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ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

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C#
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using System;
using System.Collections.Generic; // Lists
using System.Text; // stringbuilder
using System.Drawing; // pens etc
using System.IO; // file io
using System.IO.Ports; // serial
using System.Windows.Forms; // Forms
using System.Collections; // hashs
using System.Text.RegularExpressions; // regex
using System.Xml; // GE xml alt reader
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using GMap.NET;
using GMap.NET.WindowsForms;
using System.Globalization; // language
using GMap.NET.WindowsForms.Markers;
using System.Resources;
using System.Reflection;
using System.ComponentModel;
using System.Threading;
using log4net;
using SharpKml.Base;
using SharpKml.Dom;
using ArdupilotMega.Controls;
using ArdupilotMega.Utilities;
using ArdupilotMega.Controls.BackstageView;
namespace ArdupilotMega.GCSViews
{
partial class FlightPlanner : MyUserControl, IDeactivate
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
int selectedrow = 0;
bool quickadd = false;
bool isonline = true;
bool sethome = false;
bool polygongridmode = false;
Hashtable param = new Hashtable();
public static List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
static public Object thisLock = new Object();
private TextBox textBox1;
private ComponentResourceManager rm = new ComponentResourceManager(typeof(FlightPlanner));
private Dictionary<string, string[]> cmdParamNames = new Dictionary<string, string[]>();
/// <summary>
/// Reads defines.h for all valid commands and eeprom positions
/// </summary>
/// <param name="file">File Path</param>
/// <returns></returns>
public bool readdefines(string file)
{
if (!File.Exists(file))
{
return false;
}
try
{
StreamReader sr = new StreamReader(file); //"defines.h"
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
Regex regex2 = new Regex(@"define\s+([^\s]+)\s+([^\s]+)", RegexOptions.IgnoreCase);
if (regex2.IsMatch(line))
{
MatchCollection matchs = regex2.Matches(line);
for (int i = 0; i < matchs.Count; i++)
{
int num = 0;
if (matchs[i].Groups[2].Value.ToString().ToLower().Contains("0x"))
{
try
{
num = Convert.ToInt32(matchs[i].Groups[2].Value.ToString(), 16);
}
catch (Exception) { System.Diagnostics.Debug.WriteLine("BAD hex " + matchs[i].Groups[1].Value.ToString()); }
}
else
{
try
{
num = Convert.ToInt32(matchs[i].Groups[2].Value.ToString(), 10);
}
catch (Exception) { System.Diagnostics.Debug.WriteLine("BAD dec " + matchs[i].Groups[1].Value.ToString()); }
}
System.Diagnostics.Debug.WriteLine(matchs[i].Groups[1].Value.ToString() + " = " + matchs[i].Groups[2].Value.ToString() + " = " + num.ToString());
try
{
// hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
}
catch (Exception) { }
}
}
}
sr.Close();
// if (!hashdefines.ContainsKey("WP_START_BYTE"))
{
CustomMessageBox.Show("Your Ardupilot Mega project defines.h is Invalid");
//return false;
}
}
catch (Exception)
{
CustomMessageBox.Show("Can't open file!");
return false;
}
return true;
}
/// <summary>
/// Read from waypoint writter *.h file
/// </summary>
/// <param name="file">File Path</param>
/// <returns></returns>
bool readwaypointwritterfile(string file)
{
byte wp_rad = 30;
byte loit_rad = 45;
int alt_hold = 100;
byte wp_count = 0;
bool error = false;
List<Locationwp> cmds = new List<Locationwp>();
cmds.Add(new Locationwp());
try
{
StreamReader sr = new StreamReader(file); //"defines.h"
while (!error && !sr.EndOfStream)
{
string line = sr.ReadLine();
// defines
Regex regex2 = new Regex(@"define\s+([^\s]+)\s+([^\s]+)", RegexOptions.IgnoreCase);
if (regex2.IsMatch(line))
{
MatchCollection matchs = regex2.Matches(line);
for (int i = 0; i < matchs.Count; i++)
{
if (matchs[i].Groups[1].Value.ToString().Equals("WP_RADIUS"))
wp_rad = (byte)double.Parse(matchs[i].Groups[2].Value.ToString());
if (matchs[i].Groups[1].Value.ToString().Equals("LOITER_RADIUS"))
loit_rad = (byte)double.Parse(matchs[i].Groups[2].Value.ToString());
if (matchs[i].Groups[1].Value.ToString().Equals("ALT_TO_HOLD"))
alt_hold = (int)double.Parse(matchs[i].Groups[2].Value.ToString());
}
}
// waypoints
regex2 = new Regex(@"([^,{]+),([^,]+),([^,]+),([^,]+),([^,}]+)", RegexOptions.IgnoreCase);
if (regex2.IsMatch(line))
{
MatchCollection matchs = regex2.Matches(line);
for (int i = 0; i < matchs.Count; i++)
{
Locationwp temp = new Locationwp();
temp.options = 1;
temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), matchs[i].Groups[1].Value.ToString().Replace("NAV_", ""), false);
temp.p1 = byte.Parse(matchs[i].Groups[2].Value.ToString());
if (temp.id < (byte)MAVLink.MAV_CMD.LAST)
{
temp.alt = (float)(double.Parse(matchs[i].Groups[3].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
temp.lat = (float)(double.Parse(matchs[i].Groups[4].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
temp.lng = (float)(double.Parse(matchs[i].Groups[5].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
}
else
{
temp.alt = (float)(double.Parse(matchs[i].Groups[3].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
temp.lat = (float)(double.Parse(matchs[i].Groups[4].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
temp.lng = (float)(double.Parse(matchs[i].Groups[5].Value.ToString(), new System.Globalization.CultureInfo("en-US")));
}
cmds.Add(temp);
wp_count++;
if (wp_count == byte.MaxValue)
break;
}
if (wp_count == byte.MaxValue)
{
CustomMessageBox.Show("To many Waypoints!!!");
break;
}
}
}
sr.Close();
TXT_DefaultAlt.Text = (alt_hold).ToString();
TXT_WPRad.Text = (wp_rad).ToString();
TXT_loiterrad.Text = (loit_rad).ToString();
processToScreen(cmds);
writeKML();
MainMap.ZoomAndCenterMarkers("objects");
}
catch (Exception ex)
{
CustomMessageBox.Show("Can't open file! " + ex.ToString());
return false;
}
return true;
}
/// <summary>
/// used to adjust existing point in the datagrid including "Home"
/// </summary>
/// <param name="pointno"></param>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
public void callMeDrag(string pointno, double lat, double lng, int alt)
{
if (pointno == "")
{
return;
}
// dragging a WP
if (pointno == "Home")
{
if (isonline && CHK_geheight.Checked)
{
TXT_homealt.Text = getGEAlt(lat, lng).ToString();
}
else
{
// no change
//TXT_homealt.Text = alt.ToString();
}
TXT_homelat.Text = lat.ToString();
TXT_homelng.Text = lng.ToString();
return;
}
try
{
selectedrow = int.Parse(pointno) - 1;
Commands.CurrentCell = Commands[1, selectedrow];
}
catch
{
return;
}
setfromGE(lat, lng, alt);
}
/// <summary>
/// Actualy Sets the values into the datagrid and verifys height if turned on
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
void setfromGE(double lat, double lng, int alt)
{
if (selectedrow > Commands.RowCount)
{
CustomMessageBox.Show("Invalid coord, How did you do this?");
return;
}
DataGridViewTextBoxCell cell;
if (Commands.Columns[Lat.Index].HeaderText.Equals(cmdParamNames["WAYPOINT"][4]/*"Lat"*/))
{
cell = Commands.Rows[selectedrow].Cells[Lat.Index] as DataGridViewTextBoxCell;
cell.Value = lat.ToString("0.0000000");
cell.DataGridView.EndEdit();
}
if (Commands.Columns[Lon.Index].HeaderText.Equals(cmdParamNames["WAYPOINT"][5]/*"Long"*/))
{
cell = Commands.Rows[selectedrow].Cells[Lon.Index] as DataGridViewTextBoxCell;
cell.Value = lng.ToString("0.0000000");
cell.DataGridView.EndEdit();
}
if (alt != -1 && Commands.Columns[Alt.Index].HeaderText.Equals(cmdParamNames["WAYPOINT"][6]/*"Alt"*/))
{
cell = Commands.Rows[selectedrow].Cells[Alt.Index] as DataGridViewTextBoxCell;
{
float result;
bool pass = float.TryParse(TXT_homealt.Text, out result);
if (pass == false)
{
CustomMessageBox.Show("You must have a home altitude");
return;
}
int results1;
if (!int.TryParse(TXT_DefaultAlt.Text, out results1))
{
CustomMessageBox.Show("Your default alt is not valid");
return;
}
}
cell.Value = TXT_DefaultAlt.Text;
float ans;
if (float.TryParse(cell.Value.ToString(), out ans))
{
ans = (int)ans;
if (alt != 0) // use passed in value;
cell.Value = alt.ToString();
if (ans == 0) // default
cell.Value = 50;
if (ans == 0 && MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
cell.Value = 15;
// online verify height
if (isonline && CHK_geheight.Checked)
{
if (CHK_altmode.Checked)
{
cell.Value = ((int)getGEAlt(lat, lng) + int.Parse(TXT_DefaultAlt.Text)).ToString();
}
else
{
cell.Value = ((int)getGEAlt(lat, lng) + int.Parse(TXT_DefaultAlt.Text) - float.Parse(TXT_homealt.Text)).ToString();
}
}
else
{
// is absolute but no verify
if (CHK_altmode.Checked)
{
cell.Value = (float.Parse(TXT_homealt.Text) + int.Parse(TXT_DefaultAlt.Text)).ToString();
} // is relative and check height
else if (isonline && CHK_geheight.Checked)
{
alt = (int)getGEAlt(lat, lng);
if (float.Parse(TXT_homealt.Text) + int.Parse(TXT_DefaultAlt.Text) < alt) // calced height is less that GE ground height
{
CustomMessageBox.Show("Altitude appears to be low!! (you will fly into a hill)\nGoogle Ground height: " + alt + " Meters\nYour height: " + ((float.Parse(TXT_homealt.Text) + int.Parse(TXT_DefaultAlt.Text))) + " Meters");
cell.Style.BackColor = Color.Red;
}
else
{
cell.Style.BackColor = Color.LightGreen;
}
}
}
cell.DataGridView.EndEdit();
}
else
{
CustomMessageBox.Show("Invalid Home or wp Alt");
cell.Style.BackColor = Color.Red;
}
}
writeKML();
Commands.EndEdit();
}
/// <summary>
/// Used for current mouse position
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
public void callMeDisplay(double lat, double lng, int alt)
{
TXT_mouselat.Text = lat.ToString();
TXT_mouselong.Text = lng.ToString();
TXT_mousealt.Text = srtm.getAltitude(lat, lng, MainMap.Zoom).ToString("0");
try
{
double lastdist = MainMap.Manager.GetDistance(polygon.Points[polygon.Points.Count - 1], currentMarker.Position);
lbl_prevdist.Text = rm.GetString("lbl_prevdist.Text") + ": " + FormatDistance(lastdist, true);
double homedist = MainMap.Manager.GetDistance(currentMarker.Position, polygon.Points[0]);
lbl_homedist.Text = rm.GetString("lbl_homedist.Text") + ": " + FormatDistance(homedist, true);
}
catch { }
}
/// <summary>
/// Used to create a new WP
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
public void callMe(double lat, double lng, int alt)
{
if (polygongridmode)
{
addPolygonPointToolStripMenuItem_Click(null, null);
