mirror of https://github.com/ArduPilot/ardupilot
1141 lines
44 KiB
C#
1141 lines
44 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.ComponentModel;
|
|
using System.Data;
|
|
using System.Drawing;
|
|
using System.Text;
|
|
using System.Windows.Forms;
|
|
using System.IO;
|
|
using System.IO.Ports;
|
|
using System.Text.RegularExpressions;
|
|
using System.Collections;
|
|
using System.Globalization;
|
|
using System.Threading;
|
|
using DirectShowLib;
|
|
using System.Runtime.InteropServices;
|
|
|
|
namespace ArdupilotMega.GCSViews
|
|
{
|
|
public partial class Configuration : MyUserControl
|
|
{
|
|
Hashtable param = new Hashtable();
|
|
Hashtable changes = new Hashtable();
|
|
static Hashtable tooltips = new Hashtable();
|
|
internal bool startup = true;
|
|
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 struct paramsettings // hk's
|
|
{
|
|
public string name;
|
|
public float minvalue;
|
|
public float maxvalue;
|
|
public float normalvalue;
|
|
public float scale;
|
|
public string desc;
|
|
}
|
|
|
|
public Configuration()
|
|
{
|
|
InitializeComponent();
|
|
|
|
//this.Width = this.Parent.Width;
|
|
//this.Height = this.Parent.Height;
|
|
|
|
// fix for dup name
|
|
//XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
|
|
XTRK_GAIN_SC1.Name = "XTRK_GAIN_SC";
|
|
}
|
|
|
|
private void Configuration_Load(object sender, EventArgs e)
|
|
{
|
|
startup = true;
|
|
|
|
// enable disable relevbant hardware tabs
|
|
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
ConfigTabs.SelectedIndex = 0;
|
|
TabAP.Enabled = true;
|
|
TabAC.Enabled = false;
|
|
}
|
|
else
|
|
{
|
|
ConfigTabs.SelectedIndex = 1;
|
|
TabAP.Enabled = false;
|
|
TabAC.Enabled = true;
|
|
}
|
|
|
|
// read tooltips
|
|
if (tooltips.Count == 0)
|
|
readToolTips();
|
|
|
|
// prefill all fields
|
|
param = MainV2.comPort.param;
|
|
processToScreen();
|
|
|
|
|
|
|
|
// 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();
|
|
|
|
|
|
if (MainV2.config["CHK_GDIPlus"] != null)
|
|
CHK_GDIPlus.Checked = bool.Parse(MainV2.config["CHK_GDIPlus"].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" })
|
|
{
|
|
ci = MainV2.getcultureinfo(name);
|
|
if (ci != null)
|
|
languages.Add(ci);
|
|
}
|
|
|
|
CMB_language.DisplayMember = "DisplayName";
|
|
CMB_language.DataSource = languages;
|
|
bool match = false;
|
|
for (int i = 0; i < languages.Count && !match; i++)
|
|
{
|
|
ci = Thread.CurrentThread.CurrentUICulture;
|
|
while (!ci.Equals(CultureInfo.InvariantCulture))
|
|
{
|
|
if (ci.Equals(languages[i]))
|
|
{
|
|
CMB_language.SelectedIndex = i;
|
|
match = true;
|
|
break;
|
|
}
|
|
ci = ci.Parent;
|
|
}
|
|
}
|
|
CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
|
|
|
|
startup = false;
|
|
}
|
|
|
|
string[] genpids()
|
|
{
|
|
List<string> temp = new List<string>();
|
|
// pids
|
|
for (double a = 8.00; a >= -0.001; a -= 0.001)
|
|
{
|
|
temp.Add(a.ToString("0.0##"));
|
|
}
|
|
|
|
// Nav angles + throttle
|
|
for (int a = 100; a >= -90; a -= 1)
|
|
{
|
|
temp.Add(a.ToString("0.0#"));
|
|
}
|
|
|
|
// imax
|
|
for (int a = 8000; a >= -4500; a -= 100)
|
|
{
|
|
temp.Add(a.ToString("0.0#"));
|
|
}
|
|
|
|
// FS pulse
|
|
for (int a = 1200; a >= 900; a -= 1)
|
|
{
|
|
temp.Add(a.ToString("0.0#"));
|
|
}
|
|
|
|
return temp.ToArray();
|
|
}
|
|
|
|
void readToolTips()
|
|
{
|
|
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
|
|
|
|
string data = resources.GetString("MAVParam");
|
|
|
|
if (data == null)
|
|
return;
|
|
|
|
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
|
|
|
|
foreach (var tip in tips)
|
|
{
|
|
if (!tip.StartsWith("||"))
|
|
continue;
|
|
|
|
string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
|
|
|
|
if (cols.Length >= 8)
|
|
{
|
|
paramsettings param = new paramsettings();
