• MikroKopter.de
• Wiki
• SHOP
• Datenschutz
• Impressum

ProjectsBL-CtrlFlightCtrlMK3MagNaviCtrl

Català-Valencià – Catalan中文 – Chinese (Simplified)中文 – Chinese (Traditional)Česky – CzechDansk – DanishNederlands – DutchEnglish – EnglishSuomi – FinnishFrançais – FrenchDeutsch – Germanעברית – Hebrewहिंदी – HindiMagyar – HungarianBahasa Indonesia – IndonesianItaliano – Italian日本語 – Japanese한국어 – KoreanМакедонски – Macedonianमराठी – MarathiNorsk – NorwegianPolski – PolishPortuguês – PortuguesePortuguês – Portuguese (Brazil)Русский – RussianSlovenčina – SlovakSlovenščina – SlovenianEspañol – SpanishSvenska – SwedishTürkçe – TurkishУкраїнська – UkrainianOëzbekcha – Uzbek

Compare Revisions

• This comparison shows the changes necessary to convert path

  → /MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2288

  → /MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2289

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 2288 → Rev 2289

/MKLiveView/v1.0/Source/MainWindow.xaml.cs
0,0 → 1,2359
using GMap.NET;
using GMap.NET.MapProviders;
using GMap.NET.WindowsPresentation;
using MKLiveView.GMapCustomMarkers;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Linq.Expressions;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Interop;
using System.Windows.Media;
using System.Windows.Media.Animation;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Windows.Threading;
namespace MKLiveView
{
/// <summary>
/// Interaktionslogik für MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
GMapMarker copter;
GMapMarker home;
PointLatLng start;
PointLatLng end;
PointLatLng pHome;
String[] NC_Error = new string[44]
{
"No Error",
"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
};
[FlagsAttribute]
enum NC_HWError0 : short
{
None = 0,
SPI_RX = 1,
COMPASS_RX = 2,
FC_INCOMPATIBLE = 4,
COMPASS_INCOMPATIBLE = 8,
GPS_RX = 16,
COMPASS_VALUE = 32
};
[FlagsAttribute]
enum FC_HWError0 : short
{
None = 0,
GYRO_NICK = 1,
GYRO_ROLL = 2,
GYRO_YAW = 4,
ACC_NICK = 8,
ACC_ROLL = 16,
ACC_TOP = 32,
PRESSURE = 64,
CAREFREE = 128
};
[FlagsAttribute]
enum FC_HWError1 : short
{
None = 0,
I2C = 1,
BL_MISSING = 2,
SPI_RX = 4,
PPM = 8,
MIXER = 16,
RC_VOLTAGE = 32,
ACC_NOT_CAL = 64,
RES3 = 128
};
public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
// Various colors for logging info
private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
bool _bCBInit = true;
bool _init = true;
bool check_HWError = false;
string filePath = Directory.GetCurrentDirectory();
bool bReadContinously = false;
bool _debugDataAutorefresh = true;
bool _navCtrlDataAutorefresh = true;
bool _blctrlDataAutorefresh = true;
bool _OSDAutorefresh = true;
bool _bErrorLog = false;
bool _bConnErr = false;
bool _bFollowCopter = false;
bool _bSaveWinStateNormal = true;
bool _bSaveWinStateFull = true;
double scaleNormalAll = 1;
double scaleNormalTopBar = 1;
double scaleNormalMotors = 1;
double scaleNormalOSD = 1;
double scaleNormalLOG = 1;
double scaleNormalHorizon = 1;
double scaleFullAll = 1;
double scaleFullTopBar = 1;
double scaleFullMotors = 1;
double scaleFullOSD = 1;
double scaleFullLOG = 1;
double scaleFullHorizon = 1;
int _iCtrlAct = 0;
int iOSDPage = 0;
int iOSDMax = 0;
int _iLifeCounter = 0;
int crcError = 0;
int _iMotors = 4;
int _LipoCells = 4;
double _dLipoVMax = 16.88;
double _dLipoVMin = 12;
double _dThresholdVoltageWarn = 0;
double _dThresholdVoltageCrit = 0;
Storyboard stbVoltageCritAnim;
bool _bCritAnimVoltActive = false;
bool _bCritVoiceVoltActive = false;
bool _bCWarnVoiceVoltActive = false;
bool _bVoiceVoltPlay = false;
double _dVoltLast = 0;
int _iVoltJitter = 0;
double _dTopHeight = 36;
int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
string[] serChanTitle = new string[12];
string[] sAnalogLabel = new string[32];
string[] sAnalogData = new string[32];
int[] iTimings = new int[] {100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000 };
int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
/// <summary>
/// interval for sending debugdata (multiplied by 10ms)
/// </summary>
byte debugInterval = 10; //(=> 100ms)
/// <summary>
/// interval for sending BL-CTRL status (multiplied by 10ms)
/// </summary>
byte blctrlInterval = 75;
/// <summary>
/// interval for sending NAV-CTRL status (multiplied by 10ms)
/// </summary>
byte navctrlInterval = 80;
/// <summary>
/// interval for sending OSD page update (multiplied by 10ms)
/// </summary>
byte OSDInterval = 85;
/// <summary>
/// datatable for the debug data array - displayed on settings tabpage in datagridview
/// </summary>
DataTable dtAnalog = new DataTable();
/// <summary>
/// datatable for motordata (current,temp)
/// </summary>
DataTable dtMotors1 = new DataTable();
// DataTable dtMotors2 = new DataTable();
DataTable dtWaypoints = new DataTable();
static volatile int _iWP = -1;
bool _bGetWP = false;
static volatile bool _bGetWPCount = false;
DispatcherTimer timer = new DispatcherTimer();
/// <summary>
/// stuff for enabeling touch zoom for the map
/// </summary>
Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
int iFirstStylusID = -1;
public string connectButtonText
{
get
{
return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
}
}
WinState winState = new WinState();
public MainWindow()
{
InitializeComponent();
_initForm();
_dataTablesInit();
_setupMap();
_init = false;
timer.Tick += new EventHandler(timerEvent);
timer.Interval = new TimeSpan(0, 0, 1);
timer.Start();
}
#region init
void _initForm()
{
_readIni();
if (_bSaveWinStateNormal)
_setScaleSliders(false);
cBoxTimingsDebug.ItemsSource =
cBoxTimingsNav.ItemsSource =
cBoxTimingsBl.ItemsSource =
cBoxTimingsOSD.ItemsSource =
iTimings;
cBoxLiPoCells.ItemsSource = sLiPoCells;
cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
_LipoMinMax();
sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
cBoxMotors.ItemsSource = iMotors;
cBoxMotors.SelectedItem = _iMotors;
serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
serialPortCtrl.DataReceived += processMessage;
chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
chkbAutoDbg.IsChecked = _debugDataAutorefresh;
chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
chkbAutoOSD.IsChecked = _OSDAutorefresh;
cBoxTimingsDebug.SelectedItem = debugInterval * 10;
cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
checkBoxFollowCopter.IsChecked = _bFollowCopter;
}
/// <summary>
/// initialize the datatables
/// with columnnames etc
/// </summary>
void _dataTablesInit()
{
//dtAnalog.Columns.Add("ID");
//dtAnalog.Columns.Add("Value");
// dataGridView1.DataSource = dtAnalog;
dtMotors1.Columns.Add("#");
if (Thread.CurrentThread.CurrentUICulture.Name == "")
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);
setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
style.Setters.Add(setter);
setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
style.Setters.Add(setter);
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
/// </summary>
void _initDTMotors()
{
for (int i = 0; i < 12; i++)
{
if (dtMotors1.Rows.Count < 12)
dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
else
{
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
#region events
private void serialPortCtrl_PortOpened()
{
Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
_getVersion();
Thread.Sleep(100);
//_OSDMenue(0);
//Thread.Sleep(200);
//_sendSerialData();
_readCont(true);
}
private void serialPortCtrl_PortClosed()
{
Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
_readCont(false);
}
void timerEvent(object sender, EventArgs e)
{
if (bReadContinously)
{
if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
check_HWError = true;
_getVersion();
Thread.Sleep(10);
if (_OSDAutorefresh)
{
if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax)
_initOSDCB();
_OSDMenueAutoRefresh();
}
if (_iLifeCounter > 0)
{
Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
_iLifeCounter = 0;
_bConnErr = false;
}
else
{
if (!_bConnErr)
{
Log(LogMsgType.Error, "No communication to NC/FC!");
Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
_bConnErr = true;
}
}
}
}
private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
{
GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
}
private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
{
GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
if (GridMotors.IsVisible)
_setMotorGridSize();
}
private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
{
GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
}
private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
{
GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
}
private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
{
GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
}
private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
{
GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
}
private void btnGetWP_Click(object sender, RoutedEventArgs e)
{
Thread t = new Thread(new ThreadStart(_getWP));
t.Start();
}
private void btnSendWPList_Click(object sender, RoutedEventArgs e)
{
}
private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
{
if (!serialPortCtrl.Port.IsOpen)
serialPortCtrl.Connect(true);
else
_readCont(!bReadContinously);
}
private void btnSetHP_Click(object sender, RoutedEventArgs e)
{
setHomePos();
}
private void btnClearHP_Click(object sender, RoutedEventArgs e)
{
clearHomePos();
}
private void btnGotoHP_Click(object sender, RoutedEventArgs e)
{
if (home != null && MainMap.Markers.Contains(home))
MainMap.Position = home.Position;
}
private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
{
_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
}
private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
{
_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
}
private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
if(!_init)
_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
}
private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
if(!_init)
_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
}
