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ardupilot/Tools/ArdupilotMegaPlanner/MainV2.cs

1833 lines
73 KiB
C#
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.IO;
using System.Xml;
using System.Collections;
using System.Net;
using System.Text.RegularExpressions;
using System.Web;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Speech.Synthesis;
using System.Globalization;
using System.Threading;
using System.Net.Sockets;
namespace ArdupilotMega
{
public partial class MainV2 : Form
{
[DllImport("user32.dll")]
public static extern int FindWindow(string szClass, string szTitle);
[DllImport("user32.dll")]
public static extern int ShowWindow(int Handle, int showState);
const int SW_SHOWNORMAL = 1;
const int SW_HIDE = 0;
public static MAVLink comPort = new MAVLink();
public static string comportname = "";
public static Hashtable config = new Hashtable();
public static bool givecomport = false;
public static Firmwares APMFirmware = Firmwares.ArduPlane;
public static bool MAC = false;
public static bool speechenable = false;
public static SpeechSynthesizer talk = new SpeechSynthesizer();
public static Joystick joystick = null;
DateTime lastjoystick = DateTime.Now;
public static WebCamService.Capture cam = null;
public static CurrentState cs = new CurrentState();
bool serialthread = false;
TcpListener listener;
DateTime heatbeatsend = DateTime.Now;
public static List<System.Threading.Thread> threads = new List<System.Threading.Thread>();
public static MainV2 instance = null;
/*
* "PITCH_KP",
"PITCH_KI",
"PITCH_LIM",
*/
public enum Firmwares
{
ArduPlane,
ArduCopter2,
}
GCSViews.FlightData FlightData;
GCSViews.FlightPlanner FlightPlanner;
GCSViews.Configuration Configuration;
GCSViews.Simulation Simulation;
GCSViews.Firmware Firmware;
GCSViews.Terminal Terminal;
public MainV2()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
georefimage temp = new georefimage();
//temp.dowork(244 + 60*60*24 * -1 );
//return;
var t = Type.GetType("Mono.Runtime");
MAC = (t != null);
Form splash = new Splash();
splash.Show();
string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
strVersion = "";
splash.Text = "APM Planner " + Application.ProductVersion + " " + strVersion + " By Michael Oborne";
splash.Refresh();
Application.DoEvents();
//talk.SpeakAsync("Welcome to APM Planner");
InitializeComponent();
MyRenderer.currentpressed = MenuFlightData;
MainMenu.Renderer = new MyRenderer();
List<object> list = new List<object>();
foreach (object obj in Enum.GetValues(typeof(Firmwares)))
{
TOOL_APMFirmware.Items.Add(obj);
}
if (TOOL_APMFirmware.Items.Count > 0)
TOOL_APMFirmware.SelectedIndex = 0;
this.Text = splash.Text;
comPort.BaseStream.BaudRate = 115200;
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Count > 0)
{
CMB_serialport.SelectedIndex = 0;
CMB_baudrate.SelectedIndex = 7;
}
splash.Refresh();
Application.DoEvents();
// set this before we reset it
MainV2.config["NUM_tracklength"] = "200";
xmlconfig(false);
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
changelanguage(getcultureinfo((string)config["language"]));
if (!MAC) // windows only
{
if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
{
}
else
{
int win = FindWindow("ConsoleWindowClass", null);
ShowWindow(win, SW_HIDE); // hide window
}
}
try
{
FlightData = new GCSViews.FlightData();
FlightPlanner = new GCSViews.FlightPlanner();
//Configuration = new GCSViews.Configuration();
Simulation = new GCSViews.Simulation();
Firmware = new GCSViews.Firmware();
//Terminal = new GCSViews.Terminal();
}
catch (Exception e) { MessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); }
if (MainV2.config["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
changeunits();
try
{
if (config["MainHeight"] != null)
this.Height = int.Parse(config["MainHeight"].ToString());
if (config["MainWidth"] != null)
this.Width = int.Parse(config["MainWidth"].ToString());
if (config["MainMaximised"] != null)
this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
if (config["speechenable"] != null)
MainV2.speechenable = bool.Parse(config["speechenable"].ToString());
}
catch { }
if (cs.rateattitude == 0) // initilised to 10, configured above from save
{
MessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
}
//System.Threading.Thread.Sleep(2000);
// make sure new enough .net framework is installed
if (!MAC)
{
Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
string[] version_names = installed_versions.GetSubKeyNames();
//version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
if (Framework < 3.5)
{
MessageBox.Show("This program requires .NET Framework 3.5 +. You currently have " + Framework);
}
}
Application.DoEvents();
instance = this;
splash.Close();
}
internal void ScreenShot()
{