|
|
try
|
|
{
|
|
param.name = cols[1];
|
|
param.desc = AddNewLinesForTooltip(cols[7]);
|
|
param.scale = float.Parse(cols[5]);
|
|
param.minvalue = float.Parse(cols[2]);
|
|
param.maxvalue = float.Parse(cols[3]);
|
|
param.normalvalue = float.Parse(cols[4]);
|
|
}
|
|
catch { }
|
|
tooltips[cols[1]] = param;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
|
|
private const int maximumSingleLineTooltipLength = 50;
|
|
|
|
private static string AddNewLinesForTooltip(string text)
|
|
{
|
|
if (text.Length < maximumSingleLineTooltipLength)
|
|
return text;
|
|
int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
|
|
StringBuilder sb = new StringBuilder();
|
|
int currentLinePosition = 0;
|
|
for (int textIndex = 0; textIndex < text.Length; textIndex++)
|
|
{
|
|
// If we have reached the target line length and the next
|
|
// character is whitespace then begin a new line.
|
|
if (currentLinePosition >= lineLength &&
|
|
char.IsWhiteSpace(text[textIndex]))
|
|
{
|
|
sb.Append(Environment.NewLine);
|
|
currentLinePosition = 0;
|
|
}
|
|
// If we have just started a new line, skip all the whitespace.
|
|
if (currentLinePosition == 0)
|
|
while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
|
|
textIndex++;
|
|
// Append the next character.
|
|
if (textIndex < text.Length) sb.Append(text[textIndex]);
|
|
currentLinePosition++;
|
|
}
|
|
return sb.ToString();
|
|
}
|
|
|
|
void disableNumericUpDownControls(Control inctl)
|
|
{
|
|
foreach (Control ctl in inctl.Controls)
|
|
{
|
|
if (ctl.Controls.Count > 0)
|
|
{
|
|
disableNumericUpDownControls(ctl);
|
|
}
|
|
if (ctl.GetType() == typeof(NumericUpDown))
|
|
{
|
|
ctl.Enabled = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
internal void processToScreen()
|
|
{
|
|
toolTip1.RemoveAll();
|
|
Params.Rows.Clear();
|
|
|
|
disableNumericUpDownControls(TabAC);
|
|
disableNumericUpDownControls(TabAP);
|
|
|
|
// process hashdefines and update display
|
|
foreach (string value in param.Keys)
|
|
{
|
|
if (value == null || value == "")
|
|
continue;
|
|
|
|
//System.Diagnostics.Debug.WriteLine("Doing: " + value);
|
|
|
|
Params.Rows.Add();
|
|
Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
|
|
Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)param[value]).ToString("0.###");
|
|
try
|
|
{
|
|
if (tooltips[value] != null)
|
|
{
|
|
Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
|
|
//Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
|
|
Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
|
|
|
|
//Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
|
|
//Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
|
|
//Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
string name = value;
|
|
Control[] text = this.Controls.Find(name, true);
|
|
foreach (Control ctl in text)
|
|
{
|
|
try
|
|
{
|
|
if (ctl.GetType() == typeof(NumericUpDown))
|
|
{
|
|
|
|
NumericUpDown thisctl = ((NumericUpDown)ctl);
|
|
thisctl.Maximum = 9000;
|
|
thisctl.Minimum = -9000;
|
|
thisctl.Value = (decimal)(float)param[value];
|
|
thisctl.Increment = (decimal)0.001;
|
|
if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D") || thisctl.Value == 0 || thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
|
|
{
|
|
thisctl.DecimalPlaces = 3;
|
|
}
|
|
else
|
|
{
|
|
thisctl.Increment = (decimal)1;
|
|
thisctl.DecimalPlaces = 1;
|
|
}
|
|
|
|
thisctl.Enabled = true;
|
|
|
|
thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
thisctl.Validated += null;
|
|
if (tooltips[value] != null)
|
|
{
|
|
try
|
|
{
|
|
toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
|
|
}
|
|
catch { }
|
|
}
|
|
thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
|
|
|
|
}
|
|
else if (ctl.GetType() == typeof(ComboBox))
|
|
{
|
|
|
|
ComboBox thisctl = ((ComboBox)ctl);