private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
{
_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
}
private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
{
_switchToNC();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
_setMotorGridSize();
}
#endregion events
#region GMap
void _setupMap()
{
MainMap.Manager.Mode = AccessMode.ServerAndCache;
MainMap.MapProvider = GMapProviders.BingHybridMap;
MainMap.SetPositionByKeywords("Landshut");
MainMap.MinZoom = 0;
MainMap.MaxZoom = 24;
MainMap.Zoom = 16;
MainMap.ShowCenter = true;
MainMap.ShowTileGridLines = false;
sliderMapZoom.Value = 16;
comboBoxMapType.ItemsSource = providerList;
comboBoxMapType.DisplayMemberPath = "Name";
comboBoxMapType.SelectedItem = MainMap.MapProvider;
// acccess mode
comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
comboBoxMode.SelectedItem = MainMap.Manager.Mode;
}
/// <summary>
/// selection of relevant map providers --> if You need more, You can change the line:
/// comboBoxMapType.ItemsSource = providerList;
/// to:
/// comboBoxMapType.ItemsSource = GMapProviders.List;
/// in _setupMap()
/// or add items here:
/// </summary>
List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
private void MainMap_Loaded(object sender, RoutedEventArgs e)
{
MainMap.Manager.Mode = AccessMode.ServerAndCache;
copter = new GMapMarker(MainMap.Position);
copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
copter.Offset = new System.Windows.Point(-18, -18);
copter.ZIndex = int.MaxValue;
MainMap.Markers.Add(copter);
copter.Position = MainMap.Position;
}
void setHomePos()
{
pHome = MainMap.Position;
if (!MainMap.Markers.Contains(home))
{
home = new GMapMarker(MainMap.Position);
home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
home.Offset = new System.Windows.Point(-18, -18);
// home.ZIndex = int.MaxValue;
MainMap.Markers.Add(home);
}
home.Position = MainMap.Position;
((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
}
void clearHomePos()
{
MainMap.Markers.Remove(home);
}
// access mode
private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
{
MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
MainMap.ReloadMap();
}
// zoom up
private void czuZoomUp_Click(object sender, RoutedEventArgs e)
{
MainMap.Zoom = ((int)MainMap.Zoom) + 1;
}
// zoom down
private void czuZoomDown_Click(object sender, RoutedEventArgs e)
{
MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
}
// prefetch
private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
{
RectLatLng area = MainMap.SelectedArea;
if (!area.IsEmpty)
{
for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
{
MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
if (res == MessageBoxResult.Yes)
{
TilePrefetcher obj = new TilePrefetcher();
obj.Owner = this;
obj.ShowCompleteMessage = true;
obj.Start(area, i, MainMap.MapProvider, 100);
}
else if (res == MessageBoxResult.No)
{
continue;
}
else if (res == MessageBoxResult.Cancel)
{
break;
}
}
}
else
{
MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
}
}
// goto by geocoder
private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
{
_goto_byGeoCoder();
}
// goto by geocoder
private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
{
if (e.Key == System.Windows.Input.Key.Enter)
_goto_byGeoCoder();
}
void _goto_byGeoCoder()
{
GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
{
MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
}
}
private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
{
try
{
double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
MainMap.Position = new PointLatLng(lat, lng);
}
catch (Exception ex)
{
MessageBox.Show("incorrect coordinate format: " + ex.Message);
}
}
private void ReloadMap_Click(object sender, RoutedEventArgs e)
{
MainMap.ReloadMap();
}
private void MainMap_OnPositionChanged(PointLatLng point)
{
if (_bFollowCopter)
_setCopterData(MainMap.Position);
}
private void MainMap_OnMapZoomChanged()
{
if (_bFollowCopter)
_setCopterData(MainMap.Position);
if((int)sliderMapZoom.Value != MainMap.Zoom)
sliderMapZoom.Value = MainMap.Zoom;
}
void _setCopterData(PointLatLng p)
{
Dispatcher.Invoke(() =>
{
copter.Position = p;
((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
});
if (home != null && MainMap.Markers.Contains(home))
{
Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
}
}
private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
{
_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
}
private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
if (MainMap.Zoom != sliderMapZoom.Value)
MainMap.Zoom = (int)sliderMapZoom.Value;
}
#region Touch zooming hackattack ;)
/// <summary>
/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
/// </summary>
bool bFirstAccess = true;
double dDistance = 0;
int iZoom;
private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
{
var id = e.StylusDevice.Id;
e.StylusDevice.Capture(MainMap);
if (iFirstStylusID == -1)
{
iFirstStylusID = id;
}
else
{
MainMap.CanDragMap = false;
}
}