Rectangle bounds = Screen.GetBounds(Point.Empty);
using (Bitmap bitmap = new Bitmap(bounds.Width, bounds.Height))
{
using (Graphics g = Graphics.FromImage(bitmap))
{
g.CopyFromScreen(Point.Empty, Point.Empty, bounds.Size);
}
string name = "ss" + DateTime.Now.ToString("hhmmss") + ".jpg";
bitmap.Save(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + name, System.Drawing.Imaging.ImageFormat.Jpeg);
MessageBox.Show("Screenshot saved to " + name);
}
}
private void CMB_serialport_Click(object sender, EventArgs e)
{
string oldport = CMB_serialport.Text;
CMB_serialport.Items.Clear();
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Contains(oldport))
CMB_serialport.Text = oldport;
}
public static void fixtheme(Control temp)
{
fixtheme(temp, 0);
}
public static void fixtheme(Control temp, int level)
{
if (level == 0)
{
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
temp.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
}
//Console.WriteLine(temp.GetType());
//temp.Font = new Font("Lucida Console", 8.25f);
foreach (Control ctl in temp.Controls)
{
if (((Type)ctl.GetType()) == typeof(System.Windows.Forms.Button))
{
ctl.ForeColor = Color.Black;
System.Windows.Forms.Button but = (System.Windows.Forms.Button)ctl;
}
else if (((Type)ctl.GetType()) == typeof(TextBox))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
TextBox txt = (TextBox)ctl;
txt.BorderStyle = BorderStyle.None;
}
else if (((Type)ctl.GetType()) == typeof(DomainUpDown))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
DomainUpDown txt = (DomainUpDown)ctl;
txt.BorderStyle = BorderStyle.None;
}
else if (((Type)ctl.GetType()) == typeof(GroupBox))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
}
else if (((Type)ctl.GetType()) == typeof(ZedGraph.ZedGraphControl))
{
ZedGraph.ZedGraphControl zg1 = (ZedGraph.ZedGraphControl)ctl;
zg1.GraphPane.Chart.Fill = new ZedGraph.Fill(Color.FromArgb(0x1f, 0x1f, 0x20));
zg1.GraphPane.Fill = new ZedGraph.Fill(Color.FromArgb(0x37, 0x37, 0x38));
foreach (ZedGraph.LineItem li in zg1.GraphPane.CurveList)
{
li.Line.Width = 4;
}
zg1.GraphPane.Title.FontSpec.FontColor = Color.White;
zg1.GraphPane.XAxis.MajorTic.Color = Color.White;
zg1.GraphPane.XAxis.MinorTic.Color = Color.White;
zg1.GraphPane.YAxis.MajorTic.Color = Color.White;
zg1.GraphPane.YAxis.MinorTic.Color = Color.White;
zg1.GraphPane.XAxis.MajorGrid.Color = Color.White;
zg1.GraphPane.YAxis.MajorGrid.Color = Color.White;
zg1.GraphPane.YAxis.Scale.FontSpec.FontColor = Color.White;
zg1.GraphPane.YAxis.Title.FontSpec.FontColor = Color.White;
zg1.GraphPane.XAxis.Scale.FontSpec.FontColor = Color.White;
zg1.GraphPane.XAxis.Title.FontSpec.FontColor = Color.White;
zg1.GraphPane.Legend.Fill = new ZedGraph.Fill(Color.FromArgb(0x85, 0x84, 0x83));
zg1.GraphPane.Legend.FontSpec.FontColor = Color.White;
}
else if (((Type)ctl.GetType()) == typeof(BSE.Windows.Forms.Panel) || ((Type)ctl.GetType()) == typeof(System.Windows.Forms.SplitterPanel))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
}
else if (((Type)ctl.GetType()) == typeof(Form))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
ctl.ForeColor = Color.White;// Color.FromArgb(0xe6, 0xe8, 0xea);
}
else if (((Type)ctl.GetType()) == typeof(RichTextBox))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
RichTextBox txtr = (RichTextBox)ctl;
txtr.BorderStyle = BorderStyle.None;
}
else if (((Type)ctl.GetType()) == typeof(CheckedListBox))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
CheckedListBox txtr = (CheckedListBox)ctl;
txtr.BorderStyle = BorderStyle.None;
}
else if (((Type)ctl.GetType()) == typeof(TabPage))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); //Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
TabPage txtr = (TabPage)ctl;
txtr.BorderStyle = BorderStyle.None;
}
else if (((Type)ctl.GetType()) == typeof(TabControl))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28); //Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
TabControl txtr = (TabControl)ctl;
}
else if (((Type)ctl.GetType()) == typeof(DataGridView))
{
ctl.ForeColor = Color.White;
DataGridView dgv = (DataGridView)ctl;
dgv.EnableHeadersVisualStyles = false;
dgv.BorderStyle = BorderStyle.None;
dgv.BackgroundColor = Color.FromArgb(0x26, 0x27, 0x28);
DataGridViewCellStyle rs = new DataGridViewCellStyle();
rs.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
rs.ForeColor = Color.White;
dgv.RowsDefaultCellStyle = rs;
DataGridViewCellStyle hs = new DataGridViewCellStyle(dgv.ColumnHeadersDefaultCellStyle);
hs.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
hs.ForeColor = Color.White;
dgv.ColumnHeadersDefaultCellStyle = hs;
dgv.RowHeadersDefaultCellStyle = hs;
}
else if (((Type)ctl.GetType()) == typeof(ComboBox))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
