ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs

572 lines
22 KiB
C#

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Globalization;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Windows.Forms;
using DirectShowLib;
using ArdupilotMega.Controls.BackstageView;
using ArdupilotMega.Controls;
using ArdupilotMega.Utilities;
using System.Threading;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigPlanner : BackStageViewContentPanel
{
private bool startup = false;
List<CultureInfo> languages = new List<CultureInfo>();
public class GCSBitmapInfo
{
public int Width { get; set; }
public int Height { get; set; }
public long Fps { get; set; }
public string Standard { get; set; }
public AMMediaType Media { get; set; }
public GCSBitmapInfo(int width, int height, long fps, string standard, AMMediaType media)
{
Width = width;
Height = height;
Fps = fps;
Standard = standard;
Media = media;
}
public override string ToString()
{
return Width.ToString() + " x " + Height.ToString() + String.Format(" {0:0.00} fps ", 10000000.0 / Fps) + Standard;
}
}
public ConfigPlanner()
{
InitializeComponent();
}
private void BUT_videostart_Click(object sender, EventArgs e)
{
// stop first
BUT_videostop_Click(sender, e);
var bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
try
{
MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
MainV2.cam.Start();
MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
BUT_videostart.Enabled = false;
}
catch (Exception ex) { CustomMessageBox.Show("Camera Fail: " + ex.Message); }
}
private void BUT_videostop_Click(object sender, EventArgs e)
{
BUT_videostart.Enabled = true;
if (MainV2.cam != null)
{
MainV2.cam.Dispose();
MainV2.cam = null;
}
}
private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
{
// the reason why i dont populate this list is because on linux/mac this call will fail.
WebCamService.Capture capt = new WebCamService.Capture();
List<string> devices = WebCamService.Capture.getDevices();
CMB_videosources.DataSource = devices;
capt.Dispose();
}
private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
{
int hr;
int count;
int size;
object o;
IBaseFilter capFilter = null;
ICaptureGraphBuilder2 capGraph = null;
AMMediaType media = null;
VideoInfoHeader v;
VideoStreamConfigCaps c;
List<GCSBitmapInfo> modes = new List<GCSBitmapInfo>();
// Get the ICaptureGraphBuilder2
capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();
DsDevice[] capDevices;
capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
// Add the video device
hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
try
{
DsError.ThrowExceptionForHR(hr);
}
catch (Exception ex)
{
CustomMessageBox.Show("Can not add video source\n" + ex.ToString());
return;
}
// Find the stream config interface
hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
DsError.ThrowExceptionForHR(hr);
IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
if (videoStreamConfig == null)
{
throw new Exception("Failed to get IAMStreamConfig");
}
hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
DsError.ThrowExceptionForHR(hr);
IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
for (int i = 0; i < count; i++)
{
IntPtr ptr = IntPtr.Zero;
hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
modes.Add(new GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
}
Marshal.FreeCoTaskMem(TaskMemPointer);
DsUtils.FreeAMMediaType(media);
CMB_videoresolutions.DataSource = modes;
if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
{
CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
}
}
private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
{
GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;
}
private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
{
MainV2.speechEnable = CHK_enablespeech.Checked;
MainV2.config["speechenable"] = CHK_enablespeech.Checked;
if (MainV2.speechEngine != null)
MainV2.speechEngine.SpeakAsyncCancelAll();
}
private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.instance.changelanguage((CultureInfo)CMB_language.SelectedItem);
#if !DEBUG
MessageBox.Show("Please Restart the Planner");
Application.Exit();
#endif
}
private void CMB_osdcolor_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
if (CMB_osdcolor.Text != "")
{