return;
}
if (sethome)
{
sethome = false;
callMeDrag("Home", lat, lng, alt);
return;
}
// creating a WP
Commands.Rows.Add();
selectedrow = Commands.RowCount - 1;
Commands.CurrentCell = Commands.Rows[selectedrow].Cells[Param1.Index];
setfromGE(lat, lng, alt);
}
public FlightPlanner()
{
InitializeComponent();
// config map
//MainMap.MapType = MapType.GoogleSatellite;
MainMap.MinZoom = 1;
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
//MainMap.Manager.ImageCacheLocal.PutImageToCache(,MapType.None,new GPoint(),17);
// map events
MainMap.OnCurrentPositionChanged += new CurrentPositionChanged(MainMap_OnCurrentPositionChanged);
MainMap.OnTileLoadStart += new TileLoadStart(MainMap_OnTileLoadStart);
MainMap.OnTileLoadComplete += new TileLoadComplete(MainMap_OnTileLoadComplete);
MainMap.OnMarkerClick += new MarkerClick(MainMap_OnMarkerClick);
MainMap.OnMapZoomChanged += new MapZoomChanged(MainMap_OnMapZoomChanged);
MainMap.OnMapTypeChanged += new MapTypeChanged(MainMap_OnMapTypeChanged);
MainMap.MouseMove += new MouseEventHandler(MainMap_MouseMove);
MainMap.MouseDown += new MouseEventHandler(MainMap_MouseDown);
MainMap.MouseUp += new MouseEventHandler(MainMap_MouseUp);
MainMap.OnMarkerEnter += new MarkerEnter(MainMap_OnMarkerEnter);
MainMap.OnMarkerLeave += new MarkerLeave(MainMap_OnMarkerLeave);
MainMap.MapScaleInfoEnabled = false;
MainMap.ScalePen = new Pen(Color.Red);
MainMap.ForceDoubleBuffer = false;
WebRequest.DefaultWebProxy.Credentials = System.Net.CredentialCache.DefaultCredentials;
// get map type
comboBoxMapType.DataSource = Enum.GetValues(typeof(MapType));
comboBoxMapType.SelectedItem = MainMap.MapType;
comboBoxMapType.SelectedValueChanged += new System.EventHandler(this.comboBoxMapType_SelectedValueChanged);
/*
// acccess mode
comboBoxMode.DataSource = Enum.GetValues(typeof(AccessMode));
comboBoxMode.SelectedItem = GMaps.Instance.Mode;
// get position
textBoxLat.Text = MainMap.Position.Lat.ToString(CultureInfo.InvariantCulture);
textBoxLng.Text = MainMap.Position.Lng.ToString(CultureInfo.InvariantCulture);
*/
MainMap.RoutesEnabled = true;
//MainMap.MaxZoom = 18;
// get zoom
trackBar1.Minimum = MainMap.MinZoom;
trackBar1.Maximum = MainMap.MaxZoom + 0.99;
// draw this layer first
kmlpolygons = new GMapOverlay(MainMap, "kmlpolygons");
MainMap.Overlays.Add(kmlpolygons);
geofence = new GMapOverlay(MainMap, "geofence");
MainMap.Overlays.Add(geofence);
routes = new GMapOverlay(MainMap, "routes");
MainMap.Overlays.Add(routes);
polygons = new GMapOverlay(MainMap, "polygons");
MainMap.Overlays.Add(polygons);
objects = new GMapOverlay(MainMap, "objects");
MainMap.Overlays.Add(objects);
drawnpolygons = new GMapOverlay(MainMap, "drawnpolygons");
MainMap.Overlays.Add(drawnpolygons);
top = new GMapOverlay(MainMap, "top");
//MainMap.Overlays.Add(top);
objects.Markers.Clear();
// set current marker
currentMarker = new GMapMarkerGoogleRed(MainMap.Position);
//top.Markers.Add(currentMarker);
// map center
center = new GMapMarkerCross(MainMap.Position);
top.Markers.Add(center);
MainMap.Zoom = 3;
//set home
try
{
MainMap.Position = new PointLatLng(double.Parse(TXT_homelat.Text), double.Parse(TXT_homelng.Text));
MainMap.Zoom = 13;
}
catch (Exception) { }
RegeneratePolygon();
if (MainV2.getConfig("MapType") != "")
{
try
{
comboBoxMapType.SelectedItem = Enum.Parse(typeof(MapType), MainV2.getConfig("MapType"));
}
catch { }
}
updateCMDParams();
Up.Image = global::ArdupilotMega.Properties.Resources.up;
Down.Image = global::ArdupilotMega.Properties.Resources.down;
}
public void updateCMDParams()
{
cmdParamNames = readCMDXML();
List<string> cmds = new List<string>();
foreach (string item in cmdParamNames.Keys)
{
cmds.Add(item);
}
Command.DataSource = cmds;
}
Dictionary<string, string[]> readCMDXML()
{
Dictionary<string, string[]> cmd = new Dictionary<string, string[]>();
// do lang stuff here
string file = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "mavcmd.xml";
using (XmlReader reader = XmlReader.Create(file))
{
reader.Read();
reader.ReadStartElement("CMD");
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
reader.ReadToFollowing("APM");
} else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
{
reader.ReadToFollowing("APRover");
}
else
{
reader.ReadToFollowing("AC2");
}
XmlReader inner = reader.ReadSubtree();
inner.Read();
inner.MoveToElement();
inner.Read();
while (inner.Read())
{
inner.MoveToElement();
if (inner.IsStartElement())
{
string cmdname = inner.Name;
string[] cmdarray = new string[7];
int b = 0;
XmlReader inner2 = inner.ReadSubtree();
inner2.Read();
while (inner2.Read())
{
inner2.MoveToElement();
if (inner2.IsStartElement())
{
cmdarray[b] = inner2.ReadString();
b++;
}
}
cmd[cmdname] = cmdarray;
}
}
}
return cmd;
}
void Commands_DataError(object sender, DataGridViewDataErrorEventArgs e)
{
log.Info(e.Exception.ToString() + " " + e.Context + " col " + e.ColumnIndex);
e.Cancel = false;
e.ThrowException = false;
//throw new NotImplementedException();
}
/// <summary>
/// Adds a new row to the datagrid
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BUT_Add_Click(object sender, EventArgs e)
{
if (Commands.CurrentRow == null)
{
selectedrow = 0;
}
else
{
selectedrow = Commands.CurrentRow.Index;
}
if (Commands.RowCount <= 1)
{
Commands.Rows.Add();
}
else
{
if (Commands.RowCount == selectedrow + 1)
{
DataGridViewRow temp = Commands.Rows[selectedrow];
Commands.Rows.Add();
}
else
{
Commands.Rows.Insert(selectedrow + 1, 1);
}
}
writeKML();
}
private void Planner_Load(object sender, EventArgs e)
{
quickadd = true;
config(false);
if (MainV2.cs.HomeLocation.Lat != 0 && MainV2.cs.HomeLocation.Lng != 0)
{
TXT_homelat.Text = MainV2.cs.HomeLocation.Lat.ToString();
TXT_homelng.Text = MainV2.cs.HomeLocation.Lng.ToString();
TXT_homealt.Text = MainV2.cs.HomeLocation.Alt.ToString();
}
quickadd = false;
if (MainV2.config["WMSserver"] != null)
MainMap.Manager.CustomWMSURL = MainV2.config["WMSserver"].ToString();
trackBar1.Value = (int)MainMap.Zoom;
// check for net and set offline if needed
try
{
IPAddress[] addresslist = Dns.GetHostAddresses("www.google.com");
}
catch (Exception)
{ // here if dns failed
isonline = false;
}
// setup geofence
List<PointLatLng> polygonPoints = new List<PointLatLng>();
gf = new GMapPolygon(polygonPoints, "geofence");
gf.Stroke = new Pen(Color.Pink, 5);
//setup drawnpolgon
List<PointLatLng> polygonPoints2 = new List<PointLatLng>();
drawnpolygon = new GMapPolygon(polygonPoints2, "drawnpoly");
drawnpolygon.Stroke = new Pen(Color.Red, 2);
updateCMDParams();
// mono
panelMap.Dock = DockStyle.None;
panelMap.Dock = DockStyle.Fill;
panelMap_Resize(null, null);
writeKML();
timer1.Start();
}
void parser_ElementAdded(object sender, SharpKml.Base.ElementEventArgs e)
{
processKML(e.Element);
}
private void processKML(SharpKml.Dom.Element Element)
{
try
{
log.Info(Element.ToString() + " " + Element.Parent);
}
catch { }
SharpKml.Dom.Document doc = Element as SharpKml.Dom.Document;
SharpKml.Dom.Placemark pm = Element as SharpKml.Dom.Placemark;
SharpKml.Dom.Folder folder = Element as SharpKml.Dom.Folder;
SharpKml.Dom.Polygon polygon = Element as SharpKml.Dom.Polygon;
SharpKml.Dom.LineString ls = Element as SharpKml.Dom.LineString;
if (doc != null)
{
foreach (var feat in doc.Features)
{
//Console.WriteLine("feat " + feat.GetType());
//processKML((Element)feat);
}
}
else
if (folder != null)
{
foreach (Feature feat in folder.Features)
{
//Console.WriteLine("feat "+feat.GetType());
//processKML(feat);
}
}
else if (pm != null)
{
}
else if (polygon != null)
{
GMapPolygon kmlpolygon = new GMapPolygon(new List<PointLatLng>(), "kmlpolygon");
kmlpolygon.Stroke.Color = Color.Purple;
foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
{
kmlpolygon.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygons.Polygons.Add(kmlpolygon);
}
else if (ls != null)
{
GMapRoute kmlroute = new GMapRoute(new List<PointLatLng>(), "kmlroute");
kmlroute.Stroke.Color = Color.Purple;
foreach (var loc in ls.Coordinates)
{
kmlroute.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygons.Routes.Add(kmlroute);
}
}
private void ChangeColumnHeader(string command)
{
try
{
if (cmdParamNames.ContainsKey(command))
for (int i = 1; i <= 7; i++)
Commands.Columns[i].HeaderText = cmdParamNames[command][i - 1];
else
for (int i = 1; i <= 7; i++)
Commands.Columns[i].HeaderText = "setme";
}
catch (Exception ex) { CustomMessageBox.Show(ex.ToString()); }
}
/// <summary>
/// Used to update column headers
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Commands_RowEnter(object sender, DataGridViewCellEventArgs e)
{
if (quickadd)
return;
try
{
selectedrow = e.RowIndex;
string option = Commands[Command.Index, selectedrow].EditedFormattedValue.ToString();
string cmd;
try
{
cmd = Commands[Command.Index, selectedrow].Value.ToString();
}
catch { cmd = option; }
//Console.WriteLine("editformat " + option + " value " + cmd);
ChangeColumnHeader(cmd);
}
catch (Exception ex) { CustomMessageBox.Show(ex.ToString()); }
}
private void Commands_RowsAdded(object sender, DataGridViewRowsAddedEventArgs e)
{
for (int i = 0; i < Commands.ColumnCount; i++)
{
DataGridViewCell tcell = Commands.Rows[e.RowIndex].Cells[i];
if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
{
if (tcell.Value == null)
tcell.Value = "0";
}
}
DataGridViewComboBoxCell cell = Commands.Rows[e.RowIndex].Cells[Command.Index] as DataGridViewComboBoxCell;
if (cell.Value == null)
{
cell.Value = "WAYPOINT";
Commands.Rows[e.RowIndex].Cells[Delete.Index].Value = "X";
if (!quickadd)
{
Commands_RowEnter(sender, new DataGridViewCellEventArgs(0, e.RowIndex - 0)); // do header labels
Commands_RowValidating(sender, new DataGridViewCellCancelEventArgs(0, e.RowIndex)); // do default values
}
}
if (quickadd)
return;
try
{
Commands.CurrentCell = Commands.Rows[e.RowIndex].Cells[0];
if (Commands.Rows[e.RowIndex - 1].Cells[Command.Index].Value.ToString() == "WAYPOINT")
{
Commands.Rows[e.RowIndex].Selected = true; // highlight row
}
else
{
Commands.CurrentCell = Commands[1, e.RowIndex - 1];
//Commands_RowEnter(sender, new DataGridViewCellEventArgs(0, e.RowIndex-1));
}
}
catch (Exception) { }
// Commands.EndEdit();
}
private void Commands_RowValidating(object sender, DataGridViewCellCancelEventArgs e)
{
selectedrow = e.RowIndex;
Commands_RowEnter(sender, new DataGridViewCellEventArgs(0, e.RowIndex - 0)); // do header labels - encure we dont 0 out valid colums