ComboBox CMB = (ComboBox)ctl;
CMB.FlatStyle = FlatStyle.Flat;
}
else if (((Type)ctl.GetType()) == typeof(NumericUpDown))
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
ctl.ForeColor = Color.White;
}
else if (((Type)ctl.GetType()) == typeof(TrackBar))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
ctl.ForeColor = Color.White;
}
else if (((Type)ctl.GetType()) == typeof(LinkLabel))
{
ctl.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
ctl.ForeColor = Color.White;
LinkLabel LNK = (LinkLabel)ctl;
LNK.ActiveLinkColor = Color.White;
LNK.LinkColor = Color.White;
LNK.VisitedLinkColor = Color.White;
}
else if (((Type)ctl.GetType()) == typeof(HorizontalProgressBar2) ||
((Type)ctl.GetType()) == typeof(VerticalProgressBar2))
{
((HorizontalProgressBar2)ctl).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
((HorizontalProgressBar2)ctl).ValueColor = Color.FromArgb(148, 193, 31);
}
if (ctl.Controls.Count > 0)
fixtheme(ctl, 1);
}
}
private void MenuFlightData_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
UserControl temp = FlightData;
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Location = new Point(0, MainMenu.Height);
temp.Dock = DockStyle.Fill;
//temp.ForeColor = Color.White;
//temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
MyView.Controls.Add(temp);
if (MainV2.config["FlightSplitter"] != null)
((GCSViews.FlightData)temp).MainHcopy.SplitterDistance = int.Parse(MainV2.config["FlightSplitter"].ToString());
}
private void MenuFlightPlanner_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
UserControl temp = FlightPlanner;
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Location = new Point(0, MainMenu.Height);
temp.Dock = DockStyle.Fill;
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
MyView.Controls.Add(temp);
}
private void MenuConfiguration_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
// dispose of old else memory leak
if (Configuration != null)
{
try
{
Configuration.Dispose();
}
catch { }
}
Configuration = new GCSViews.Configuration();
UserControl temp = Configuration;
fixtheme(temp);
//temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Location = new Point(0, 0);
temp.Dock = DockStyle.Fill;
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
temp.Size = MyView.Size;
//temp.Parent = MyView;
MyView.Controls.Add(temp);
}
private void MenuSimulation_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
UserControl temp = Simulation;
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Location = new Point(0, MainMenu.Height);
temp.Dock = DockStyle.Fill;
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
MyView.Controls.Add(temp);
}
private void MenuFirmware_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
UserControl temp = Firmware;
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Dock = DockStyle.Fill;
MyView.Controls.Add(temp);
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
}
private void MenuTerminal_Click(object sender, EventArgs e)
{
if (comPort.BaseStream.IsOpen)
{
MenuConnect_Click(sender, e);
}
givecomport = true;
MyView.Controls.Clear();
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
// dispose of old else memory leak
if (Terminal != null)
{
try
{
Terminal.Dispose();
}
catch { }
}
Terminal = new GCSViews.Terminal();
UserControl temp = Terminal;
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Dock = DockStyle.Fill;
MyView.Controls.Add(temp);
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
}
private void MenuConnect_Click(object sender, EventArgs e)
{
givecomport = false;
if (comPort.BaseStream.IsOpen)
{
try
{
if (talk != null) // cancel all pending speech
talk.SpeakAsyncCancelAll();
if (comPort.logfile != null)
comPort.logfile.Close();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch { }
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
else
{
if (CMB_serialport.Text == "TCP")
{
comPort.BaseStream = new TcpSerial();
}
else
if (CMB_serialport.Text == "UDP")
{
comPort.BaseStream = new UdpSerial();
}
else
{
comPort.BaseStream = new SerialPort();
}
try
{
comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch { }
comPort.BaseStream.DataBits = 8;
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
comPort.BaseStream.DtrEnable = false;
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.DtrEnable = true;
if (DialogResult.OK != Common.MessageShowAgain("Mavlink Connect", "Make sure your APM slider switch is in Flight Mode (away from RC pins)"))
{
return;
}
try
{
if (comPort.logfile != null)
comPort.logfile.Close();
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew));
}
catch { MessageBox.Show("Failed to create log - wont log this session"); } // soft fail
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.Open(true);