MainV2.config["hudcolor"] = CMB_osdcolor.Text;
GCSViews.FlightData.myhud.hudcolor = Color.FromKnownColor((KnownColor)Enum.Parse(typeof(KnownColor), CMB_osdcolor.Text));
}
}
private void CHK_speechwaypoint_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speechwaypointenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
string speechstring = "Heading to Waypoint {wpn}";
if (MainV2.config["speechwaypoint"] != null)
speechstring = MainV2.config["speechwaypoint"].ToString();
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
MainV2.config["speechwaypoint"] = speechstring;
}
}
private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
string speechstring = "Mode changed to {mode}";
if (MainV2.config["speechmode"] != null)
speechstring = MainV2.config["speechmode"].ToString();
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
MainV2.config["speechmode"] = speechstring;
}
}
private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
string speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
if (MainV2.config["speechcustom"] != null)
speechstring = MainV2.config["speechcustom"].ToString();
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
MainV2.config["speechcustom"] = speechstring;
}
}
private void BUT_rerequestparams_Click(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
return;
((MyButton)sender).Enabled = false;
try
{
MainV2.comPort.getParamList();
}
catch { CustomMessageBox.Show("Error: getting param list"); }
((MyButton)sender).Enabled = true;
startup = true;
startup = false;
}
private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
string speechstring = "WARNING, Battery at {batv} Volt";
if (MainV2.config["speechbattery"] != null)
speechstring = MainV2.config["speechbattery"].ToString();
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
MainV2.config["speechbattery"] = speechstring;
speechstring = "9.6";
if (MainV2.config["speechbatteryvolt"] != null)
speechstring = MainV2.config["speechbatteryvolt"].ToString();
Common.InputBox("Battery Level", "What Voltage do you want to warn at?", ref speechstring);
MainV2.config["speechbatteryvolt"] = speechstring;
}
}
private void BUT_Joystick_Click(object sender, EventArgs e)
{
Form joy = new JoystickSetup();
ThemeManager.ApplyThemeTo(joy);
joy.Show();
}
private void CMB_distunits_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["distunits"] = CMB_distunits.Text;
MainV2.instance.ChangeUnits();
}
private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speedunits"] = CMB_speedunits.Text;
MainV2.instance.ChangeUnits();
}
private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
}
private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
}
private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
}
private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
}
private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
{
MainV2.comPort.debugmavlink = CHK_mavdebug.Checked;
}
private void CHK_resetapmonconnect_CheckedChanged(object sender, EventArgs e)
{
MainV2.config[((CheckBox)sender).Name] = ((CheckBox)sender).Checked.ToString();
}
private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
string speechstring = "WARNING, low altitude {alt}";
if (MainV2.config["speechalt"] != null)
speechstring = MainV2.config["speechalt"].ToString();
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
MainV2.config["speechalt"] = speechstring;
speechstring = "2";
if (MainV2.config["speechaltheight"] != null)
speechstring = MainV2.config["speechaltheight"].ToString();
Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.cs.multiplierdist).ToString(); // save as m
}
}
private void NUM_tracklength_ValueChanged(object sender, EventArgs e)
{
MainV2.config["NUM_tracklength"] = NUM_tracklength.Value.ToString();
}
private void CHK_loadwponconnect_CheckedChanged(object sender, EventArgs e)
{
MainV2.config["loadwpsonconnect"] = CHK_loadwponconnect.Checked.ToString();
}
private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
CustomMessageBox.Show("You need to restart the planner for this to take effect");
MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
}
private void ConfigPlanner_Load(object sender, EventArgs e)
{
startup = true;
// setup up camera button states
if (MainV2.cam != null)
{
BUT_videostart.Enabled = false;
CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
}
else
{
BUT_videostart.Enabled = true;
}
// setup speech states
if (MainV2.config["speechenable"] != null)
CHK_enablespeech.Checked = bool.Parse(MainV2.config["speechenable"].ToString());
if (MainV2.config["speechwaypointenabled"] != null)
CHK_speechwaypoint.Checked = bool.Parse(MainV2.config["speechwaypointenabled"].ToString());
if (MainV2.config["speechmodeenabled"] != null)
CHK_speechmode.Checked = bool.Parse(MainV2.config["speechmodeenabled"].ToString());
if (MainV2.config["speechcustomenabled"] != null)
CHK_speechcustom.Checked = bool.Parse(MainV2.config["speechcustomenabled"].ToString());
if (MainV2.config["speechbatteryenabled"] != null)
CHK_speechbattery.Checked = bool.Parse(MainV2.config["speechbatteryenabled"].ToString());
if (MainV2.config["speechaltenabled"] != null)
CHK_speechaltwarning.Checked = bool.Parse(MainV2.config["speechaltenabled"].ToString());
// this can't fail because it set at startup
NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());
// get wps on connect
if (MainV2.config["loadwpsonconnect"] != null)
CHK_loadwponconnect.Checked = bool.Parse(MainV2.config["loadwpsonconnect"].ToString());
// setup other config state
if (MainV2.config["CHK_resetapmonconnect"] != null)
CHK_resetapmonconnect.Checked = bool.Parse(MainV2.config["CHK_resetapmonconnect"].ToString());
CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
CMB_raterc.Text = MainV2.cs.raterc.ToString();
CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
if (MainV2.config["CHK_GDIPlus"] != null)
CHK_GDIPlus.Checked = bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
if (MainV2.config["CHK_maprotation"] != null)
CHK_maprotation.Checked = bool.Parse(MainV2.config["CHK_maprotation"].ToString());
//set hud color state
string hudcolor = (string)MainV2.config["hudcolor"];
CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));
if (hudcolor != null)
{
int index = CMB_osdcolor.Items.IndexOf(hudcolor);
CMB_osdcolor.SelectedIndex = index;
}
else
{
int index = CMB_osdcolor.Items.IndexOf("White");
CMB_osdcolor.SelectedIndex = index;
}
// set distance/speed unit states
CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
if (MainV2.config["distunits"] != null)
CMB_distunits.Text = MainV2.config["distunits"].ToString();
if (MainV2.config["speedunits"] != null)
CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
// setup language selection
CultureInfo ci = null;
foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" })
{
ci = CultureInfoEx.GetCultureInfo(name);
if (ci != null)
languages.Add(ci);
}
CMB_language.DisplayMember = "DisplayName";
CMB_language.DataSource = languages;
ci = Thread.CurrentThread.CurrentUICulture;
for (int i = 0; i < languages.Count; i++)
{
if (ci.IsChildOf(languages[i]))
{
CMB_language.SelectedIndex = i;
break;
}
}
//CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
startup = false;
}
private void CMB_osdcolor_DrawItem(object sender, DrawItemEventArgs e)
{
if (e.Index < 0)
return;
Graphics g = e.Graphics;
Rectangle rect = e.Bounds;
Brush brush = null;
if ((e.State & DrawItemState.Selected) == 0)
brush = new SolidBrush(CMB_osdcolor.BackColor);
else
brush = SystemBrushes.Highlight;
g.FillRectangle(brush, rect);
brush = new SolidBrush(Color.FromName((string)CMB_osdcolor.Items[e.Index]));
g.FillRectangle(brush, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
g.DrawRectangle(Pens.Black, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
if ((e.State & DrawItemState.Selected) == 0)
brush = new SolidBrush(CMB_osdcolor.ForeColor);
else
brush = SystemBrushes.HighlightText;
g.DrawString(CMB_osdcolor.Items[e.Index].ToString(),
CMB_osdcolor.Font, brush, rect.X + 35, rect.Top + rect.Height - CMB_osdcolor.Font.Height);
}
private void CMB_videosources_Click(object sender, EventArgs e)
{
// the reason why i dont populate this list is because on linux/mac this call will fail.
WebCamService.Capture capt = new WebCamService.Capture();
List<string> devices = WebCamService.Capture.getDevices();
CMB_videosources.DataSource = devices;
capt.Dispose();
}
private void CHK_maprotation_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.config["CHK_maprotation"] = CHK_maprotation.Checked.ToString();
}
}
}