lbl1.TextAlign = ContentAlignment.MiddleCenter;
|
|
lbl1.Text = displayvalue.ToString();
|
|
|
|
if (minline != 0 && maxline != 0)
|
|
{
|
|
float range = this.Maximum - this.Minimum;
|
|
float range2 = this.Width;
|
|
Pen redPen = new Pen(Color.Red, 2);
|
|
|
|
SolidBrush mybrush = new SolidBrush(Color.FromArgb(0x40, 0x57, 0x04));
|
|
|
|
if ((Type)this.GetType() == typeof(VerticalProgressBar2)) {
|
|
e.ResetTransform();
|
|
range2 = this.Height;
|
|
if (reverse)
|
|
{
|
|
e.DrawLine(redPen, 0, (maxline - this.Minimum) / range * range2 + 0, this.Width, (maxline - this.Minimum) / range * range2 + 0);
|
|
e.DrawLine(redPen, 0, (minline - this.Minimum) / range * range2 + 6, this.Width, (minline - this.Minimum) / range * range2 + 6);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, mybrush, 5, (maxline - this.Minimum) / range * range2 + 2);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, Brushes.White, 5, (minline - this.Minimum) / range * range2 - 10);
|
|
}
|
|
else
|
|
{
|
|
e.DrawLine(redPen, 0, (this.Maximum - minline) / range * range2 + 0, this.Width, (this.Maximum - minline) / range * range2 + 0);
|
|
e.DrawLine(redPen, 0, (this.Maximum - maxline) / range * range2 + 6, this.Width, (this.Maximum - maxline) / range * range2 + 6);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, mybrush, 5, (this.Maximum - minline) / range * range2 + 2);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, Brushes.White, 5, (this.Maximum - maxline) / range * range2 - 10);
|
|
}
|
|
} else {
|
|
if (reverse)
|
|
{
|
|
e.DrawLine(redPen, (this.Maximum - minline) / range * range2 - 0, 0, (this.Maximum - minline) / range * range2 - 0, this.Height);
|
|
e.DrawLine(redPen, (this.Maximum - maxline) / range * range2 - 0, 0, (this.Maximum - maxline) / range * range2 - 0, this.Height);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, mybrush, (this.Maximum - minline) / range * range2 - 30, 5);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, Brushes.White, (this.Maximum - maxline) / range * range2 - 0, 5);
|
|
}
|
|
else
|
|
{
|
|
e.DrawLine(redPen, (minline - this.Minimum) / range * range2 - 0, 0, (minline - this.Minimum) / range * range2 - 0, this.Height);
|
|
e.DrawLine(redPen, (maxline - this.Minimum) / range * range2 - 0, 0, (maxline - this.Minimum) / range * range2 - 0, this.Height);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, mybrush, (minline - this.Minimum) / range * range2 - 30, 5);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, Brushes.White, (maxline - this.Minimum) / range * range2 - 0, 5);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
public int minline { get; set; }
|
|
public int maxline { get; set; }
|
|
|
|
protected override void OnPaint(PaintEventArgs e)
|
|
{
|
|
base.OnPaint(e);
|
|
drawlbl(e.Graphics);
|
|
}
|
|
|
|
}
|
|
|
|
public class HorizontalProgressBar : ProgressBar
|
|
{
|
|
private string m_Text;
|
|
int offset = 0;
|
|
int _min = 0;
|
|
int _max = 0;
|
|
int _value = 0;
|
|
bool ctladded = false;
|
|
System.Windows.Forms.Label lbl1 = new System.Windows.Forms.Label();
|
|
System.Windows.Forms.Label lbl = new System.Windows.Forms.Label();
|
|
|
|
|
|
public HorizontalProgressBar()
|
|
: base()
|
|
{
|
|
drawlbl();
|
|
//this.Parent.Controls.AddRange(new Control[] { lbl, lbl1 });
|
|
}
|
|
|
|
public new int Value
|
|
{
|
|
get { return _value; }
|
|
set
|
|
{
|
|
_value = value;
|
|
int ans = value + offset;