if (comPort.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
cs.firmware = APMFirmware;
config[CMB_serialport.Text + "_BAUD"] = CMB_baudrate.Text;
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
}
catch (Exception ex)
{
try
{
comPort.Close();
}
catch { }
try
{
string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName);
ArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { throw new Exception("Can not determine APM board type"); }
port.PortName = comPort.BaseStream.PortName;
port.DtrEnable = true;
port.Open();
if (port.connectAP())
{
byte[] buffer = port.download(20);
port.Close();
if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header
{
MessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one.");
return;
}
else
{
Console.WriteLine("Valid eeprom contents");
}
}
}
catch { }
MessageBox.Show("Is your CLI switch in Flight position?\n(this is required for MAVlink comms)\n\n" + ex.ToString());
return;
}
}
}
private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
{
comportname = CMB_serialport.Text;
if (comportname == "UDP" || comportname == "TCP")
CMB_baudrate.Enabled = false;
else
CMB_baudrate.Enabled = true;
try
{
comPort.BaseStream.PortName = CMB_serialport.Text;
if (config[CMB_serialport.Text + "_BAUD"] != null)
CMB_baudrate.Text = config[CMB_serialport.Text + "_BAUD"].ToString();
}
catch { }
}
private void toolStripMenuItem2_Click(object sender, EventArgs e)
{
//Form temp = new Main();
//temp.Show();
}
private void MainV2_FormClosed(object sender, FormClosedEventArgs e)
{
GCSViews.FlightData.threadrun = 0;
GCSViews.Simulation.threadrun = 0;
serialthread = false;
try
{
if (comPort.BaseStream.IsOpen)
comPort.Close();
}
catch { } // i get alot of these errors, the port is still open, but not valid - user has unpluged usb
try
{
FlightData.Dispose();
}
catch { }
try
{
FlightPlanner.Dispose();
}
catch { }
try
{
Simulation.Dispose();
}
catch { }
xmlconfig(true);
}
private void xmlconfig(bool write)
{
if (write || !File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml"))
{
try
{
System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII);
xmlwriter.Formatting = Formatting.Indented;
xmlwriter.WriteStartDocument();
xmlwriter.WriteStartElement("Config");
xmlwriter.WriteElementString("comport", comportname);
xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text);
xmlwriter.WriteElementString("APMFirmware", APMFirmware.ToString());
appconfig.AppSettings.Settings.Add("comport", comportname);
appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
foreach (string key in config.Keys)
{
try
{
if (key == "")
continue;
xmlwriter.WriteElementString(key, config[key].ToString());
appconfig.AppSettings.Settings.Add(key, config[key].ToString());
}
catch { }
}
xmlwriter.WriteEndElement();
xmlwriter.WriteEndDocument();
xmlwriter.Close();
appconfig.Save();
}
catch (Exception ex) { MessageBox.Show(ex.ToString()); }
}
else
{
try
{
using (XmlTextReader xmlreader = new XmlTextReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
try
{
switch (xmlreader.Name)
{
case "comport":
string temp = xmlreader.ReadString();
CMB_serialport.SelectedIndex = CMB_serialport.FindString(temp);
if (CMB_serialport.SelectedIndex == -1)
{
CMB_serialport.Text = temp; // allows ports that dont exist - yet
}
comPort.BaseStream.PortName = temp;
comportname = temp;
break;
case "baudrate":
string temp2 = xmlreader.ReadString();
CMB_baudrate.SelectedIndex = CMB_baudrate.FindString(temp2);
if (CMB_baudrate.SelectedIndex == -1)
{
CMB_baudrate.Text = temp2;
//CMB_baudrate.SelectedIndex = CMB_baudrate.FindString("57600"); ; // must exist
}
//bau = int.Parse(CMB_baudrate.Text);
break;
case "APMFirmware":
string temp3 = xmlreader.ReadString();
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.FindStringExact(temp3);
if (TOOL_APMFirmware.SelectedIndex == -1)
TOOL_APMFirmware.SelectedIndex = 0;
APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text);
break;
case "Config":
break;
case "xml":
break;
default:
if (xmlreader.Name == "") // line feeds
break;
config[xmlreader.Name] = xmlreader.ReadString();
break;
}
}
catch (Exception ee) { Console.WriteLine(ee.Message); } // silent fail on bad entry
}
}
}
catch (Exception ex) { Console.WriteLine("Bad Config File: " + ex.ToString()); } // bad config file
}
}
private void CMB_baudrate_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch { }
}
private void joysticksend()
{
while (true)
{
try
{
if (!MAC)
{
//joystick stuff
if (joystick != null && joystick.enabled)
{
MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t();
rc.target_component = comPort.compid;
rc.target_system = comPort.sysid;
if (joystick.getJoystickAxis(1) != Joystick.joystickaxis.None)
