| 26,6 → 26,7 |
|---|
| using System.Windows.Navigation; |
| using System.Windows.Shapes; |
| using System.Windows.Threading; |
| using System.Globalization; |
| |
| namespace MKLiveView |
| { |
| 262,7 → 263,9 |
|---|
| DataTable dtMotors1 = new DataTable(); |
| |
| DataTable dtWaypoints = new DataTable(); |
| static volatile int _iWP = -1; |
| static volatile int _iWPCount = -1; |
| static volatile int _iWPIndex = -1; |
| int _iWPTimeout = 1000; |
| bool _bGetWP = false; |
| static volatile bool _bGetWPCount = false; |
| |
| 347,50 → 350,15 |
|---|
| /// </summary> |
| void _dataTablesInit() |
| { |
| //dtAnalog.Columns.Add("ID"); |
| //dtAnalog.Columns.Add("Value"); |
| // dataGridView1.DataSource = dtAnalog; |
| |
| dtMotors1.Columns.Add("#"); |
| if (Thread.CurrentThread.CurrentUICulture.Name == "") |
| if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
| dtMotors1.Columns.Add("Strom"); |
| else |
| dtMotors1.Columns.Add("Current"); |
| else |
| dtMotors1.Columns.Add("Strom"); |
| dtMotors1.Columns.Add("Temp"); |
| //dtMotors2.Columns.Add("#"); |
| //if (Thread.CurrentThread.CurrentUICulture.Name == "") |
| // dtMotors2.Columns.Add("Current"); |
| //else |
| // dtMotors2.Columns.Add("Strom"); |
| //dtMotors2.Columns.Add("Temp"); |
| dgvMotors1.DataContext = dtMotors1.DefaultView; |
| //dgvMotors2.DataContext = dtMotors2.DefaultView; |
| _initDTMotors(); |
| //dgvMotors1.Columns[0].Width = 24; |
| //dgvMotors1.Columns[1].Width = 74; |
| //dgvMotors1.Columns[2].Width = 74; |
| //dgvMotors2.Columns[0].Width = 24; |
| //dgvMotors2.Columns[1].Width = 74; |
| //dgvMotors2.Columns[2].Width = 74; |
| |
| dtWaypoints.Columns.Add("Index"); |
| dtWaypoints.Columns.Add("Type"); |
| dtWaypoints.Columns.Add("Name"); |
| dtWaypoints.Columns.Add("Latitude"); |
| dtWaypoints.Columns.Add("Longitude"); |
| dtWaypoints.Columns.Add("Altitude"); |
| dtWaypoints.Columns.Add("Heading"); |
| dtWaypoints.Columns.Add("Speed"); |
| dtWaypoints.Columns.Add("Altitude rate"); |
| dtWaypoints.Columns.Add("Tol radius"); |
| dtWaypoints.Columns.Add("Hold time"); |
| dtWaypoints.Columns.Add("AutoTrigger"); |
| dtWaypoints.Columns.Add("Cam angle"); |
| dtWaypoints.Columns.Add("Event"); |
| dtWaypoints.Columns.Add("Eventchan Val"); |
| dtWaypoints.Columns.Add("Status"); |
| dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
| dgvWP.DataContext = dtWaypoints.DefaultView; |
| Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0)); |
| Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
| style.Setters.Add(setter); |
| 398,14 → 366,33 |
|---|
| style.Setters.Add(setter); |
| setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
| style.Setters.Add(setter); |
| |
| dtWaypoints.Columns.Add("Index",typeof(int)); |
| dtWaypoints.Columns.Add("Type",typeof(string)); |
| dtWaypoints.Columns.Add("Name",typeof(string)); |
| dtWaypoints.Columns.Add("Latitude",typeof(string)); |
| dtWaypoints.Columns.Add("Longitude",typeof(string)); |
| dtWaypoints.Columns.Add("Altitude",typeof(string)); |
| dtWaypoints.Columns.Add("Heading",typeof(string)); |
| dtWaypoints.Columns.Add("Speed",typeof(string)); |
| dtWaypoints.Columns.Add("ClimbRate",typeof(string)); |
| dtWaypoints.Columns.Add("Radius",typeof(string)); |
| dtWaypoints.Columns.Add("HoldTime",typeof(string)); |
| dtWaypoints.Columns.Add("AutoTrigger",typeof(string)); |
| dtWaypoints.Columns.Add("CamAngle",typeof(string)); |
| dtWaypoints.Columns.Add("Event",typeof(string)); |
| dtWaypoints.Columns.Add("Out1Timer",typeof(string)); |
| dtWaypoints.Columns.Add("Status",typeof(string)); |
| dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
| dgvWP.ItemsSource = dtWaypoints.DefaultView; |
| dgvWP.ColumnHeaderStyle = new Style(); |
| dgvWP.ColumnHeaderStyle = style; |
| |
| |
| } |
| /// <summary> |
| /// initialize the 2 datatables for motor values |
| /// dtMotors1 - motor 1 - 4 |
| /// dtMotors2 - motor 5 - 8 |
| /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
| /// initialize the datatable dtMotors1 for motor values |
| /// DataGridView dgvMotors1 is bound to dtMotors1 |
| /// </summary> |
| void _initDTMotors() |
| { |
| 418,16 → 405,7 |
|---|
| dtMotors1.Rows[i].SetField(1, "NA"); |
| dtMotors1.Rows[i].SetField(2, "NA"); |
| } |
| //if (dtMotors2.Rows.Count < 4) |
| // dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
| //else |
| //{ |
| // dtMotors2.Rows[i].SetField(1, "NA"); |