int cols = Commands.Columns.Count;
for (int a = 1; a < cols; a++)
{
DataGridViewTextBoxCell cell;
cell = Commands.Rows[selectedrow].Cells[a] as DataGridViewTextBoxCell;
if (Commands.Columns[a].HeaderText.Equals("") && cell != null && cell.Value == null)
{
cell.Value = "0";
}
else
{
if (cell != null && (cell.Value == null || cell.Value.ToString() == ""))
{
cell.Value = "?";
}
else
{
// not a text box
}
}
}
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
//ArdupilotMega.GMapMarkerRectWPRad mBorders = new ArdupilotMega.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.wprad = (int)float.Parse(TXT_WPRad.Text);
mBorders.MainMap = MainMap;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
catch (Exception) { }
}
private void addpolygonmarkergrid(string tag, double lng, double lat, int alt)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleRed m = new GMapMarkerGoogleRed(point);
m.ToolTipMode = MarkerTooltipMode.Never;
m.ToolTipText = "grid" + tag;
m.Tag = "grid" + tag;
//ArdupilotMega.GMapMarkerRectWPRad mBorders = new ArdupilotMega.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders);
}
catch (Exception ex) { log.Info(ex.ToString()); }
}
/// <summary>
/// used to write a KML, update the Map view polygon, and update the row headers
/// </summary>
private void writeKML()
{
// quickadd is for when loading wps from eeprom or file, to prevent slow, loading times
if (quickadd)
return;
// this is to share the current mission with the data tab
pointlist = new List<PointLatLngAlt>();
System.Diagnostics.Debug.WriteLine(DateTime.Now);
try
{
if (objects != null) // hasnt been created yet
{
objects.Markers.Clear();
}
// process and add home to the list
string home;
if (TXT_homealt.Text != "" && TXT_homelat.Text != "" && TXT_homelng.Text != "")
{
home = string.Format("{0},{1},{2}\r\n", TXT_homelng.Text, TXT_homelat.Text, TXT_DefaultAlt.Text);
if (objects != null) // during startup
{
pointlist.Add(new PointLatLngAlt(double.Parse(TXT_homelat.Text), double.Parse(TXT_homelng.Text), (int)double.Parse(TXT_homealt.Text), "Home"));
addpolygonmarker("Home", double.Parse(TXT_homelng.Text), double.Parse(TXT_homelat.Text), 0, null);
}
}
else
{
home = "";
}
// setup for centerpoint calc etc.
double avglat = 0;
double avglong = 0;
double maxlat = -180;
double maxlong = -180;
double minlat = 180;
double minlong = 180;
double homealt = 0;
try
{
homealt = (int)double.Parse(TXT_homealt.Text);
}
catch { }
if (CHK_altmode.Checked)
{
homealt = 0; // for absolute we dont need to add homealt
}
int usable = 0;
// number rows
System.Threading.Thread t1 = new System.Threading.Thread(delegate()
{
// thread for updateing row numbers
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
try
{
if (Commands.Rows[a].HeaderCell.Value == null)
{
Commands.Rows[a].HeaderCell.Style.Alignment = DataGridViewContentAlignment.MiddleCenter;
Commands.Rows[a].HeaderCell.Value = (a + 1).ToString();
}
// skip rows with the correct number
string rowno = Commands.Rows[a].HeaderCell.Value.ToString();
if (!rowno.Equals((a + 1).ToString()))
{
// this code is where the delay is when deleting.
Commands.Rows[a].HeaderCell.Value = (a + 1).ToString();
}
}
catch (Exception) { }
}
});
t1.Name = "Row number updater";
t1.IsBackground = true;
t1.Start();
long temp = System.Diagnostics.Stopwatch.GetTimestamp();
string lookat = "";
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
try
{
int command = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false);
if (command < (byte)MAVLink.MAV_CMD.LAST && command != (byte)MAVLink.MAV_CMD.TAKEOFF)
{
string cell2 = Commands.Rows[a].Cells[Alt.Index].Value.ToString(); // alt
string cell3 = Commands.Rows[a].Cells[Lat.Index].Value.ToString(); // lat
string cell4 = Commands.Rows[a].Cells[Lon.Index].Value.ToString(); // lng
if (cell4 == "0" || cell3 == "0")
continue;
if (cell4 == "?" || cell3 == "?")
continue;
if (command == (byte)MAVLink.MAV_CMD.LOITER_TIME || command == (byte)MAVLink.MAV_CMD.LOITER_TURNS || command == (byte)MAVLink.MAV_CMD.LOITER_UNLIM) {
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()){ color = Color.LightBlue });
addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2) , Color.LightBlue);
} else {
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2) ,null);
}
avglong += double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString());
avglat += double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString());
usable++;
maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), maxlong);
maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), maxlat);
minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), minlong);
minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), minlat);
System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp());
}
}
catch (Exception e) { log.Info("writekml - bad wp data " + e.ToString()); }
}
if (usable > 0)
{
avglat = avglat / usable;
avglong = avglong / usable;
double latdiff = maxlat - minlat;
double longdiff = maxlong - minlong;
float range = 4000;
Locationwp loc1 = new Locationwp();
loc1.lat = (float)(minlat);
loc1.lng = (float)(minlong);
Locationwp loc2 = new Locationwp();
loc2.lat = (float)(maxlat);
loc2.lng = (float)(maxlong);
//double distance = getDistance(loc1, loc2); // same code as ardupilot
double distance = 2000;
if (usable > 1)
{
range = (float)(distance * 2);
}
else
{
range = 4000;
}
if (avglong != 0 && usable < 3)
{
// no autozoom
lookat = "<LookAt> <longitude>" + (minlong + longdiff / 2).ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude> <latitude>" + (minlat + latdiff / 2).ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>" + range + "</range> </LookAt>";
//MainMap.ZoomAndCenterMarkers("objects");
//MainMap.Zoom -= 1;
//MainMap_OnMapZoomChanged();
}
}
else if (home.Length > 5 && usable == 0)
{
lookat = "<LookAt> <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude> <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
RectLatLng? rect = MainMap.GetRectOfAllMarkers("objects");
if (rect.HasValue)
{
MainMap.Position = rect.Value.LocationMiddle;
}
MainMap.Zoom = 17;
MainMap_OnMapZoomChanged();
}
RegeneratePolygon();
if (polygon != null && polygon.Points.Count > 0)
{
double homedist = 0;
if (home.Length > 5)
{
pointlist.Add(new PointLatLngAlt(double.Parse(TXT_homelat.Text), double.Parse(TXT_homelng.Text), (int)double.Parse(TXT_homealt.Text), "Home"));
homedist = MainMap.Manager.GetDistance(polygon.Points[polygon.Points.Count - 1], polygon.Points[0]);
lbl_homedist.Text = rm.GetString("lbl_homedist.Text") + ": " + FormatDistance(homedist, true);
}
lbl_distance.Text = rm.GetString("lbl_distance.Text") + ": " + FormatDistance(polygon.Distance + homedist, false);
}
config(true);
}
catch (Exception ex)
{
log.Info(ex.ToString());
}
System.Diagnostics.Debug.WriteLine(DateTime.Now);
}
/// <summary>
/// Saves a waypoint writer file
/// </summary>
private void savewaypoints()
{
SaveFileDialog fd = new SaveFileDialog();
fd.Filter = "Ardupilot Mission (*.txt)|*.*";
fd.DefaultExt = ".txt";
DialogResult result = fd.ShowDialog();
string file = fd.FileName;
if (file != "")
{
try
{
StreamWriter sw = new StreamWriter(file);
sw.WriteLine("QGC WPL 110");
try
{
sw.WriteLine("0\t1\t0\t16\t0\t0\t0\t0\t" + double.Parse(TXT_homelat.Text).ToString("0.000000", new System.Globalization.CultureInfo("en-US")) + "\t" + double.Parse(TXT_homelng.Text).ToString("0.000000", new System.Globalization.CultureInfo("en-US")) + "\t" + double.Parse(TXT_homealt.Text).ToString("0.000000", new System.Globalization.CultureInfo("en-US")) + "\t1");
}
catch
{
sw.WriteLine("0\t1\t0\t0\t0\t0\t0\t0\t0\t0\t0\t1");
}
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
byte mode = (byte)(MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[0].Value.ToString());
sw.Write((a + 1)); // seq
sw.Write("\t" + 0); // current
sw.Write("\t" + (CHK_altmode.Checked == true ? (byte)MAVLink.MAV_FRAME.GLOBAL : (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT)); //frame
sw.Write("\t" + mode);
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + (double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + 1);
sw.WriteLine("");
}
sw.Close();
}
catch (Exception) { CustomMessageBox.Show("Error writing file"); }
}
}
private void SaveFile_Click(object sender, EventArgs e)
{
savewaypoints();
writeKML();
}
/// <summary>
/// Reads the EEPROM from a com port
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
internal void BUT_read_Click(object sender, EventArgs e)
{
Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Receiving WP's"
};
frmProgressReporter.DoWork += getWPs;
frmProgressReporter.UpdateProgressAndStatus(-1, "Receiving WP's");
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
}
void getWPs(object sender, Controls.ProgressWorkerEventArgs e)
{
List<Locationwp> cmds = new List<Locationwp>();
int error = 0;
try
{
MAVLink port = MainV2.comPort;
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
MainV2.giveComport = true;
param = port.param;
log.Info("Getting WP #");
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Getting WP count");
int cmdcount = port.getWPCount();
for (ushort a = 0; a < cmdcount; a++)
{
log.Info("Getting WP" + a);
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / cmdcount, "Getting WP " + a);
cmds.Add(port.getWP(a));
}
port.setWPACK();
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done");
log.Info("Done");
}
catch (Exception ex) { error = 1; CustomMessageBox.Show("Error : " + ex.ToString()); }
try
{
this.Invoke((MethodInvoker)delegate()
{
if (error == 0)
{
try
{
log.Info("Process " + cmds.Count);
processToScreen(cmds);
}
catch (Exception exx) { log.Info(exx.ToString()); }
}
MainV2.giveComport = false;
BUT_read.Enabled = true;
writeKML();
});
}
catch (Exception exx) { log.Info(exx.ToString()); }
}
/// <summary>
/// Writes the mission from the datagrid and values to the EEPROM
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BUT_write_Click(object sender, EventArgs e)
{
if (CHK_altmode.Checked)
{
if (DialogResult.No == CustomMessageBox.Show("Absolute Alt is ticked are you sure?", "Alt Mode", MessageBoxButtons.YesNo))
{
CHK_altmode.Checked = false;
}
}
// check for invalid grid data
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