rc.chan1_raw = cs.rcoverridech1;//(ushort)(((int)state.Rz / 65.535) + 1000);
if (joystick.getJoystickAxis(2) != Joystick.joystickaxis.None)
rc.chan2_raw = cs.rcoverridech2;//(ushort)(((int)state.Y / 65.535) + 1000);
if (joystick.getJoystickAxis(3) != Joystick.joystickaxis.None)
rc.chan3_raw = cs.rcoverridech3;//(ushort)(1000 - ((int)slider[0] / 65.535 ) + 1000);
if (joystick.getJoystickAxis(4) != Joystick.joystickaxis.None)
rc.chan4_raw = cs.rcoverridech4;//(ushort)(((int)state.X / 65.535) + 1000);
if (joystick.getJoystickAxis(5) != Joystick.joystickaxis.None)
rc.chan5_raw = cs.rcoverridech5;
if (joystick.getJoystickAxis(6) != Joystick.joystickaxis.None)
rc.chan6_raw = cs.rcoverridech6;
if (joystick.getJoystickAxis(7) != Joystick.joystickaxis.None)
rc.chan7_raw = cs.rcoverridech7;
if (joystick.getJoystickAxis(8) != Joystick.joystickaxis.None)
rc.chan8_raw = cs.rcoverridech8;
if (lastjoystick.AddMilliseconds(50) < DateTime.Now)
{
// Console.WriteLine(DateTime.Now.Millisecond + " {0} {1} {2} {3} ", rc.chan1_raw, rc.chan2_raw, rc.chan3_raw, rc.chan4_raw);
comPort.sendPacket(rc);
lastjoystick = DateTime.Now;
}
}
}
System.Threading.Thread.Sleep(50);
}
catch { } // cant fall out
}
}
private void SerialReader()
{
if (serialthread == true)
return;
serialthread = true;
int minbytes = 10;
if (MAC)
minbytes = 0;
DateTime menuupdate = DateTime.Now;
DateTime speechcustomtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialthread)
{
try
{
System.Threading.Thread.Sleep(5);
if ((DateTime.Now - menuupdate).Milliseconds > 500)
{
// Console.WriteLine(DateTime.Now.Millisecond);
if (comPort.BaseStream.IsOpen)
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
});
}
}
else
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.BackgroundImage.Tag = "Connect";
});
}
}
menuupdate = DateTime.Now;
}
if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
//speechbatteryvolt
float warnvolt = 0;
float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt);
if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt)
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
}
if (MainV2.getConfig("speechcustomenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
}
speechcustomtime = DateTime.Now;
}
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
{
MainV2.cs.linkqualitygcs = 0;
}
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds >= 1)
{
if (linkqualitytime.Second != DateTime.Now.Second)
{
MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f);
linkqualitytime = DateTime.Now;
GCSViews.FlightData.myhud.Invalidate();
}
}
if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
float warnalt = float.MaxValue;
float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt);
try
{
if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
{
if (MainV2.talk.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
}
}
catch { } // silent fail
}
if (!comPort.BaseStream.IsOpen || givecomport == true)
continue;
if (heatbeatsend.Second != DateTime.Now.Second)
{
Console.WriteLine("remote lost {0}", cs.packetdropremote);
MAVLink.__mavlink_heartbeat_t htb = new MAVLink.__mavlink_heartbeat_t();
#if MAVLINK10
htb.type = (byte)MAVLink.MAV_TYPE.MAV_TYPE_GCS;
htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.MAV_AUTOPILOT_ARDUPILOTMEGA;
htb.mavlink_version = 3;
#else
htb.type = (byte)MAVLink.MAV_TYPE.MAV_GENERIC;
htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT_TYPE.MAV_AUTOPILOT_ARDUPILOTMEGA;
htb.mavlink_version = 2;
#endif
comPort.sendPacket(htb);
heatbeatsend = DateTime.Now;
}
// data loss warning
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
{
if (speechenable && talk != null)
{
if (MainV2.talk.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
}
}
//Console.WriteLine(comPort.BaseStream.BytesToRead);
while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false)
comPort.readPacket();
}
catch (Exception e)
{
Console.WriteLine("Serial Reader fail :" + e.Message);
try
{
comPort.Close();
}
catch { }
}
}
}
private class MyRenderer : ToolStripProfessionalRenderer
{
public static ToolStripItem currentpressed;
protected override void OnRenderButtonBackground(ToolStripItemRenderEventArgs e)
{
//BackgroundImage
if (e.Item.BackgroundImage == null) base.OnRenderButtonBackground(e);
else
{
Rectangle bounds = new Rectangle(Point.Empty, e.Item.Size);
e.Graphics.DrawImage(e.Item.BackgroundImage, bounds);
if (e.Item.Pressed || e.Item == currentpressed)
{
SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
e.Graphics.FillRectangle(brush, bounds);
if (e.Item.Name != "MenuConnect")
{
//Console.WriteLine("new " + e.Item.Name + " old " + currentpressed.Name );
//e.Item.GetCurrentParent().Invalidate();
if (currentpressed != e.Item)
currentpressed.Invalidate();
currentpressed = e.Item;
}
// Something...