private void MainMap_StylusUp(object sender, StylusEventArgs e)
{
MainMap.ReleaseStylusCapture();
iFirstStylusID = -1;
bFirstAccess = true;
MainMap.CanDragMap = true;
iZoom = 0;
}
private void MainMap_StylusMove(object sender, StylusEventArgs e)
{
var id = e.StylusDevice.Id;
var tp = e.GetPosition(MainMap);
// This is the first Stylus point; just record its position.
if (id == iFirstStylusID)
{
pTouch1.X = tp.X;
pTouch1.Y = tp.Y;
}
else
if (iFirstStylusID > -1)
{
pTouch2.X = tp.X;
pTouch2.Y = tp.Y;
double distance = Point.Subtract(pTouch1, pTouch2).Length;
if (!bFirstAccess)
{
if (distance > dDistance)
iZoom++;
else
if (distance < dDistance)
iZoom--;
}
if (iZoom > 30)
{
iZoom = 0;
Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
}
if (iZoom < -30)
{
iZoom = 0;
Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
}
dDistance = distance;
bFirstAccess = false;
}
}
#endregion Touch zooming hackattack ;)
#endregion GMap
#region settings
private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
{
if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
}
private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
{
if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
}
private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
{
if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
}
private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
{
if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
}
private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
{
if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
}
private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
{
if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
}
private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
{
if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
}
private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
{
if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
}
private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
{
if (cBoxLiPoCells.SelectedIndex > -1)
{
_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
_LipoMinMax();
}
}
void _LipoMinMax()
{
_dLipoVMax = (double)(_LipoCells) * 4.22;
_dLipoVMin = (double)_LipoCells * 3;
pbTopVoltage.Maximum = _dLipoVMax;
pbTopVoltage.Minimum = _dLipoVMin;
sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
}
private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
{
if (cBoxMotors.SelectedIndex > -1)
{
_iMotors = cBoxMotors.SelectedIndex + 3;
Dispatcher.Invoke(() =>
{
dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
GridMotors.Height = dgvMotors1.Height + 10;
});
}
}
void _setMotorGridSize()
{
if (dgvMotors1.Columns.Count > 2)
{
dgvMotors1.Columns[0].Width = 24;
dgvMotors1.Columns[1].Width = 50;
dgvMotors1.Columns[2].Width = 50;
dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
GridMotors.Height = dgvMotors1.Height + 10;
}
}
#endregion settings
#region functions
#region logging
/// <summary> Log data to the terminal window. </summary>
/// <param name="msgtype"> The type of message to be written. </param>
/// <param name="msg"> The string containing the message to be shown. </param>
private void Log(LogMsgType msgtype, string msg)
{
Dispatcher.Invoke(() =>
{
// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
// rtfTerminal.AppendText(msg + "\r");
TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
tr.Text = msg;
tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
rtfTerminal.AppendText("\r");
rtfTerminal.ScrollToEnd();
});
}
private void ErrorLog(LogMsgType msgtype, string msg)
{
Dispatcher.Invoke(() =>
{
TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
tr.Text = msg;
tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
rtfError.AppendText("\r");
rtfError.ScrollToEnd();
_bErrorLog = true;
});
}
/// <summary>
/// Clear the line in the errorlog window
/// containing the error string when error has ceased
/// </summary>
/// <param name="s">substring of errrormessage</param>
void _clearErrorLog(string s)
{
Dispatcher.Invoke((Action)(() =>
{
TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
TextRange foundRange = FindTextInRange(searchRange, s);
int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
if (iStart > -1)
{
int iLength = 0;
int iEnd = searchRange.Text.IndexOf('\r', iStart);
if (iEnd > 0)
{
iLength = iEnd + 1;
int iHttp = searchRange.Text.IndexOf("http", iEnd);
if (iHttp == iLength)
{
int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
if (iEnd2 > iLength)
{
iLength = iEnd2 + 1;
// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
rtfError.Selection.Text = string.Empty;
if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
}
}
else
{
rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
rtfError.Selection.Text = string.Empty;
if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
}
}
}
}));
}
public TextRange FindTextInRange(TextRange searchRange, string searchText)
{
int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
if (offset < 0)
return null; // Not found