| // dtMotors2.Rows[i].SetField(2, "NA"); |
| //} |
| } |
| // Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout())); |
| //dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
| } |
| |
| #endregion init |
| 523,7 → 501,8 |
|---|
| } |
| private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
| { |
| |
| Thread t = new Thread(new ThreadStart(_sendWPList)); |
| t.Start(); |
| } |
| |
| private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
| 1241,6 → 1220,9 |
|---|
| _processWPData(data); |
| break; |
| |
| case 'W': //return new Waypoint items count after sending waypoint to copter |
| _iWPCount = data[0]; |
| break; |
| //default: |
| // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
| // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
| 1778,16 → 1760,10 |
|---|
| /// <param name="data">the received byte array to process</param> |
| void _processWPData(byte[] data) |
| { |
| _iWP = data[0]; |
| _iWPCount = data[0]; |
| _bGetWPCount = false; |
| if (data.Length >= 28) |
| { |
| //int count = data[0]; |
| //int index = data[1]; |
| //cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear())); |
| //for (int i = 0; i < count; i++) |
| // cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1))); |
| //cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index)); |
| Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
| Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
| if (_bGetWP) |
| 1796,14 → 1772,9 |
|---|
| dtWaypoints.Rows.Clear(); |
| DataRow dr = dtWaypoints.NewRow(); |
| dr = Waypoints.toDataRow(data, dr); |
| //if (dtWaypoints.Rows.Contains(data[1])) |
| //{ |
| // dtWaypoints.Rows.Find(data[1]).Delete(); |
| // dtWaypoints.Rows.InsertAt(dr, data[1] - 1); |
| //} |
| //else |
| dtWaypoints.Rows.Add(dr); |
| |
| dtWaypoints.Rows.Add(dr); |
| Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Dispatcher.Invoke(() => _iWPIndex = data[1]); |
| if (data[1] == data[0]) |
| { |
| _bGetWP = false; |
| 1816,7 → 1787,6 |
|---|
| { |
| Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
| Dispatcher.Invoke(() => lblWPCount.Content = 0); |
| // Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length))); |
| } |
| } |
| /// <summary> |
| 2047,7 → 2017,7 |
|---|
| _getpWP(1); |
| while (_bGetWPCount) |
| Thread.Sleep(100); |
| if (_iWP > 0) |
| if (_iWPCount > 0) |
| _getWPList(); |
| // } |
| //} |
| 2055,14 → 2025,108 |
|---|
| void _getWPList() |
| { |
| _bGetWP = true; |
| for (int j = 0; j < _iWP; j++) |
| int iTimeout=0; |
| for (int j = 0; j < _iWPCount; j++) |
| { |
| _getpWP(j + 1); |
| Thread.Sleep(10); |
| iTimeout = 0; |
| while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
| { |
| Thread.Sleep(1); |
| iTimeout++; |
| } |
| } |
| } |
| void _sendWPList() |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| byte[] bData = new byte[30]; |
| for (int i = 0; i < 30; i++) |
| bData[i] = 0; |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| _iWPCount = -1; |
| while (_iWPCount == -1) |
| Thread.Sleep(10); |
| Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
| |
| int iVal; |
| double dVal; |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = ","; |
| for (int i = 0; i < dtWaypoints.Rows.Count; i++) |
| { |
| //longitude |
| dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi); |
| iVal = (int)(dVal * Math.Pow(10, 7)); |
| bData[0] = (byte)(iVal & 0xff); |
| bData[1] = (byte)((iVal >> 8) & 0xff); |
| bData[2] = (byte)((iVal >> 16) & 0xff); |
| bData[3] = (byte)(iVal >> 24); |
| //latitude |
| dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi); |
| iVal = (int)(dVal * Math.Pow(10, 7)); |
| bData[4] = (byte)(iVal & 0xff); |
| bData[5] = (byte)((iVal >> 8) & 0xff); |
| bData[6] = (byte)((iVal >> 16) & 0xff); |
| bData[7] = (byte)(iVal >> 24); |
| //altitude |
| dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi); |
| iVal = (int)(dVal * 10); |
| bData[8] = (byte)(iVal & 0xff); |
| bData[9] = (byte)((iVal >> 8) & 0xff); |
| bData[10] = (byte)((iVal >> 16) & 0xff); |
| bData[11] = (byte)(iVal >> 24); |
| //Status 'NEWDATA' |
| bData[12] = 1; |
| //heading |
| iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]); |
| bData[13] = (byte)(iVal & 0xff); |
| bData[14] = (byte)((iVal >> 8) & 0xff); |
| //ToleranceRadius |
| bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]); |
| //HoldTime |
| bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]); |