}
else if (e.Item.Selected) // mouse over
{
SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
e.Graphics.FillRectangle(brush, bounds);
// Something...
}
using (Pen pen = new Pen(Color.Black))
{
//e.Graphics.DrawRectangle(pen, bounds.X, bounds.Y, bounds.Width - 1, bounds.Height - 1);
}
}
}
protected override void OnRenderItemImage(ToolStripItemImageRenderEventArgs e)
{
//base.OnRenderItemImage(e);
}
}
private void MainV2_Load(object sender, EventArgs e)
{
// generate requestall for jani and sandro
comPort.sysid = 7;
comPort.compid = 1;
//comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
//
MenuFlightData_Click(sender, e);
try
{
listener = new TcpListener(IPAddress.Any, 56781);
System.Threading.Thread t13 = new System.Threading.Thread(new System.Threading.ThreadStart(listernforclients))
{
Name = "motion jpg stream",
IsBackground = true
};
// wait for tcp connections
t13.Start();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
System.Threading.Thread t12 = new System.Threading.Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
Priority = ThreadPriority.AboveNormal,
Name = "Main joystick sender"
};
t12.Start();
System.Threading.Thread t11 = new System.Threading.Thread(new ThreadStart(SerialReader))
{
IsBackground = true,
Name = "Main Serial reader"
};
t11.Start();
}
/// <summary>
/// little web server for sending network link kml's
/// </summary>
void listernforclients()
{
try
{
listener.Start();
}
catch { Console.WriteLine("do you have the planner open already"); return; } // in use
// Enter the listening loop.
while (true)
{
// Perform a blocking call to accept requests.
// You could also user server.AcceptSocket() here.
try
{
Console.WriteLine("Listening for client - 1 client at a time");
TcpClient client = listener.AcceptTcpClient();
// Get a stream object for reading and writing
Console.WriteLine("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true;
//client.NoDelay = true;
// makesure we have valid image
GCSViews.FlightData.mymap.streamjpgenable = true;
GCSViews.FlightData.myhud.streamjpgenable = true;
GCSViews.FlightData.mymap.Refresh();
NetworkStream stream = client.GetStream();
System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
byte[] request = new byte[1024];
int len = stream.Read(request, 0, request.Length);
string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len);
Console.WriteLine(head);
int index = head.IndexOf('\n');
string url = head.Substring(0, index - 1);
//url = url.Replace("\r", "");
//url = url.Replace("GET ","");
//url = url.Replace(" HTTP/1.0", "");
//url = url.Replace(" HTTP/1.1", "");
if (url.Contains("websocket"))
{
using (var writer = new StreamWriter(stream))
{
writer.WriteLine("HTTP/1.1 101 Web Socket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
writer.WriteLine("Connection: Upgrade");
writer.WriteLine("WebSocket-Origin: http://localhost:56781/");
writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");
writer.WriteLine("");
while (client.Connected)
{
System.Threading.Thread.Sleep(200);
Console.WriteLine(stream.DataAvailable + " " + client.Available);
stream.WriteByte(0x00);
writer.WriteLine("test from planner");
stream.WriteByte(0xff);
//break;
}
stream.WriteByte(0x00);
//message
stream.WriteByte(0xff);
}
}
else if (url.Contains(".html"))
{
BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\n\n--APMPLANNER\r\n";
byte[] temp = encoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
while (client.Connected)
{
System.Threading.Thread.Sleep(200); // 5hz
byte[] data = null;
if (url.ToLower().Contains("hud"))
{
GCSViews.FlightData.myhud.streamjpgenable = true;
data = GCSViews.FlightData.myhud.streamjpg.ToArray();
}
else if (url.ToLower().Contains("map"))
{
GCSViews.FlightData.mymap.streamjpgenable = true;
data = GCSViews.FlightData.mymap.streamjpg.ToArray();
}
else
{
GCSViews.FlightData.mymap.streamjpgenable = true;
GCSViews.FlightData.myhud.streamjpgenable = true;
Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
Image img2 = Image.FromStream(GCSViews.FlightData.mymap.streamjpg);
int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
Image imgout = new Bitmap(img1.Width + img2.Width, bigger);
Graphics grap = Graphics.FromImage(imgout);
grap.DrawImageUnscaled(img1, 0, 0);
grap.DrawImageUnscaled(img2, img1.Width, 0);
MemoryStream streamjpg = new MemoryStream();
imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
data = streamjpg.ToArray();
}
header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
temp = encoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(data, 0, data.Length);