var start = GetTextPositionAtOffset(searchRange.Start, offset);
TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
return result;
}
TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
{
while (position != null)
{
if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
{
int count = position.GetTextRunLength(LogicalDirection.Forward);
if (characterCount <= count)
{
return position.GetPositionAtOffset(characterCount);
}
characterCount -= count;
}
TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
if (nextContextPosition == null)
return position;
position = nextContextPosition;
}
return position;
}
#endregion logging
#region processing received data
private void processMessage(byte[] message)
{
if (message.Length > 0)
{
_iLifeCounter++;
//Log(LogMsgType.Incoming, BitConverter.ToString(message));
//Log(LogMsgType.Incoming, message.Length.ToString());
string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
char cmdID;
byte adr;
byte[] data;
byte[] tmp = null;
if (message[0] != '#')
{
int iFound = -1;
for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
{ //so this is a workaround to not spam the log box
if (message[i] == 35)
{
iFound = i;
break;
}
}
if (iFound > 0)
{
s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
tmp = new byte[message.Length - iFound];
Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
}
s = s.Trim('\0', '\n', '\r');
if (s.Length > 0)
Log(LogMsgType.Normal, s);
if (tmp != null)
{
s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
processMessage(tmp);
}
}
//Debug.Print(s);
else
{
FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
if (adr == 255) { crcError++; }
else crcError = 0;
Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
//display the active controller (FC / NC)
if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???
{
_iCtrlAct = adr;
switch (adr)
{
case 1:
Dispatcher.Invoke(() => tbCtrl.Text = "FC");
//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
// _setFieldsNA(); //display fields NA for FC
break;
case 2:
Dispatcher.Invoke(() => tbCtrl.Text = "NC");
//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
break;
//case 3:
// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
// break;
//case 4:
// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
// break;
default:
Dispatcher.Invoke(() => tbCtrl.Text = "NA");
break;
}
// _loadLabelNames();
}
// else
// Debug.Print("Address == 0?");
if (data != null && data.Length > 0)
{
s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
s = s.Trim('\0', '\n');
switch (cmdID)
{
//case 'A': //Label names
// _processLabelNames(s);
// break;
case 'D': //Debug data
_processDebugVals(adr, data);
break;
case 'V': //Version
_processVersion(adr, data);
break;
case 'K'://BL-CTRL data
_processBLCtrl(data);
break;
case 'O': //NC Data
_processNCData(data);
break;
case 'E': //NC error-string
ErrorLog(LogMsgType.Error, "NC Error: " + s);
break;
case 'L': //OSD Menue (called by pagenumber)
_processOSDSingle(data);
break;
case 'H': //OSD Menue (with autoupdate - called by Key)
_processOSDAuto(data);
break;
case 'X': //Waypoint data
_processWPData(data);
break;
//default:
// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
// Log(LogMsgType.Incoming, BitConverter.ToString(data));
// break;
}
}
//else
//{
// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
// Log(LogMsgType.Incoming, BitConverter.ToString(data));
//}
}
}
}
/// <summary>
/// Analog label names 'A'
/// each label name is returned as a single string
/// and added to string array sAnalogLabel[]
/// and the datatable dtAnalog
/// </summary>
/// <param name="s">the label name</param>
void _processLabelNames(string s)
{
//if (iLableIndex < 32)
//{
// sAnalogLabel[iLableIndex] = s;
// if (dtAnalog.Rows.Count < 32)
// dtAnalog.Rows.Add(s, "");
// else
// dtAnalog.Rows[iLableIndex].SetField(0, s);
// // _getAnalogLabels(iLableIndex + 1);
//}
//Debug.Print(s);
}
/// <summary>
/// Debug values 'D'
/// </summary>
/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
/// <param name="data">the received byte array to process</param>
void _processDebugVals(byte adr, byte[] data)
{
if (data.Length == 66)
{
int[] iAnalogData = new int[32];
double v;
int index = 0;
Int16 i16 = 0;
double dTemp = 0;
for (int i = 2; i < 66; i += 2)
{
i16 = data[i + 1];
i16 = (Int16)(i16 << 8);
iAnalogData[index] = data[i] + i16;
sAnalogData[index] = (data[i] + i16).ToString();
// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
if (adr == 2) //NC
{
switch (index)
{
case 0: //pitch (German: nick)
Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 1: //roll
Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 4: //altitude
Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
break;
case 7: //Voltage
v = (double)iAnalogData[index] / (double)10;
Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
Dispatcher.Invoke(() => pbTopVoltage.Value = v);
if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn)
{
if (v == _dVoltLast)
if(_iVoltJitter < 20) _iVoltJitter++;
else
{
_iVoltJitter = 0;