for (int b = 0; b < Commands.ColumnCount - 0; b++)
{
double answer;
if (b >= 1 && b <= 4)
{
if (!double.TryParse(Commands[b, a].Value.ToString(), out answer))
{
CustomMessageBox.Show("There are errors in your mission");
return;
}
}
}
}
Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Sending WP's"
};
frmProgressReporter.DoWork += saveWPs;
frmProgressReporter.UpdateProgressAndStatus(-1, "Sending WP's");
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
MainMap.Focus();
}
void saveWPs(object sender, Controls.ProgressWorkerEventArgs e)
{
try
{
MAVLink port = MainV2.comPort;
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
MainV2.giveComport = true;
Locationwp home = new Locationwp();
try
{
home.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
home.lat = (float.Parse(TXT_homelat.Text));
home.lng = (float.Parse(TXT_homelng.Text));
home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home
}
catch { throw new Exception("Your home location is invalid"); }
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Total WPs ");
port.setWPTotal((ushort)(Commands.Rows.Count + 1)); // + home
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Home");
port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.GLOBAL, 0);
MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
// process grid to memory eeprom
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / Commands.Rows.Count, "Setting WP " + a);
Locationwp temp = new Locationwp();
temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false);
temp.p1 = float.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString());
if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME)
{
if (CHK_altmode.Checked)
{
frame = MAVLink.MAV_FRAME.GLOBAL;
}
else
{
frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
}
}
temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist);
temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()));
temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()));
temp.p2 = (float)(double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()));
temp.p3 = (float)(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()));
temp.p4 = (float)(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()));
port.setWP(temp, (ushort)(a + 1), frame, 0);
}
port.setWPACK();
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(95, "Setting Params");
if (CHK_holdalt.Checked)
{
port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist);
}
else
{
port.setParam("ALT_HOLD_RTL", -1);
}
port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist);
try
{
port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist));
}
catch
{
port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist);
}
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
}
catch (Exception ex) { MainV2.giveComport = false; throw ex; }
MainV2.giveComport = false;
}
/// <summary>
/// Processes a loaded EEPROM to the map and datagrid
/// </summary>
void processToScreen(List<Locationwp> cmds)
{
quickadd = true;
while (Commands.Rows.Count > 0)
Commands.Rows.RemoveAt(0);
if (cmds.Count == 0)
{
quickadd = false;
return;
}
int i = -1;
foreach (Locationwp temp in cmds)
{
i++;
//Console.WriteLine("FP processToScreen " + i);
if (temp.id == 0 && i != 0) // 0 and not home
break;
if (temp.id == 255 && i != 0) // bad record - never loaded any WP's - but have started the board up.
break;
if (i + 1 >= Commands.Rows.Count)
{
Commands.Rows.Add();
}
//if (i == 0 && temp.alt == 0) // skip 0 home
// continue;
DataGridViewTextBoxCell cell;
DataGridViewComboBoxCell cellcmd;
cellcmd = Commands.Rows[i].Cells[Command.Index] as DataGridViewComboBoxCell;
cellcmd.Value = "WAYPOINT";
foreach (object value in Enum.GetValues(typeof(MAVLink.MAV_CMD)))
{
if ((int)value == temp.id)
{
cellcmd.Value = value.ToString();
break;
}
}
if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME)
{
if ((temp.options & 0x1) == 0 && i != 0) // home is always abs
{
CHK_altmode.Checked = true;
}
else
{
CHK_altmode.Checked = false;
}
}
cell = Commands.Rows[i].Cells[Alt.Index] as DataGridViewTextBoxCell;
cell.Value = Math.Round((temp.alt * MainV2.cs.multiplierdist), 0);
cell = Commands.Rows[i].Cells[Lat.Index] as DataGridViewTextBoxCell;
cell.Value = (double)temp.lat;
cell = Commands.Rows[i].Cells[Lon.Index] as DataGridViewTextBoxCell;
cell.Value = (double)temp.lng;
cell = Commands.Rows[i].Cells[Param1.Index] as DataGridViewTextBoxCell;
cell.Value = temp.p1;
cell = Commands.Rows[i].Cells[Param2.Index] as DataGridViewTextBoxCell;
cell.Value = temp.p2;
cell = Commands.Rows[i].Cells[Param3.Index] as DataGridViewTextBoxCell;
cell.Value = temp.p3;
cell = Commands.Rows[i].Cells[Param4.Index] as DataGridViewTextBoxCell;
cell.Value = temp.p4;
}
try
{
log.Info("Setting wp params");
string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param ALT_HOLD_RTL " + hold_alt);
if (!hold_alt.Equals("-1"))
{
TXT_DefaultAlt.Text = hold_alt;
}
TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param WP_RADIUS " + TXT_WPRad.Text);
try
{
if (param["LOITER_RADIUS"] != null)
TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
if (param["WP_LOITER_RAD"] != null)
TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param LOITER_RADIUS " + TXT_loiterrad.Text);
}
catch
{
}
CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);
log.Info("param ALT_HOLD_RTL " + CHK_holdalt.Checked.ToString());
DataGridViewTextBoxCell cellhome;
cellhome = Commands.Rows[0].Cells[Lat.Index] as DataGridViewTextBoxCell;
if (cellhome.Value != null)
{
if (cellhome.Value.ToString() != TXT_homelat.Text && cellhome.Value.ToString() != "0")
{
DialogResult dr = CustomMessageBox.Show("Reset Home to loaded coords", "Reset Home Coords", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes)
{
TXT_homelat.Text = (double.Parse(cellhome.Value.ToString())).ToString();
cellhome = Commands.Rows[0].Cells[Lon.Index] as DataGridViewTextBoxCell;
TXT_homelng.Text = (double.Parse(cellhome.Value.ToString())).ToString();
cellhome = Commands.Rows[0].Cells[Alt.Index] as DataGridViewTextBoxCell;
TXT_homealt.Text = (double.Parse(cellhome.Value.ToString()) * MainV2.cs.multiplierdist).ToString();
}
}
}
}
catch (Exception ex) { log.Info(ex.ToString()); } // if there is no valid home
if (Commands.RowCount > 0)
{
log.Info("remove home from list");
Commands.Rows.Remove(Commands.Rows[0]); // remove home row
}
quickadd = false;
writeKML();
MainMap.ZoomAndCenterMarkers("objects");
MainMap_OnMapZoomChanged();
}
/// <summary>
/// Saves this forms config to MAIN, where it is written in a global config
/// </summary>
/// <param name="write">true/false</param>
private void config(bool write)
{
if (write)
{
ArdupilotMega.MainV2.config["TXT_homelat"] = TXT_homelat.Text;
ArdupilotMega.MainV2.config["TXT_homelng"] = TXT_homelng.Text;
ArdupilotMega.MainV2.config["TXT_homealt"] = TXT_homealt.Text;
ArdupilotMega.MainV2.config["TXT_WPRad"] = TXT_WPRad.Text;
ArdupilotMega.MainV2.config["TXT_loiterrad"] = TXT_loiterrad.Text;
ArdupilotMega.MainV2.config["TXT_DefaultAlt"] = TXT_DefaultAlt.Text;
ArdupilotMega.MainV2.config["CHK_altmode"] = CHK_altmode.Checked;
}
else
{
Hashtable temp = new Hashtable((Hashtable)ArdupilotMega.MainV2.config.Clone());
foreach (string key in temp.Keys)
{
switch (key)
{
case "TXT_WPRad":
TXT_WPRad.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "TXT_loiterrad":
TXT_loiterrad.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "TXT_DefaultAlt":
TXT_DefaultAlt.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "CHK_altmode":
CHK_altmode.Checked = false;//bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
default:
break;
}
}
}
}
private void TXT_WPRad_KeyPress(object sender, KeyPressEventArgs e)
{
int isNumber = 0;
if (e.KeyChar.ToString() == "\b")
return;
e.Handled = !int.TryParse(e.KeyChar.ToString(), out isNumber);
}
private void TXT_WPRad_Leave(object sender, EventArgs e)
{
int isNumber = 0;
if (!int.TryParse(TXT_WPRad.Text, out isNumber))
{
TXT_WPRad.Text = "30";
}
if (isNumber > 127)
{
CustomMessageBox.Show("The value can only be between 0 and 127");
TXT_WPRad.Text = "127";
}
writeKML();
}
private void TXT_loiterrad_KeyPress(object sender, KeyPressEventArgs e)
{
int isNumber = 0;
if (e.KeyChar.ToString() == "\b")
return;
e.Handled = !int.TryParse(e.KeyChar.ToString(), out isNumber);
}
private void TXT_loiterrad_Leave(object sender, EventArgs e)
{
int isNumber = 0;
if (!int.TryParse(TXT_loiterrad.Text, out isNumber))
{
TXT_loiterrad.Text = "45";
}
if (isNumber > 127)
{
CustomMessageBox.Show("The value can only be between 0 and 127");
TXT_loiterrad.Text = "127";
}
}
private void TXT_DefaultAlt_KeyPress(object sender, KeyPressEventArgs e)
{
int isNumber = 0;
if (e.KeyChar.ToString() == "\b")
return;
e.Handled = !int.TryParse(e.KeyChar.ToString(), out isNumber);
}
private void TXT_DefaultAlt_Leave(object sender, EventArgs e)
{
int isNumber = 0;
if (!int.TryParse(TXT_DefaultAlt.Text, out isNumber))
{
TXT_DefaultAlt.Text = "100";
}
}
/// <summary>
/// used to control buttons in the datagrid
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Commands_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
try
{
if (e.RowIndex < 0)
return;
if (e.ColumnIndex == Delete.Index && (e.RowIndex + 0) < Commands.RowCount) // delete
{
quickadd = true;
Commands.Rows.RemoveAt(e.RowIndex);
quickadd = false;
writeKML();
}
if (e.ColumnIndex == Up.Index && e.RowIndex != 0) // up
{
DataGridViewRow myrow = Commands.CurrentRow;
Commands.Rows.Remove(myrow);
Commands.Rows.Insert(e.RowIndex - 1, myrow);
writeKML();
}
if (e.ColumnIndex == Down.Index && e.RowIndex < Commands.RowCount - 1) // down
{
DataGridViewRow myrow = Commands.CurrentRow;
Commands.Rows.Remove(myrow);
Commands.Rows.Insert(e.RowIndex + 1, myrow);
writeKML();
}
}
catch (Exception) { CustomMessageBox.Show("Row error"); }
}
private void Commands_DefaultValuesNeeded(object sender, DataGridViewRowEventArgs e)
{
e.Row.Cells[Delete.Index].Value = "X";
e.Row.Cells[Up.Index].Value = global::ArdupilotMega.Properties.Resources.up;
e.Row.Cells[Down.Index].Value = global::ArdupilotMega.Properties.Resources.down;
}
private void TXT_homelat_TextChanged(object sender, EventArgs e)
{
sethome = false;
try
{
MainV2.cs.HomeLocation.Lat = double.Parse(TXT_homelat.Text);
}
catch { }
writeKML();
}
private void TXT_homelng_TextChanged(object sender, EventArgs e)
{