| //Event_Flag |
| bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]); |
| //Index |
| bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]); |
| //Type |
| bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]); |
| //WP_EventChannelValue |
| bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]); |
| //AltitudeRate |
| bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]); |
| //Speed |
| bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]); |
| //CamAngle |
| bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]); |
| //Name |
| byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]); |
| bData[24] = name.Length > 0 ? name[0] : (byte)0; |
| bData[25] = name.Length > 1 ? name[1] : (byte)0; |
| bData[26] = name.Length > 2 ? name[2] : (byte)0; |
| bData[27] = name.Length > 3 ? name[3] : (byte)0; |
| //Autotrigger |
| bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]); |
| |
| bytes = FlightControllerMessage.CreateMessage('w', 2, bData); |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| _iWPCount = -1; |
| while (_iWPCount == -1) |
| Thread.Sleep(10); |
| Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
| } |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| } |
| |
| #region OSD-Menue |
| |
| /// <summary> |
| 2524,6 → 2588,8 |
|---|
| int wpnum = Convert.ToInt16(sVal); |
| string wp; |
| int i; |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = "."; |
| dtWaypoints.Rows.Clear(); |
| for (int k = 1; k <= wpnum; k++) |
| { |
| 2536,23 → 2602,23 |
|---|
| i++; |
| sVal = ini.IniReadValue(wp, "Type"); |
| if (sVal != "") |
| o[i] = ((Waypoints.pointType)(Convert.ToInt16(sVal) - 1)).ToString(); |
| o[i] = Convert.ToInt16(sVal) -1; |
| i++; |
| sVal = ini.IniReadValue(wp, "Prefix"); |
| if (sVal != "") |
| o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString(); |
| i++; |
| sVal = ini.IniReadValue(wp, "Longitude"); |
| sVal = ini.IniReadValue(wp, "Latitude"); |
| if (sVal != "") |
| o[i] = Convert.ToDouble(sVal); |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Latitude"); |
| sVal = ini.IniReadValue(wp, "Longitude"); |
| if (sVal != "") |
| o[i] = Convert.ToDouble(sVal); |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Altitude"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Heading"); |
| if (sVal != "") |
| 2560,7 → 2626,7 |
|---|
| i++; |
| sVal = ini.IniReadValue(wp, "Speed"); |
| if (sVal != "") |
| o[i] = Waypoints.WPSpeed(Convert.ToInt16(sVal)); |
| o[i] =Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "ClimbRate"); |
| if (sVal != "") |
| 2580,7 → 2646,7 |
|---|
| i++; |
| sVal = ini.IniReadValue(wp, "CAM-Nick"); |
| if (sVal != "") |
| o[i] = Waypoints.CAMAngle(Convert.ToInt16(sVal)); |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| o[i] = 0; |
| i++; |
| 2591,6 → 2657,7 |
|---|
| o[i] = "New"; |
| |
| dr.ItemArray = o; |
| // dtWaypoints.Rows.Add(dr); |
| dtWaypoints.Rows.Add(dr); |
| Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
| Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
| 2631,6 → 2698,51 |
|---|
| } |
| } |
| |
| public class waypointsConverter : IValueConverter |
| { |
| public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
| { |
| if (value != null) |
| { |
| switch ((string)parameter) |
| { |
| case "Latitude": |
| return value.ToString() + " °"; |
| case "Longitude": |
| return value.ToString() + " °"; |
| case "Radius": |
| return value.ToString() + " m"; |
| case "Altitude": |
| return value.ToString() + " m"; |
| case "ClimbRate": |
| return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
| case "DelayTime": |
| return value.ToString() + " s"; |
| case "Heading": |
| return Waypoints.Heading(System.Convert.ToInt32(value)); |
| case "Speed": |
| return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
| case "CamAngle": |
| return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
| case "Type": |
| return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
| case "AutoTrigger": |
| return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
| case "Status": |
| return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
| } |
| |
| return value.ToString(); |
| } |
| else return value; |
| } |
| |
| public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
| { |
| throw new NotImplementedException(); |
| } |
| } |
| |
| public class IniFile |
| { |
| public string path; |