|
|
if (ans <= base.Minimum)
|
|
{
|
|
ans = base.Minimum + 1; // prevent an exception for the -1 hack
|
|
}
|
|
else if (ans >= base.Maximum)
|
|
{
|
|
ans = base.Maximum;
|
|
}
|
|
base.Value = ans;
|
|
drawlbl();
|
|
base.Value = ans - 1;
|
|
drawlbl();
|
|
base.Value = ans;
|
|
drawlbl();
|
|
|
|
if (this.Parent != null && ctladded == false)
|
|
{
|
|
this.Parent.Controls.Add(lbl);
|
|
this.Parent.Controls.Add(lbl1);
|
|
ctladded = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
public new int Minimum
|
|
{
|
|
get { return _min; }
|
|
set
|
|
{
|
|
_min = value;
|
|
if (_min < 0)
|
|
{
|
|
base.Minimum = 0; offset = (_max - value) / 2; base.Maximum = _max - value;
|
|
}
|
|
else
|
|
{
|
|
base.Minimum = value;
|
|
}
|
|
|
|
if (this.DesignMode) return;
|
|
|
|
if (this.Parent != null && ctladded == false)
|
|
{
|
|
this.Parent.Controls.Add(lbl);
|
|
this.Parent.Controls.Add(lbl1);
|
|
ctladded = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
public new int Maximum { get { return _max; } set { _max = value; base.Maximum = value; } }
|
|
|
|
[System.ComponentModel.Browsable(true),
|
|
System.ComponentModel.Category("Mine"),
|
|
System.ComponentModel.Description("Text under Bar")]
|
|
public string Label
|
|
{
|
|
get
|
|
{
|
|
return m_Text;
|
|
}
|
|
set
|
|
{
|
|
if (m_Text != value)
|
|
{
|
|
m_Text = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
private void drawlbl()
|
|
{
|
|
lbl.Location = new Point(this.Location.X, this.Location.Y + this.Height + 2);
|
|
lbl.ClientSize = new Size(this.Width, 13);
|
|
lbl.TextAlign = ContentAlignment.MiddleCenter;
|
|
lbl.Text = m_Text;
|
|
|
|
lbl1.Location = new Point(this.Location.X, this.Location.Y + this.Height + 15);
|
|
lbl1.ClientSize = new Size(this.Width, 13);
|
|
lbl1.TextAlign = ContentAlignment.MiddleCenter;
|
|
lbl1.Text = Value.ToString();
|
|
|
|
if (minline != 0 && maxline != 0)
|
|
{
|
|
float range = this.Maximum - this.Minimum;
|
|
float range2 = this.Width;
|
|
Graphics e = this.CreateGraphics();
|
|
Pen redPen = new Pen(Color.Red, 2);
|
|
|
|
if ((Type)this.GetType() == typeof(VerticalProgressBar)) {
|
|
range2 = this.Height;
|
|
e.DrawLine(redPen, 0, (this.Maximum - minline) / range * range2 + 0, this.Width, (this.Maximum - minline) / range * range2 + 0);
|
|
e.DrawLine(redPen, 0, (this.Maximum - maxline) / range * range2 + 0, this.Width, (this.Maximum - maxline) / range * range2 + 0);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, Brushes.Black, 5, (this.Maximum - minline) / range * range2 + 2);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, Brushes.Black, 5, (this.Maximum - maxline) / range * range2 - 15);
|
|
} else {
|
|
e.DrawLine(redPen, (minline - this.Minimum) / range * range2 - 3, 0, (minline - this.Minimum) / range * range2 - 3, this.Height);
|
|
e.DrawLine(redPen, (maxline - this.Minimum) / range * range2 - 3, 0, (maxline - this.Minimum) / range * range2 - 3, this.Height);
|
|
e.DrawString(minline.ToString(), SystemFonts.DefaultFont, Brushes.Black, (minline - this.Minimum) / range * range2 - 35, 5);
|
|
e.DrawString(maxline.ToString(), SystemFonts.DefaultFont, Brushes.Black, (maxline - this.Minimum) / range * range2 - 3, 5);
|
|
}
|
|
}
|
|
}
|
|
|
|
public int minline { get; set; }
|
|
public int maxline { get; set; }
|
|
|
|
protected override void OnPaint(PaintEventArgs e)
|
|
{
|
|
base.OnPaint(e);
|
|
drawlbl();
|
|
}
|
|
}
|
|
}
|