sethome = false;
try
{
MainV2.cs.HomeLocation.Lng = double.Parse(TXT_homelng.Text);
}
catch { }
writeKML();
}
private void TXT_homealt_TextChanged(object sender, EventArgs e)
{
sethome = false;
try
{
MainV2.cs.HomeLocation.Alt = double.Parse(TXT_homealt.Text);
}
catch { }
writeKML();
}
private void Planner_FormClosing(object sender, FormClosingEventArgs e)
{
}
private void BUT_loadwpfile_Click(object sender, EventArgs e)
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Ardupilot Mission (*.txt)|*.*";
fd.DefaultExt = ".txt";
DialogResult result = fd.ShowDialog();
string file = fd.FileName;
if (file != "")
{
if (file.ToLower().EndsWith(".h"))
{
readwaypointwritterfile(file);
}
else
{
readQGC110wpfile(file);
}
}
}
void readQGC110wpfile(string file)
{
int wp_count = 0;
bool error = false;
List<Locationwp> cmds = new List<Locationwp>();
try
{
StreamReader sr = new StreamReader(file); //"defines.h"
string header = sr.ReadLine();
if (header == null || !header.Contains("QGC WPL 110"))
{
CustomMessageBox.Show("Invalid Waypoint file");
return;
}
while (!error && !sr.EndOfStream)
{
string line = sr.ReadLine();
// waypoints
if (line.StartsWith("#"))
continue;
string[] items = line.Split(new char[] { (char)'\t', ' ' }, StringSplitOptions.RemoveEmptyEntries);
if (items.Length <= 9)
continue;
try
{
Locationwp temp = new Locationwp();
if (items[2] == "3")
{ // abs MAV_FRAME_GLOBAL_RELATIVE_ALT=3
temp.options = 1;
}
else
{
temp.options = 0;
}
temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), items[3], false);
temp.p1 = float.Parse(items[4], new System.Globalization.CultureInfo("en-US"));
if (temp.id == 99)
temp.id = 0;
temp.alt = (float)(double.Parse(items[10], new System.Globalization.CultureInfo("en-US")));
temp.lat = (float)(double.Parse(items[8], new System.Globalization.CultureInfo("en-US")));
temp.lng = (float)(double.Parse(items[9], new System.Globalization.CultureInfo("en-US")));
temp.p2 = (float)(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")));
temp.p3 = (float)(double.Parse(items[6], new System.Globalization.CultureInfo("en-US")));
temp.p4 = (float)(double.Parse(items[7], new System.Globalization.CultureInfo("en-US")));
cmds.Add(temp);
wp_count++;
}
catch { CustomMessageBox.Show("Line invalid\n" + line); }
if (wp_count == byte.MaxValue)
{
CustomMessageBox.Show("To many Waypoints!!!");
break;
}
}
sr.Close();
processToScreen(cmds);
writeKML();
MainMap.ZoomAndCenterMarkers("objects");
}
catch (Exception ex)
{
CustomMessageBox.Show("Can't open file! " + ex.ToString());
}
}
private void trackBar1_ValueChanged(object sender, EventArgs e)
{
try
{
lock (thisLock)
{
MainMap.Zoom = trackBar1.Value;
}
}
catch { }
}
// marker
GMapMarker currentMarker;
GMapMarker center = new GMapMarkerCross(new PointLatLng(0.0, 0.0));
// polygons
GMapPolygon polygon;
GMapPolygon drawnpolygon;
GMapPolygon gf;
GMapOverlay kmlpolygons;
GMapOverlay geofence;
// layers
GMapOverlay top;
internal GMapOverlay objects;
static GMapOverlay routes;// static so can update from gcs
static GMapOverlay polygons;
GMapOverlay drawnpolygons;
// etc
readonly Random rnd = new Random();
string mobileGpsLog = string.Empty;
GMapMarkerRect CurentRectMarker = null;
bool isMouseDown = false;
bool isMouseDraging = false;
PointLatLng start;
PointLatLng end;
//public long ElapsedMilliseconds;
#region -- map events --
void MainMap_OnMarkerLeave(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Blue;
MainMap.Invalidate(false);
}
}
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
MainMap.Invalidate(false);
CurentRectMarker = rc;
}
}
}
void MainMap_OnMapTypeChanged(MapType type)
{
comboBoxMapType.SelectedItem = MainMap.MapType;
trackBar1.Minimum = MainMap.MinZoom;
trackBar1.Maximum = MainMap.MaxZoom + 0.99;
MainMap.ZoomAndCenterMarkers("objects");
if (type == MapType.CustomWMS)
{
string url = "";
if (MainV2.config["WMSserver"] != null)
url = MainV2.config["WMSserver"].ToString();
Common.InputBox("WMS Server", "Enter the WMS server URL", ref url);
MainV2.config["WMSserver"] = url;
MainMap.Manager.CustomWMSURL = url;
}
}
void MainMap_MouseUp(object sender, MouseEventArgs e)
{
end = MainMap.FromLocalToLatLng(e.X, e.Y);
if (e.Button == MouseButtons.Right) // ignore right clicks
{
return;
}
if (isMouseDown) // mouse down on some other object and dragged to here.
{
if (e.Button == MouseButtons.Left)
{
isMouseDown = false;
}
if (!isMouseDraging)
{
if (CurentRectMarker != null)
{
// cant add WP in existing rect
}
else
{
callMe(currentMarker.Position.Lat, currentMarker.Position.Lng, 0);
}
}
else
{
if (CurentRectMarker != null)
{
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{
try
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
catch { }
}
else
{
callMeDrag(CurentRectMarker.InnerMarker.Tag.ToString(), currentMarker.Position.Lat, currentMarker.Position.Lng, -1);
}
CurentRectMarker = null;
}
}
}
isMouseDraging = false;
}
void MainMap_MouseDown(object sender, MouseEventArgs e)
{
start = MainMap.FromLocalToLatLng(e.X, e.Y);
if (e.Button == MouseButtons.Left && Control.ModifierKeys != Keys.Alt)
{
isMouseDown = true;
isMouseDraging = false;
if (currentMarker.IsVisible)
{
currentMarker.Position = MainMap.FromLocalToLatLng(e.X, e.Y);
}
}
}
// move current marker with left holding
void MainMap_MouseMove(object sender, MouseEventArgs e)
{
PointLatLng point = MainMap.FromLocalToLatLng(e.X, e.Y);
currentMarker.Position = point;
if (!isMouseDown)
{
callMeDisplay(point.Lat, point.Lng, 0);
}
//draging
if (e.Button == MouseButtons.Left && isMouseDown)
{
isMouseDraging = true;
if (CurentRectMarker == null) // left click pan
{
double latdif = start.Lat - point.Lat;
double lngdif = start.Lng - point.Lng;
try
{
lock (thisLock)
{
MainMap.Position = new PointLatLng(center.Position.Lat + latdif, center.Position.Lng + lngdif);
}
}
catch { }
}
else // move rect marker
{
try
{
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
}
catch { }
PointLatLng pnew = MainMap.FromLocalToLatLng(e.X, e.Y);
int? pIndex = (int?)CurentRectMarker.Tag;
if (pIndex.HasValue)
{
if (pIndex < polygon.Points.Count)
{
polygon.Points[pIndex.Value] = pnew;
lock (thisLock)
{
MainMap.UpdatePolygonLocalPosition(polygon);
}
}
}
if (currentMarker.IsVisible)
{
currentMarker.Position = pnew;
}
CurentRectMarker.Position = pnew;
if (CurentRectMarker.InnerMarker != null)
{
CurentRectMarker.InnerMarker.Position = pnew;
}
}
}
}
// MapZoomChanged
void MainMap_OnMapZoomChanged()
{
if (MainMap.Zoom > 0)
{
try
{
trackBar1.Value = (int)(MainMap.Zoom);
}
catch { }
//textBoxZoomCurrent.Text = MainMap.Zoom.ToString();
center.Position = MainMap.Position;
}
}
// click on some marker
void MainMap_OnMarkerClick(GMapMarker item, MouseEventArgs e)
{
int answer;
try // when dragging item can sometimes be null
{
if (int.TryParse(item.Tag.ToString(), out answer))
{
Commands.CurrentCell = Commands[0, answer - 1];
}
}
catch { }
return;
}
// loader start loading tiles
void MainMap_OnTileLoadStart()
{
MethodInvoker m = delegate()
{
lbl_status.Text = "Status: loading tiles...";
};
try
{
BeginInvoke(m);
}
catch
{
}
}
// loader end loading tiles
void MainMap_OnTileLoadComplete(long ElapsedMilliseconds)
{
//MainMap.ElapsedMilliseconds = ElapsedMilliseconds;
MethodInvoker m = delegate()
{
lbl_status.Text = "Status: loaded tiles";
//panelMenu.Text = "Menu, last load in " + MainMap.ElapsedMilliseconds + "ms";
//textBoxMemory.Text = string.Format(CultureInfo.InvariantCulture, "{0:0.00}MB of {1:0.00}MB", MainMap.Manager.MemoryCacheSize, MainMap.Manager.MemoryCacheCapacity);
};
try
{
BeginInvoke(m);
}
catch
{
}
}
// current point changed
void MainMap_OnCurrentPositionChanged(PointLatLng point)
{
if (point.Lat > 90) { point.Lat = 90; }
if (point.Lat < -90) { point.Lat = -90; }
if (point.Lng > 180) { point.Lng = 180; }
if (point.Lng < -180) { point.Lng = -180; }
center.Position = point;
TXT_mouselat.Text = point.Lat.ToString(CultureInfo.InvariantCulture);
TXT_mouselong.Text = point.Lng.ToString(CultureInfo.InvariantCulture);
}
// center markers on start
private void MainForm_Load(object sender, EventArgs e)
{
if (objects.Markers.Count > 0)
{
MainMap.ZoomAndCenterMarkers(null);
}
trackBar1.Value = (int)MainMap.Zoom;
}
// ensure focus on map, trackbar can have it too
private void MainMap_MouseEnter(object sender, EventArgs e)
{
// MainMap.Focus();
}
#endregion
/// <summary>
/// used to redraw the polygon
/// </summary>
void RegeneratePolygon()
{
List<PointLatLng> polygonPoints = new List<PointLatLng>();
if (objects == null)
return;
foreach (GMapMarker m in objects.Markers)
{
if (m is GMapMarkerRect)
{
m.Tag = polygonPoints.Count;
polygonPoints.Add(m.Position);
}
}
if (polygon == null)
{
polygon = new GMapPolygon(polygonPoints, "polygon test");
polygons.Polygons.Add(polygon);
}
else
{
polygon.Points.Clear();
polygon.Points.AddRange(polygonPoints);
polygon.Stroke = new Pen(Color.Yellow, 4);
if (polygons.Polygons.Count == 0)
{
polygons.Polygons.Add(polygon);
}
else
{
lock (thisLock)
{
MainMap.UpdatePolygonLocalPosition(polygon);
}
}
}
}
private void comboBoxMapType_SelectedValueChanged(object sender, EventArgs e)
{
try
{
MainMap.MapType = (MapType)comboBoxMapType.SelectedItem;
FlightData.mymap.MapType = (MapType)comboBoxMapType.SelectedItem;
MainV2.config["MapType"] = comboBoxMapType.Text;
}
catch { CustomMessageBox.Show("Map change failed. try zomming out first."); }
}
private void Commands_EditingControlShowing(object sender, DataGridViewEditingControlShowingEventArgs e)
{
if (e.Control.GetType() == typeof(DataGridViewComboBoxEditingControl))
{
var temp = ((ComboBox)e.Control);
((ComboBox)e.Control).SelectionChangeCommitted -= new EventHandler(Commands_SelectionChangeCommitted);
((ComboBox)e.Control).SelectionChangeCommitted += new EventHandler(Commands_SelectionChangeCommitted);
((ComboBox)e.Control).ForeColor = Color.White;
((ComboBox)e.Control).BackColor = Color.FromArgb(0x43, 0x44, 0x45);
System.Diagnostics.Debug.WriteLine("Setting event handle");
}
}
void Commands_SelectionChangeCommitted(object sender, EventArgs e)
{
// update row headers
((ComboBox)sender).ForeColor = Color.White;
ChangeColumnHeader(((ComboBox)sender).Text);
try
{
for (int i = 0; i < Commands.ColumnCount; i++)
{
DataGridViewCell tcell = Commands.Rows[selectedrow].Cells[i];
if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
{
if (tcell.Value.ToString() == "?")