|
|
|
|
thisctl.SelectedIndex = (int)(float)param[value];
|
|
|
|
thisctl.Validated += new EventHandler(ComboBox_Validated);
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
}
|
|
if (text.Length == 0)
|
|
{
|
|
Console.WriteLine(name + " not found");
|
|
}
|
|
|
|
}
|
|
Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
|
|
}
|
|
|
|
void ComboBox_Validated(object sender, EventArgs e)
|
|
{
|
|
EEPROM_View_float_TextChanged(sender, e);
|
|
}
|
|
|
|
void Configuration_Validating(object sender, CancelEventArgs e)
|
|
{
|
|
EEPROM_View_float_TextChanged(sender, e);
|
|
}
|
|
|
|
internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
|
|
{
|
|
float value = 0;
|
|
string name = ((Control)sender).Name;
|
|
|
|
// do domainupdown state check
|
|
try
|
|
{
|
|
if (sender.GetType() == typeof(NumericUpDown))
|
|
{
|
|
value = float.Parse(((Control)sender).Text);
|
|
changes[name] = value;
|
|
}
|
|
else if (sender.GetType() == typeof(ComboBox))
|
|
{
|
|
value = ((ComboBox)sender).SelectedIndex;
|
|
changes[name] = value;
|
|
}
|
|
((Control)sender).BackColor = Color.Green;
|
|
}
|
|
catch (Exception)
|
|
{
|
|
((Control)sender).BackColor = Color.Red;
|
|
}
|
|
|
|
try
|
|
{
|
|
// enable roll and pitch pairing for ac2
|
|
if (CHK_lockrollpitch.Checked)
|
|
{
|
|
if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
|
|
{
|
|
if (name.Contains("_RLL_"))
|
|
{
|
|
string newname = name.Replace("_RLL_", "_PIT_");
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == newname)
|
|
{
|
|
row.Cells[1].Value = float.Parse(((Control)sender).Text);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
else if (name.Contains("_PIT_"))
|
|
{
|
|
string newname = name.Replace("_PIT_", "_RLL_");
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == newname)
|
|
{
|
|
row.Cells[1].Value = float.Parse(((Control)sender).Text);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// keep nav_lat and nav_lon paired
|
|
if (name.Contains("NAV_LAT_"))
|
|
{
|
|
string newname = name.Replace("NAV_LAT_", "NAV_LON_");
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == newname)
|
|
{
|
|
row.Cells[1].Value = float.Parse(((Control)sender).Text);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
// keep nav_lat and nav_lon paired
|
|
if (name.Contains("HLD_LAT_"))
|
|
{
|
|
string newname = name.Replace("HLD_LAT_", "HLD_LON_");
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == newname)
|
|
{
|
|
row.Cells[1].Value = float.Parse(((Control)sender).Text);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
try
|
|
{
|
|
// set param table as well
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == name)
|
|
{
|
|
if (sender.GetType() == typeof(NumericUpDown))
|
|
{
|
|
row.Cells[1].Value = float.Parse(((Control)sender).Text);
|
|
}
|
|
else if (sender.GetType() == typeof(ComboBox))
|
|
{
|
|
row.Cells[1].Value = ((ComboBox)sender).SelectedIndex;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
//((Control)sender).Focus();
|
|
}
|
|
|
|
void Params_CellValueChanged(object sender, DataGridViewCellEventArgs e)
|
|
{
|
|
if (e.RowIndex == -1 || e.ColumnIndex == -1 || startup == true || e.ColumnIndex != 1)
|
|
return;
|
|
try
|
|
{
|
|
if (Params[Command.Index, e.RowIndex].Value.ToString().EndsWith("_REV") && (Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("RC") || Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("HS")))
|
|
{
|
|
if (Params[e.ColumnIndex, e.RowIndex].Value.ToString() == "0")
|
|
Params[e.ColumnIndex, e.RowIndex].Value = "-1";
|
|
}
|
|
|
|
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Green;
|
|
changes[Params[0, e.RowIndex].Value] = float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString());
|
|
}
|
|
catch (Exception)
|
|
{
|
|