header = "\r\n--APMPLANNER\r\n";
temp = encoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
GCSViews.FlightData.mymap.streamjpgenable = false;
GCSViews.FlightData.myhud.streamjpgenable = false;
stream.Close();
}
stream.Close();
}
catch (Exception ee) { Console.WriteLine("Failed mjpg " + ee.Message); }
}
}
private void TOOL_APMFirmware_SelectedIndexChanged(object sender, EventArgs e)
{
APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text);
MainV2.cs.firmware = APMFirmware;
}
private void MainV2_Resize(object sender, EventArgs e)
{
Console.WriteLine("myview width " + MyView.Width + " height " + MyView.Height);
Console.WriteLine("this width " + this.Width + " height " + this.Height);
}
private void MenuHelp_Click(object sender, EventArgs e)
{
MyView.Controls.Clear();
UserControl temp = new GCSViews.Help();
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Dock = DockStyle.Fill;
MyView.Controls.Add(temp);
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
}
public static void updatecheck(Label loadinglabel)
{
try
{
string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
bool update = updatecheck(loadinglabel, baseurl, "");
System.Diagnostics.Process P = new System.Diagnostics.Process();
if (MAC)
{
P.StartInfo.FileName = "mono";
P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\"";
}
else
{
P.StartInfo.FileName = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe";
P.StartInfo.Arguments = "";
try
{
foreach (string newupdater in Directory.GetFiles(Path.GetDirectoryName(Application.ExecutablePath), "Updater.exe*.new"))
{
File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true);
File.Delete(newupdater);
}
}
catch (Exception)
{
}
}
if (loadinglabel != null)
loadinglabel.Text = "Starting Updater";
Console.WriteLine("Start " + P.StartInfo.FileName + " with " + P.StartInfo.Arguments);
P.Start();
try
{
Application.Exit();
}
catch { }
}
catch (Exception ex) { MessageBox.Show("Update Failed " + ex.Message); }
}
private static bool updatecheck(Label loadinglabel, string baseurl, string subdir)
{
bool update = false;
List<string> files = new List<string>();
// Create a request using a URL that can receive a post.
Console.WriteLine(baseurl);
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
StreamReader reader = new StreamReader(dataStream);
// Read the content.
string responseFromServer = reader.ReadToEnd();
// Display the content.
Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
if (regex.IsMatch(responseFromServer))
{
MatchCollection matchs = regex.Matches(responseFromServer);
for (int i = 0; i < matchs.Count; i++)
{
if (matchs[i].Groups[1].Value.ToString().Contains(".."))
continue;
if (matchs[i].Groups[1].Value.ToString().Contains("http"))
continue;
files.Add(System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString()));
}
}
//Console.WriteLine(responseFromServer);
// Clean up the streams.
reader.Close();
dataStream.Close();
response.Close();
string dir = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir;
if (!Directory.Exists(dir))
Directory.CreateDirectory(dir);
foreach (string file in files)
{
if (file.Equals("/"))
{
continue;
}
if (file.EndsWith("/"))
{
update = updatecheck(loadinglabel, baseurl + file, file) && update;
continue;
}
if (loadinglabel != null)
loadinglabel.Text = "Checking " + file;
string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file;
// Create a request using a URL that can receive a post.
request = WebRequest.Create(baseurl + file);
Console.Write(baseurl + file + " ");
// Set the Method property of the request to POST.
request.Method = "HEAD";
((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path);
// Get the response.
response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
bool getfile = false;
if (File.Exists(path))
{
FileInfo fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]);
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
{
StreamWriter sw = new StreamWriter(path + ".etag");
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
getfile = true;
Console.WriteLine("NEW FILE " + file);
}
}
else
{
getfile = true;
Console.WriteLine("NEW FILE " + file);
// get it
}
reader.Close();
//dataStream.Close();
response.Close();
if (getfile)
{
if (!update)
{
//DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
//if (dr == DialogResult.Yes)
{
update = true;
}
//else
{
// return;
}
}
if (loadinglabel != null)
loadinglabel.Text = "Getting " + file;
// Create a request using a URL that can receive a post.
request = WebRequest.Create(baseurl + file);
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the response.