tcell.Value = "0";
}
}
}
catch { }
}
/// <summary>
/// Get the Google earth ALT for a given coord
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <returns>Altitude</returns>
double getGEAlt(double lat, double lng)
{
double alt = 0;
//http://maps.google.com/maps/api/elevation/xml
try
{
using (XmlTextReader xmlreader = new XmlTextReader("http://maps.google.com/maps/api/elevation/xml?locations=" + lat.ToString(new System.Globalization.CultureInfo("en-US")) + "," + lng.ToString(new System.Globalization.CultureInfo("en-US")) + "&sensor=true"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
switch (xmlreader.Name)
{
case "elevation":
alt = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
break;
default:
break;
}
}
}
}
catch { }
return alt * MainV2.cs.multiplierdist;
}
private void TXT_homelat_Enter(object sender, EventArgs e)
{
sethome = true;
CustomMessageBox.Show("Click on the Map to set Home ");
}
private void Planner_Resize(object sender, EventArgs e)
{
MainMap.Zoom = trackBar1.Value;
}
private void button1_Click(object sender, EventArgs e)
{
writeKML();
double homealt;
double.TryParse(TXT_homealt.Text, out homealt);
Form temp = new ElevationProfile(pointlist, homealt);
ThemeManager.ApplyThemeTo(temp);
temp.ShowDialog();
}
private void CHK_altmode_CheckedChanged(object sender, EventArgs e)
{
if (Commands.RowCount > 0 && !quickadd)
CustomMessageBox.Show("You will need to change your altitudes");
}
protected override void OnPaint(PaintEventArgs pe)
{
try
{
base.OnPaint(pe);
}
catch (Exception)
{
}
}
private void Commands_CellEndEdit(object sender, DataGridViewCellEventArgs e)
{
Commands_RowEnter(null, new DataGridViewCellEventArgs(Commands.CurrentCell.ColumnIndex, Commands.CurrentCell.RowIndex));
}
private void MainMap_Resize(object sender, EventArgs e)
{
MainMap.Zoom = MainMap.Zoom + 0.01;
}
private void trackBar1_Scroll(object sender, EventArgs e)
{
try
{
lock (thisLock)
{
MainMap.Zoom = trackBar1.Value;
}
}
catch { }
}
private void panel4_PanelCollapsing(object sender, BSE.Windows.Forms.XPanderStateChangeEventArgs e)
{
}
private void BUT_Prefetch_Click(object sender, EventArgs e)
{
RectLatLng area = MainMap.SelectedArea;
if (area.IsEmpty)
{
DialogResult res = CustomMessageBox.Show("No ripp area defined, ripp displayed on screen?", "Rip", MessageBoxButtons.YesNo);
if (res == DialogResult.Yes)
{
area = MainMap.CurrentViewArea;
}
}
if (!area.IsEmpty)
{
DialogResult res = CustomMessageBox.Show("Ready ripp at Zoom = " + (int)MainMap.Zoom + " ?", "GMap.NET", MessageBoxButtons.YesNo);
for (int i = 1; i <= MainMap.MaxZoom; i++)
{
if (res == DialogResult.Yes)
{
TilePrefetcher obj = new TilePrefetcher();
obj.ShowCompleteMessage = false;
obj.Start(area, MainMap.Projection, i, MainMap.MapType, 100);
}
else if (res == DialogResult.No)
{
continue;
}
else if (res == DialogResult.Cancel)
{
break;
}
}
}
else
{
CustomMessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
}
/// <summary>
/// from http://stackoverflow.com/questions/1119451/how-to-tell-if-a-line-intersects-a-polygon-in-c
/// </summary>
/// <param name="start1"></param>
/// <param name="end1"></param>
/// <param name="start2"></param>
/// <param name="end2"></param>
/// <returns></returns>
public PointLatLng FindLineIntersection(PointLatLng start1, PointLatLng end1, PointLatLng start2, PointLatLng end2)
{
double denom = ((end1.Lng - start1.Lng) * (end2.Lat - start2.Lat)) - ((end1.Lat - start1.Lat) * (end2.Lng - start2.Lng));
// AB & CD are parallel
if (denom == 0)
return PointLatLng.Zero;
double numer = ((start1.Lat - start2.Lat) * (end2.Lng - start2.Lng)) - ((start1.Lng - start2.Lng) * (end2.Lat - start2.Lat));
double r = numer / denom;
double numer2 = ((start1.Lat - start2.Lat) * (end1.Lng - start1.Lng)) - ((start1.Lng - start2.Lng) * (end1.Lat - start1.Lat));
double s = numer2 / denom;
if ((r < 0 || r > 1) || (s < 0 || s > 1))
return PointLatLng.Zero;
// Find intersection point
PointLatLng result = new PointLatLng();
result.Lng = start1.Lng + (r * (end1.Lng - start1.Lng));
result.Lat = start1.Lat + (r * (end1.Lat - start1.Lat));
return result;
}
RectLatLng getPolyMinMax(GMapPolygon poly)
{
if (poly.Points.Count == 0)
return new RectLatLng();
double minx, miny, maxx, maxy;
minx = maxx = poly.Points[0].Lng;
miny = maxy = poly.Points[0].Lat;
foreach (PointLatLng pnt in poly.Points)
{
//Console.WriteLine(pnt.ToString());
minx = Math.Min(minx, pnt.Lng);
maxx = Math.Max(maxx, pnt.Lng);
miny = Math.Min(miny, pnt.Lat);
maxy = Math.Max(maxy, pnt.Lat);
}
return new RectLatLng(maxy, minx, Math.Abs(maxx - minx), Math.Abs(miny - maxy));
}
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
private void BUT_grid_Click(object sender, EventArgs e)
{
polygongridmode = false;
if (drawnpolygon == null || drawnpolygon.Points.Count == 0)
{
CustomMessageBox.Show("Right click the map to draw a polygon", "Area", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
// ensure points/latlong are current
MainMap.Zoom = (int)MainMap.Zoom;
MainMap.Refresh();
GMapPolygon area = drawnpolygon;
area.Points.Add(area.Points[0]); // make a full loop
RectLatLng arearect = getPolyMinMax(area);
if (area.Distance > 0)
{
PointLatLng topright = new PointLatLng(arearect.LocationTopLeft.Lat, arearect.LocationRightBottom.Lng);
PointLatLng bottomleft = new PointLatLng(arearect.LocationRightBottom.Lat, arearect.LocationTopLeft.Lng);
double diagdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, arearect.LocationRightBottom) * 1000;
double heightdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, bottomleft) * 1000;
double widthdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, topright) * 1000;
string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Altitude", "Relative Altitude", ref alt);
string distance = (50 * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Distance", "Distance between lines", ref distance);
//string overshoot = (30 * MainV2.cs.multiplierdist).ToString("0");
//Common.InputBox("Overshoot", "Enter of line overshoot amount", ref overshoot);
string angle = (90).ToString("0");
Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle);
double tryme = 0;
if (!double.TryParse(angle, out tryme))
{
CustomMessageBox.Show("Invalid Angle");
return;
}
if (!double.TryParse(alt, out tryme))
{
CustomMessageBox.Show("Invalid Alt");
return;
}
if (!double.TryParse(distance, out tryme))
{
CustomMessageBox.Show("Invalid Distance");
return;
}
#if DEBUG
//Commands.Rows.Clear();
#endif
// get x y components
double x1 = Math.Cos((double.Parse(angle)) * deg2rad); // needs to mod for long scale
double y1 = Math.Sin((double.Parse(angle)) * deg2rad);
// get x y step amount in lat lng from m
double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
double latlngdiff = Math.Sqrt(latdiff * latdiff + lngdiff * lngdiff);
double fulllatdiff = arearect.HeightLat * x1 * 2;
double fulllngdiff = arearect.WidthLng * y1 * 2;
// lat - up down
// lng - left right
int overshootdist = 0;// (int)(double.Parse(overshoot) / MainV2.cs.multiplierdist);
int altitude = (int)(double.Parse(alt) / MainV2.cs.multiplierdist);
double overshootdistlng = arearect.WidthLng / widthdist * overshootdist;
bool dir = false;
int count = 0;
double x = bottomleft.Lat - Math.Abs(fulllatdiff);
double y = bottomleft.Lng - Math.Abs(fulllngdiff);
log.InfoFormat("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
while (x < (topright.Lat + Math.Abs(fulllatdiff)) && y < (topright.Lng + Math.Abs(fulllngdiff)))
{
if (double.Parse(angle) < 45)
{
x = bottomleft.Lat;
y += latlngdiff;
}
else if (double.Parse(angle) > 135)
{
x = arearect.LocationTopLeft.Lat; //arearect.LocationTopLeft.Lat;
y += latlngdiff;
}
else if (double.Parse(angle) > 90)
{
y = bottomleft.Lng; //arearect.LocationTopLeft.Lat;
x += latlngdiff;
}
else
{
y = bottomleft.Lng;
x += latlngdiff;
}
//callMe(x , y, 0);
//callMe(x + (fulllatdiff), y + (fulllngdiff), 0);
//continue;
PointLatLng closestlatlong = PointLatLng.Zero;
PointLatLng farestlatlong = PointLatLng.Zero;
double noc = double.MaxValue;
double nof = double.MinValue;
if (dir)
{
double ax = x;
double ay = y;
double bx = x + fulllatdiff;
double by = y + fulllngdiff;
int a = -1;
PointLatLng newlatlong = PointLatLng.Zero;
foreach (PointLatLng pnt in area.Points)
{
a++;
if (a == 0)
{
continue;
}
newlatlong = FindLineIntersection(area.Points[a - 1], area.Points[a], new PointLatLng(ax, ay), new PointLatLng(bx, by));
if (!newlatlong.IsZero)
{
if (noc > MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong))
{
closestlatlong.Lat = newlatlong.Lat;
closestlatlong.Lng = newlatlong.Lng;
noc = MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong);
}
if (nof < MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong))
{
farestlatlong.Lat = newlatlong.Lat;
farestlatlong.Lng = newlatlong.Lng;
nof = MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong);
}
}
}
if (!farestlatlong.IsZero)
callMe(farestlatlong.Lat, farestlatlong.Lng, altitude);
if (!closestlatlong.IsZero)
callMe(closestlatlong.Lat, closestlatlong.Lng - overshootdistlng, altitude);
//callMe(x, topright.Lng, altitude);
//callMe(x, bottomleft.Lng - overshootdistlng, altitude);
}
else
{
double ax = x;
double ay = y;
double bx = x + fulllatdiff;
double by = y + fulllngdiff;
int a = -1;
PointLatLng newlatlong = PointLatLng.Zero;
foreach (PointLatLng pnt in area.Points)
{
a++;
if (a == 0)
{
continue;
}