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Red;
|
|
}
|
|
|
|
// set control as well
|
|
Control[] text = this.Controls.Find(Params[0, e.RowIndex].Value.ToString(), true);
|
|
try
|
|
{
|
|
if (text.Length > 0)
|
|
{
|
|
if (text[0].GetType() == typeof(NumericUpDown))
|
|
{
|
|
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
|
|
((NumericUpDown)text[0]).Value = option;
|
|
((NumericUpDown)text[0]).BackColor = Color.Green;
|
|
}
|
|
else if (text[0].GetType() == typeof(ComboBox))
|
|
{
|
|
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
|
|
((ComboBox)text[0]).SelectedIndex = option;
|
|
((ComboBox)text[0]).BackColor = Color.Green;
|
|
}
|
|
}
|
|
}
|
|
catch { ((Control)text[0]).BackColor = Color.Red; }
|
|
|
|
Params.Focus();
|
|
}
|
|
|
|
private void BUT_load_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog ofd = new OpenFileDialog();
|
|
ofd.AddExtension = true;
|
|
ofd.DefaultExt = ".param";
|
|
ofd.RestoreDirectory = true;
|
|
ofd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = ofd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamReader sr = new StreamReader(ofd.OpenFile());
|
|
while (!sr.EndOfStream)
|
|
{
|
|
string line = sr.ReadLine();
|
|
|
|
if (line.Contains("NOTE:"))
|
|
MessageBox.Show(line, "Saved Note");
|
|
|
|
int index = line.IndexOf(',');
|
|
|
|
int index2 = line.IndexOf(',', index + 1);
|
|
|
|
if (index == -1)
|
|
continue;
|
|
|
|
if (index2 != -1)
|
|
line = line.Replace(',','.');
|
|
|
|
string name = line.Substring(0, index);
|
|
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
|
|
|
|
MAVLink.modifyParamForDisplay(true,name,ref value);
|
|
|
|
// set param table as well
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (name == "SYSID_SW_MREV")
|
|
continue;
|
|
if (name == "WP_TOTAL")
|
|
continue;
|
|
if (name == "CMD_TOTAL")
|
|
continue;
|
|
if (name == "FENCE_TOTAL")
|
|
continue;
|
|
if (name == "SYS_NUM_RESETS")
|
|
continue;
|
|
if (name == "ARSPD_OFFSET")
|
|
continue;
|
|
if (name == "GND_ABS_PRESS")
|
|
continue;
|
|
if (name == "GND_TEMP")
|
|
continue;
|
|
if (name == "CMD_INDEX")
|
|
continue;
|
|
if (name == "LOG_LASTFILE")
|
|
continue;
|
|
if (row.Cells[0].Value.ToString() == name)
|
|
{
|
|
if (row.Cells[1].Value.ToString() != value.ToString())
|
|
row.Cells[1].Value = value;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
sr.Close();
|
|
}
|
|
}
|
|
|
|
private void BUT_save_Click(object sender, EventArgs e)
|
|
{
|
|
SaveFileDialog sfd = new SaveFileDialog();
|
|
sfd.AddExtension = true;
|
|
sfd.DefaultExt = ".param";
|
|
sfd.RestoreDirectory = true;
|
|
sfd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = sfd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamWriter sw = new StreamWriter(sfd.OpenFile());
|
|
string input = DateTime.Now + " Frame : + | Arducopter Kit | Kit motors";
|
|
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
input = DateTime.Now + " Plane: Skywalker";
|
|
}
|
|
Common.InputBox("Custom Note", "Enter your Notes/Frame Type etc", ref input);
|
|
if (input != "")
|
|
sw.WriteLine("NOTE: " + input.Replace(',', '|'));
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
float value = float.Parse(row.Cells[1].Value.ToString());
|
|
|
|
MAVLink.modifyParamForDisplay(false, row.Cells[0].Value.ToString(), ref value);
|
|
|
|
sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
}
|
|
sw.Close();
|
|
}
|
|
}
|
|
|
|
private void BUT_writePIDS_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
Hashtable temp = (Hashtable)changes.Clone();
|
|
|
|
foreach (string value in temp.Keys)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam(value, (float)changes[value]);
|
|
|
|
try
|
|
{
|
|
// set control as well
|
|
Control[] text = this.Controls.Find(value, true);
|
|
if (text.Length > 0)
|
|
{
|
|