response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(path + ".new", FileMode.Create); //
DateTime dt = DateTime.Now;
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
Application.DoEvents();
try
{
if (dt.Second != DateTime.Now.Second)
{
if (loadinglabel != null)
loadinglabel.Text = "Getting " + file + ": " + Math.Abs(bytes) + " bytes";//(((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%";
dt = DateTime.Now;
}
}
catch { }
Console.WriteLine(file + " " + bytes);
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
break;
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
}
}
//P.StartInfo.CreateNoWindow = true;
//P.StartInfo.RedirectStandardOutput = true;
return update;
}
private void toolStripMenuItem3_Click(object sender, EventArgs e)
{
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.F))
{
Form frm = new temp();
fixtheme(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.S))
{
ScreenShot();
return true;
}
if (keyData == (Keys.Control | Keys.G)) // test
{
Form frm = new SerialOutput();
fixtheme(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.T)) // for ryan beall
{
MainV2.comPort.Open(false);
return true;
}
if (keyData == (Keys.Control | Keys.Y)) // for ryan beall
{
#if MAVLINK10
int fixme;
//MainV2.comPort.doCommand(MAVLink.MAV_ACTION.MAV_ACTION_STORAGE_WRITE);
#else
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_STORAGE_WRITE);
#endif
MessageBox.Show("Done MAV_ACTION_STORAGE_WRITE");
return true;
}
if (keyData == (Keys.Control | Keys.J)) // for jani
{
string data = "!!";
Common.InputBox("inject", "enter data to be written", ref data);
MainV2.comPort.Write(data + "\r");
return true;
}
return base.ProcessCmdKey(ref msg, keyData);
}
private void starttest()
{
MyView.Controls.Clear();
UserControl temp = new GCSViews.test();
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Dock = DockStyle.Fill;
MyView.Controls.Add(temp);
temp.ForeColor = Color.White;
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
}
public void changelanguage(CultureInfo ci)
{
if (ci != null && !Thread.CurrentThread.CurrentUICulture.Equals(ci))
{
Thread.CurrentThread.CurrentUICulture = ci;
config["language"] = ci.Name;
//System.Threading.Thread.CurrentThread.CurrentCulture = ci;
HashSet<Control> views = new HashSet<Control> { FlightData, FlightPlanner, Simulation, Firmware };
foreach (Control view in MyView.Controls)
views.Add(view);
foreach (Control view in views)
{
if (view != null)
{
ComponentResourceManager rm = new ComponentResourceManager(view.GetType());
foreach (Control ctrl in view.Controls)
applyresource(rm, ctrl);
rm.ApplyResources(view, "$this");
}
}
}
}
private void applyresource(ComponentResourceManager rm, Control ctrl)
{
rm.ApplyResources(ctrl, ctrl.Name);
foreach (Control subctrl in ctrl.Controls)
applyresource(rm, subctrl);
if (ctrl.ContextMenu != null)
applyresource(rm, ctrl.ContextMenu);
if (ctrl is DataGridView)
{
foreach (DataGridViewColumn col in (ctrl as DataGridView).Columns)
rm.ApplyResources(col, col.Name);
}
}
private void applyresource(ComponentResourceManager rm, Menu menu)
{
rm.ApplyResources(menu, menu.Name);
foreach (MenuItem submenu in menu.MenuItems)
applyresource(rm, submenu);
}
public static CultureInfo getcultureinfo(string name)
{
try
{
return new CultureInfo(name);
}
catch (Exception)
{
return null;
}
}
private void MainV2_FormClosing(object sender, FormClosingEventArgs e)
{
config["MainHeight"] = this.Height;
config["MainWidth"] = this.Width;
config["MainMaximised"] = this.WindowState.ToString();
try
{
comPort.logreadmode = false;
if (comPort.logfile != null)
comPort.logfile.Close();
}
catch { }
}
public static string getConfig(string paramname)
{
if (config[paramname] != null)
return config[paramname].ToString();
return "";
}
public void changeunits()
{
try
{
// dist
if (MainV2.config["distunits"] != null)
{
switch ((Common.distances)Enum.Parse(typeof(Common.distances), MainV2.config["distunits"].ToString()))
{
case Common.distances.Meters:
MainV2.cs.multiplierdist = 1;
break;
case Common.distances.Feet:
MainV2.cs.multiplierdist = 3.2808399f;
break;
}
}
// speed
if (MainV2.config["speedunits"] != null)
{
switch ((Common.speeds)Enum.Parse(typeof(Common.speeds), MainV2.config["speedunits"].ToString()))
{
case Common.speeds.ms:
MainV2.cs.multiplierspeed = 1;
break;
case Common.speeds.fps:
MainV2.cs.multiplierdist = 3.2808399f;
break;
case Common.speeds.kph:
MainV2.cs.multiplierspeed = 3.6f;
break;
case Common.speeds.mph:
MainV2.cs.multiplierspeed = 2.23693629f;
break;
case Common.speeds.knots:
MainV2.cs.multiplierspeed = 1.94384449f;
break;
}
}
}
catch { }
}
private void CMB_baudrate_TextChanged(object sender, EventArgs e)
{
StringBuilder sb = new StringBuilder();
int baud = 0;
for (int i = 0; i < CMB_baudrate.Text.Length; i++)
if (char.IsDigit(CMB_baudrate.Text[i]))
{
sb.Append(CMB_baudrate.Text[i]);
baud = baud * 10 + CMB_baudrate.Text[i] - '0';
}
if (CMB_baudrate.Text != sb.ToString())
CMB_baudrate.Text = sb.ToString();
try
{
if (baud > 0 && comPort.BaseStream.BaudRate != baud)
comPort.BaseStream.BaudRate = baud;
}
catch (Exception) { }
}
}
}
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