newlatlong = FindLineIntersection(area.Points[a - 1], area.Points[a], new PointLatLng(ax, ay), new PointLatLng(bx, by));
if (!newlatlong.IsZero)
{
if (noc > MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong))
{
closestlatlong.Lat = newlatlong.Lat;
closestlatlong.Lng = newlatlong.Lng;
noc = MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong);
}
if (nof < MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong))
{
farestlatlong.Lat = newlatlong.Lat;
farestlatlong.Lng = newlatlong.Lng;
nof = MainMap.Manager.GetDistance(new PointLatLng(ax, ay), newlatlong);
}
}
}
if (!closestlatlong.IsZero)
callMe(closestlatlong.Lat, closestlatlong.Lng, altitude);
if (!farestlatlong.IsZero)
callMe(farestlatlong.Lat, farestlatlong.Lng + overshootdistlng, altitude);
//callMe(x, bottomleft.Lng, altitude);
//callMe(x, topright.Lng + overshootdistlng, altitude);
}
dir = !dir;
count++;
if (Commands.RowCount > 150)
{
CustomMessageBox.Show("Stopping at 150 WP's");
break;
}
}
//drawnpolygon.Points.Clear();
//drawnpolygons.Markers.Clear();
MainMap.Refresh();
}
}
private void label4_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
if (MainV2.cs.lat != 0)
{
TXT_homealt.Text = (MainV2.cs.alt).ToString("0");
TXT_homelat.Text = MainV2.cs.lat.ToString();
TXT_homelng.Text = MainV2.cs.lng.ToString();
}
else
{
CustomMessageBox.Show("If you're at the field, connect to your APM and wait for GPS lock. Then click 'Home Location' link to set home to your location");
}
}
/// <summary>
/// Format distance according to prefer distance unit
/// </summary>
/// <param name="distInKM">distance in kilometers</param>
/// <param name="toMeterOrFeet">convert distance to meter or feet if true, covert to km or miles if false</param>
/// <returns>formatted distance with unit</returns>
private string FormatDistance(double distInKM, bool toMeterOrFeet)
{
string sunits = MainV2.getConfig("distunits");
Common.distances units = Common.distances.Meters;
if (sunits != "")
try
{
units = (Common.distances)Enum.Parse(typeof(Common.distances), sunits);
}
catch (Exception) { }
switch (units)
{
case Common.distances.Feet:
return toMeterOrFeet ? string.Format((distInKM * 3280.8399).ToString("0.00 ft")) :
string.Format((distInKM * 0.621371).ToString("0.0000 miles"));
case Common.distances.Meters:
default:
return toMeterOrFeet ? string.Format((distInKM * 1000).ToString("0.00 m")) :
string.Format(distInKM.ToString("0.0000 km"));
}
}
PointLatLng startmeasure = new PointLatLng();
private void ContextMeasure_Click(object sender, EventArgs e)
{
if (startmeasure.IsZero)
{
startmeasure = start;
polygons.Markers.Add(new GMapMarkerGoogleRed(start));
MainMap.Invalidate();
}
else
{
List<PointLatLng> polygonPoints = new List<PointLatLng>();
polygonPoints.Add(startmeasure);
polygonPoints.Add(start);
GMapPolygon line = new GMapPolygon(polygonPoints, "measure dist");
line.Stroke.Color = Color.Green;
polygons.Polygons.Add(line);
polygons.Markers.Add(new GMapMarkerGoogleRed(start));
MainMap.Invalidate();
CustomMessageBox.Show("Distance: " + FormatDistance(MainMap.Manager.GetDistance(startmeasure, start), true) + " AZ: " + (MainMap.Manager.GetBearing(startmeasure, start).ToString("0")));
polygons.Polygons.Remove(line);
polygons.Markers.Clear();
startmeasure = new PointLatLng();
}
}
private void rotateMapToolStripMenuItem_Click(object sender, EventArgs e)
{
string heading = "0";
Common.InputBox("Rotate map to heading", "Enter new UP heading", ref heading);
float ans = 0;
if (float.TryParse(heading, out ans))
{
MainMap.Bearing = ans;
FlightData.mymap.Bearing = ans;
}
}
private void addPolygonPointToolStripMenuItem_Click(object sender, EventArgs e)
{
if (polygongridmode == false)
{
CustomMessageBox.Show("You will remain in polygon mode until you clear the polygon or create a grid/upload a fence");
}
polygongridmode = true;
List<PointLatLng> polygonPoints = new List<PointLatLng>();
if (drawnpolygons.Polygons.Count == 0)
{
drawnpolygon.Points.Clear();
drawnpolygons.Polygons.Add(drawnpolygon);
}
drawnpolygon.Points.Add(new PointLatLng(start.Lat, start.Lng));
addpolygonmarkergrid(drawnpolygon.Points.Count.ToString(), start.Lng, start.Lat, 0);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
private void clearPolygonToolStripMenuItem_Click(object sender, EventArgs e)
{
polygongridmode = false;
if (drawnpolygon == null)
return;
drawnpolygon.Points.Clear();
drawnpolygons.Markers.Clear();
MainMap.Invalidate();
writeKML();
}
private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
{
while (Commands.Rows.Count > 0)
Commands.Rows.RemoveAt(0);
selectedrow = 0;
writeKML();
}
private void loiterForeverToolStripMenuItem_Click(object sender, EventArgs e)
{
selectedrow = Commands.Rows.Add();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_UNLIM.ToString();
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_UNLIM.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
}
private void jumpstartToolStripMenuItem_Click(object sender, EventArgs e)
{
string repeat = "5";
Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
int row = Commands.Rows.Add();
Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[row].Cells[Param1.Index].Value = 1;
Commands.Rows[row].Cells[Param2.Index].Value = repeat;
writeKML();
}
private void jumpwPToolStripMenuItem_Click(object sender, EventArgs e)
{
string wp = "1";
Common.InputBox("WP No", "Jump to WP no?", ref wp);
string repeat = "5";
Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
int row = Commands.Rows.Add();
Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[row].Cells[Param1.Index].Value = wp;
Commands.Rows[row].Cells[Param2.Index].Value = repeat;
writeKML();
}
private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e)
{
int no = 0;
if (CurentRectMarker != null)
{
if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
{
Commands.Rows.RemoveAt(no - 1); // home is 0
}
else if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", ""), out no))
{
try
{
drawnpolygon.Points.RemoveAt(no - 1);
drawnpolygons.Markers.Clear();
int a = 1;
foreach (PointLatLng pnt in drawnpolygon.Points)
{
addpolygonmarkergrid(a.ToString(), pnt.Lng, pnt.Lat, 0);
a++;
}
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
catch {
CustomMessageBox.Show("Remove point Failed. Please try again.");
}
}
}
CurentRectMarker = null;
writeKML();
}
private void loitertimeToolStripMenuItem_Click(object sender, EventArgs e)
{
string time = "5";
Common.InputBox("Loiter Time", "Loiter Time", ref time);
selectedrow = Commands.Rows.Add();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TIME.ToString();
Commands.Rows[selectedrow].Cells[Param1.Index].Value = time;
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TIME.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
}
private void loitercirclesToolStripMenuItem_Click(object sender, EventArgs e)
{
string turns = "3";
Common.InputBox("Loiter Turns", "Loiter Turns", ref turns);
selectedrow = Commands.Rows.Add();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TURNS.ToString();
Commands.Rows[selectedrow].Cells[Param1.Index].Value = turns;
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TURNS.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
}
private void BUT_Camera_Click(object sender, EventArgs e)
{
Camera form = new Camera();
ThemeManager.ApplyThemeTo(form);
form.Show();
}
private void panelMap_Resize(object sender, EventArgs e)
{
// this is a mono fix for the zoom bar
//Console.WriteLine("panelmap "+panelMap.Size.ToString());
MainMap.Size = new Size(panelMap.Size.Width - 50, panelMap.Size.Height);
trackBar1.Location = new System.Drawing.Point(panelMap.Size.Width - 50, trackBar1.Location.Y);
trackBar1.Size = new System.Drawing.Size(trackBar1.Size.Width, panelMap.Size.Height - trackBar1.Location.Y);
label11.Location = new System.Drawing.Point(panelMap.Size.Width - 50, label11.Location.Y);
}
private void BUT_zoomto_Click(object sender, EventArgs e)
{
string place = "Perth Airport, Australia";
if (DialogResult.OK == Common.InputBox("Location", "Enter your location", ref place))
{
GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
{
CustomMessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
else
{
MainMap.Zoom = 15;
}
}
}
private void BUT_loadkml_Click(object sender, EventArgs e)
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Google Earth KML (*.kml)|*.kml";
fd.DefaultExt = ".kml";
DialogResult result = fd.ShowDialog();
string file = fd.FileName;
if (file != "")
{
try
{
kmlpolygons.Polygons.Clear();
kmlpolygons.Routes.Clear();
FlightData.kmlpolygons.Routes.Clear();
FlightData.kmlpolygons.Polygons.Clear();
string kml = new StreamReader(File.OpenRead(file)).ReadToEnd();
kml = kml.Replace("<Snippet/>", "");
var parser = new SharpKml.Base.Parser();
parser.ElementAdded += parser_ElementAdded;
parser.ParseString(kml, true);
if (DialogResult.Yes == CustomMessageBox.Show("Do you want to load this into the flight data screen?", "Load data", MessageBoxButtons.YesNo))
{
foreach (var temp in kmlpolygons.Polygons)
{
FlightData.kmlpolygons.Polygons.Add(temp);
}
foreach (var temp in kmlpolygons.Routes)
{
FlightData.kmlpolygons.Routes.Add(temp);
}
}
}
catch (Exception ex) { CustomMessageBox.Show("Bad KML File :" + ex.ToString()); }
}
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
routes.Markers.Clear();
if (MainV2.cs.lat == 0 || MainV2.cs.lng == 0)
return;
PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, MainMap));