((Control)text[0]).BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
try
|
|
{
|
|
// set param table as well
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == value)
|
|
{
|
|
row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
changes.Remove(value);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
}
|
|
catch { MessageBox.Show("Set " + value + " Failed"); }
|
|
}
|
|
}
|
|
|
|
const float rad2deg = (float)(180 / Math.PI);
|
|
const float deg2rad = (float)(1.0 / rad2deg);
|
|
|
|
private void Planner_TabIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (ConfigTabs.SelectedTab == TabSetup)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
MessageBox.Show("Please Connect First");
|
|
ConfigTabs.SelectedIndex = 0;
|
|
}
|
|
else
|
|
{
|
|
|
|
Setup.Setup temp = new Setup.Setup();
|
|
|
|
temp.Configuration = this;
|
|
|
|
MainV2.fixtheme(temp);
|
|
|
|
temp.ShowDialog();
|
|
|
|
startup = true;
|
|
processToScreen();
|
|
startup = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_videostart_Click(object sender, EventArgs e)
|
|
{
|
|
// stop first
|
|
BUT_videostop_Click(sender, e);
|
|
|
|
GCSBitmapInfo bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
|
|
|
|
try
|
|
{
|
|
MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
|
|
|
|
MainV2.cam.showhud = CHK_hudshow.Checked;
|
|
|
|
MainV2.cam.Start();
|
|
|
|
BUT_videostart.Enabled = false;
|
|
}
|
|
catch (Exception ex) { MessageBox.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);
|
|
DsError.ThrowExceptionForHR(hr);
|
|
|
|
// 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;
|
|
}
|
|
|
|
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.talk != null)
|
|
MainV2.talk.SpeakAsyncCancelAll();
|
|
}
|
|
private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
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 { MessageBox.Show("Error: getting param list"); }
|
|
|
|
((MyButton)sender).Enabled = true;
|
|
startup = true;
|
|
Configuration_Load(null, null);
|
|
}
|
|
|
|
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();
|
|
MainV2.fixtheme(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)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
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 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 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 BUT_compare_Click(object sender, EventArgs e)
|
|
{
|
|
Hashtable param2 = new Hashtable();
|
|
|
|
OpenFileDialog ofd = new OpenFileDialog();
|
|
ofd.AddExtension = true;
|
|
ofd.DefaultExt = ".param";
|
|
ofd.RestoreDirectory = true;
|
|
ofd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = ofd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamReader sr = new StreamReader(ofd.OpenFile());
|
|
while (!sr.EndOfStream)
|
|
{
|
|
string line = sr.ReadLine();
|
|
|
|
if (line.Contains("NOTE:"))
|
|
MessageBox.Show(line, "Saved Note");
|
|
|
|
int index = line.IndexOf(',');
|
|
|
|
if (index == -1)
|
|
continue;
|
|
|
|
string name = line.Substring(0, index);
|
|
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
|
|
|
|
MAVLink.modifyParamForDisplay(true, name, ref value);
|
|
|
|
if (name == "SYSID_SW_MREV")
|
|
continue;
|
|
if (name == "WP_TOTAL")
|
|
continue;
|
|
if (name == "CMD_TOTAL")
|
|
continue;
|
|
|
|
param2[name] = value;
|
|
}
|
|
sr.Close();
|
|
|
|
ParamCompare temp = new ParamCompare(this, param, param2);
|
|
MainV2.fixtheme(temp);
|
|
temp.ShowDialog();
|
|
}
|
|
}
|
|
|
|
private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MessageBox.Show("You need to restart the planner for this to take effect");
|
|
MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
|
|
}
|
|
|
|
private void CHK_lockrollpitch_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
}
|
|
} |