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers.Add(new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, MainMap));
}
else
{
routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
}
}
catch { }
}
private void GeoFenceuploadToolStripMenuItem_Click(object sender, EventArgs e)
{
polygongridmode = false;
//FENCE_TOTAL
if (MainV2.comPort.param["FENCE_ACTION"] == null)
{
CustomMessageBox.Show("Not Supported");
return;
}
if (drawnpolygon == null)
{
CustomMessageBox.Show("No polygon to upload");
return;
}
if (geofence.Markers.Count == 0)
{
CustomMessageBox.Show("No return location set");
return;
}
if (drawnpolygon.Points.Count == 0)
{
CustomMessageBox.Show("No polygon drawn");
return;
}
// check if return is inside polygon
List<PointLatLng> plll = new List<PointLatLng>(drawnpolygon.Points.ToArray());
// close it
plll.Add(plll[0]);
// check it
if (!pnpoly(plll.ToArray(), geofence.Markers[0].Position.Lat, geofence.Markers[0].Position.Lng))
{
CustomMessageBox.Show("Your return location is outside the polygon");
return;
}
string minalts = (int.Parse(MainV2.comPort.param["FENCE_MINALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Min Alt", "Box Minimum Altitude?", ref minalts);
string maxalts = (int.Parse(MainV2.comPort.param["FENCE_MAXALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Max Alt", "Box Maximum Altitude?", ref maxalts);
int minalt = 0;
int maxalt = 0;
if (!int.TryParse(minalts, out minalt))
{
CustomMessageBox.Show("Bad Min Alt");
return;
}
if (!int.TryParse(maxalts, out maxalt))
{
CustomMessageBox.Show("Bad Max Alt");
return;
}
try
{
MainV2.comPort.setParam("FENCE_MINALT", minalt);
MainV2.comPort.setParam("FENCE_MAXALT", maxalt);
}
catch
{
CustomMessageBox.Show("Failed to set min/max fence alt");
return;
}
try
{
if (MainV2.comPort.param["FENCE_ACTION"].ToString() != "0")
MainV2.comPort.setParam("FENCE_ACTION", 0);
}
catch
{
CustomMessageBox.Show("Failed to set FENCE_ACTION");
return;
}
// points + return + close
byte pointcount = (byte)(drawnpolygon.Points.Count + 2);
MainV2.comPort.setParam("FENCE_TOTAL", pointcount);
byte a = 0;
// add return loc
MainV2.comPort.setFencePoint(a, new PointLatLngAlt(geofence.Markers[0].Position), pointcount);
a++;
// add points
foreach (var pll in drawnpolygon.Points)
{
MainV2.comPort.setFencePoint(a, new PointLatLngAlt(pll), pointcount);
a++;
}
// add polygon close
MainV2.comPort.setFencePoint(a, new PointLatLngAlt(drawnpolygon.Points[0]), pointcount);
// clear everything
drawnpolygons.Polygons.Clear();
drawnpolygons.Markers.Clear();
geofence.Polygons.Clear();
gf.Points.Clear();
// add polygon
gf.Points.AddRange(drawnpolygon.Points.ToArray());
drawnpolygon.Points.Clear();
geofence.Polygons.Add(gf);
// update flightdata
FlightData.geofence.Markers.Clear();
FlightData.geofence.Polygons.Clear();
FlightData.geofence.Polygons.Add(new GMapPolygon(gf.Points, "gf fd") { Stroke = gf.Stroke });
FlightData.geofence.Markers.Add(new GMapMarkerGoogleRed(geofence.Markers[0].Position) { ToolTipText = geofence.Markers[0].ToolTipText, ToolTipMode = geofence.Markers[0].ToolTipMode });
MainMap.UpdatePolygonLocalPosition(gf);
MainMap.UpdateMarkerLocalPosition(geofence.Markers[0]);
MainMap.Invalidate();
}
private void GeoFencedownloadToolStripMenuItem_Click(object sender, EventArgs e)
{
polygongridmode = false;
int count = 1;
if (MainV2.comPort.param["FENCE_ACTION"] == null || MainV2.comPort.param["FENCE_TOTAL"] == null)
{
CustomMessageBox.Show("Not Supported");
return;
}
if (int.Parse(MainV2.comPort.param["FENCE_TOTAL"].ToString()) <= 1)
{
CustomMessageBox.Show("Nothing to download");
return;
}
geofence.Polygons.Clear();
geofence.Markers.Clear();
gf.Points.Clear();
for (int a = 0; a < count; a++)
{
PointLatLngAlt plla = MainV2.comPort.getFencePoint(a, ref count);
gf.Points.Add(new PointLatLng(plla.Lat, plla.Lng));
}
// do return location
geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng(gf.Points[0].Lat, gf.Points[0].Lng)) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
gf.Points.RemoveAt(0);
// add now - so local points are calced
geofence.Polygons.Add(gf);
// update flight data
FlightData.geofence.Markers.Clear();
FlightData.geofence.Polygons.Clear();
FlightData.geofence.Polygons.Add(new GMapPolygon(gf.Points, "gf fd") { Stroke = gf.Stroke });
FlightData.geofence.Markers.Add(new GMapMarkerGoogleRed(geofence.Markers[0].Position) { ToolTipText = geofence.Markers[0].ToolTipText, ToolTipMode = geofence.Markers[0].ToolTipMode });
MainMap.UpdatePolygonLocalPosition(gf);
MainMap.UpdateMarkerLocalPosition(geofence.Markers[0]);
MainMap.Invalidate();
}
private void setReturnLocationToolStripMenuItem_Click(object sender, EventArgs e)
{
geofence.Markers.Clear();
geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng(start.Lat, start.Lng)) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
MainMap.Invalidate();
}
/// <summary>
/// from http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html
/// </summary>
/// <param name="array"> a closed polygon</param>
/// <param name="testx"></param>
/// <param name="testy"></param>
/// <returns> true = outside</returns>
bool pnpoly(PointLatLng[] array, double testx, double testy)
{
int nvert = array.Length;
int i, j = 0;
bool c = false;
for (i = 0, j = nvert - 1; i < nvert; j = i++)
{
if (((array[i].Lng > testy) != (array[j].Lng > testy)) &&
(testx < (array[j].Lat - array[i].Lat) * (testy - array[i].Lng) / (array[j].Lng - array[i].Lng) + array[i].Lat))
c = !c;
}
return c;
}
private void loadFromFileToolStripMenuItem_Click(object sender, EventArgs e)
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Fence (*.fen)|*.fen";
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
StreamReader sr = new StreamReader(fd.OpenFile());
drawnpolygons.Markers.Clear();
drawnpolygons.Polygons.Clear();
drawnpolygon.Points.Clear();
int a = 0;
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
if (line.StartsWith("#"))
{
continue;
}
else
{
string[] items = line.Split(new char[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries);
if (a == 0)
{
geofence.Markers.Clear();
geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng(double.Parse(items[0]), double.Parse(items[1]))) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
MainMap.UpdateMarkerLocalPosition(geofence.Markers[0]);
}
else
{
drawnpolygon.Points.Add(new PointLatLng(double.Parse(items[0]), double.Parse(items[1])));
addpolygonmarkergrid(drawnpolygon.Points.Count.ToString(), double.Parse(items[1]), double.Parse(items[0]), 0);
}
a++;
}
}
// remove loop close
if (drawnpolygon.Points[0] == drawnpolygon.Points[drawnpolygon.Points.Count - 1])
{
drawnpolygon.Points.RemoveAt(drawnpolygon.Points.Count - 1);
}
drawnpolygons.Polygons.Add(drawnpolygon);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
}
private void saveToFileToolStripMenuItem_Click(object sender, EventArgs e)
{
if (geofence.Markers.Count == 0)
{
CustomMessageBox.Show("Please set a return location");
return;
}
SaveFileDialog sf = new SaveFileDialog();
sf.Filter = "Fence (*.fen)|*.fen";
sf.ShowDialog();
if (sf.FileName != "")
{
try
{
StreamWriter sw = new StreamWriter(sf.OpenFile());
sw.WriteLine("#saved by APM Planner " + Application.ProductVersion);
sw.WriteLine(geofence.Markers[0].Position.Lat + " " + geofence.Markers[0].Position.Lng);
if (drawnpolygon.Points.Count > 0)
{
foreach (var pll in drawnpolygon.Points)
{
sw.WriteLine(pll.Lat + " " + pll.Lng);
}
PointLatLng pll2 = drawnpolygon.Points[0];
sw.WriteLine(pll2.Lat + " " + pll2.Lng);
}
else
{
foreach (var pll in gf.Points)
{
sw.WriteLine(pll.Lat + " " + pll.Lng);
}
PointLatLng pll2 = gf.Points[0];
sw.WriteLine(pll2.Lat + " " + pll2.Lng);
}
sw.Close();
}
catch { CustomMessageBox.Show("Failed to write fence file"); }
}
}
public T DeepClone<T>(T obj)
{
using (var ms = new System.IO.MemoryStream())
{
var formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
formatter.Serialize(ms, obj);
ms.Position = 0;
return (T)formatter.Deserialize(ms);
}
}
private void createWpCircleToolStripMenuItem_Click(object sender, EventArgs e)
{
string RadiusIn = "50";
Common.InputBox("Radius", "Radius", ref RadiusIn);
string Pointsin = "20";
Common.InputBox("Points", "Number of points to generate Circle", ref Pointsin);
int Points = 0;
int Radius = 0;
if (!int.TryParse(RadiusIn, out Radius))
{
CustomMessageBox.Show("Bad Radius");
return;
}
if (!int.TryParse(Pointsin, out Points))
{
CustomMessageBox.Show("Bad Point value");
return;
}
for (double a = 0; a <= 360; a += 360.0f / Points)
{
selectedrow = Commands.Rows.Add();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.WAYPOINT.ToString();
ChangeColumnHeader(MAVLink.MAV_CMD.WAYPOINT.ToString());
float d = Radius;
float R = 6371000;
var lat2 = Math.Asin(Math.Sin(end.Lat * deg2rad) * Math.Cos(d / R) +
Math.Cos(end.Lat * deg2rad) * Math.Sin(d / R) * Math.Cos(a * deg2rad));
var lon2 = end.Lng * deg2rad + Math.Atan2(Math.Sin(a * deg2rad) * Math.Sin(d / R) * Math.Cos(end.Lat * deg2rad),
Math.Cos(d / R) - Math.Sin(end.Lat * deg2rad) * Math.Sin(lat2));
PointLatLng pll = new PointLatLng(lat2 * rad2deg, lon2 * rad2deg);
setfromGE(pll.Lat, pll.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
}
//drawnpolygon.Points.Add(new PointLatLng(start.Lat, start.Lng));
}
public void Deactivate()
{
timer1.Stop();
}
private void FlightPlanner_FormClosing(object sender, FormClosingEventArgs e)
{
timer1.Stop();
}
}
}
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