_dVoltLast = v;
}
if (_iVoltJitter == 20)
{
Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit)
{
Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
{
Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
_bCritAnimVoltActive = true;
}
if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
{
if (File.Exists("Voice\\CriticalBattery.mp3"))
{
MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
mp.Open("Voice\\CriticalBattery.mp3");
mp.Play();
}
_bCritVoiceVoltActive = true;
}
}
else
{
if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
{
Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
_bCritAnimVoltActive = false;
}
_bCritVoiceVoltActive = false;
if (_bVoiceVoltPlay && !_bCWarnVoiceVoltActive)
{
if (File.Exists("Voice\\LowBattery.mp3"))
{
MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
mp.Open("Voice\\LowBattery.mp3");
mp.Play();
}
_bCWarnVoiceVoltActive = true;
}
}
}
}
else
{
Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
{
Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
_bCritAnimVoltActive = false;
}
_bCritVoiceVoltActive = false;
_bCWarnVoiceVoltActive = false;
_iVoltJitter = 0;
}
break;
case 8: // Current
Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
break;
case 10: //heading
Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
break;
case 12: // SPI error
Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
break;
case 14: //i2c error
Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
break;
case 20: //Earthmagnet field
Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
if(iAnalogData[index] > 115 | iAnalogData[index] < 85)
Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
else
Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
break;
case 21: //GroundSpeed
Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
break;
case 28: //Distance East from saved home position -> calculate distance with distance N + height
dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
dTemp = Math.Sqrt(dTemp) / (double)10;
// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
break;
case 31: //Sats used
Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
break;
}
}
//if (adr == 1) //FC
//{
// switch (index)
// {
// case 0: //pitch (German: nick)
// artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
// lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
// break;
// case 1: //roll
// artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
// lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
// break;
// case 5: //altitude
// lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
// break;
// case 8: //heading
// lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
// headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
// break;
// case 9: //Voltage
// lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
// break;
// case 10: //Receiver quality
// lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
// break;
// case 22: // Current
// lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
// break;
// case 23: //capacity used
// lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
// break;
// case 27: // SPI error
// lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
// break;
// case 28: //i2c error
// lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
// break;
// }
//}
index++;
}
}
else
Debug.Print("wrong data-length (66): " + data.Length.ToString());
}
/// <summary>
/// Version string 'V'
/// </summary>
/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
/// <param name="data">the received byte array to process</param>
void _processVersion(byte adr, byte[] data)
{
if (data.Length == 12)
{
if (!check_HWError)
{
string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
string sVersion = "";
//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
Log(LogMsgType.Incoming, sVersion);
sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
Log(LogMsgType.Incoming, sVersion);
Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
}
if (data[5] > 0) //error0
{
if (adr == 1)
ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
if (adr == 2)
ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
}
if (data[6] > 0) //error1
{
if (adr == 1)
ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
if (adr == 2)
ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
}
if ((data[5] + data[6] == 0) && _bErrorLog)
_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
}
check_HWError = false;
}
/// <summary>
/// BL-Ctrl data 'K'
/// for FC you have to use a customized firmware
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processBLCtrl(byte[] data)
{
if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
{
bool bAvailable = false;
for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
{
if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
bAvailable = true;
else
bAvailable = false;
if (data[i] < _iMotors)
{
if (bAvailable)
{
dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
}
else
{
dtMotors1.Rows[data[i]].SetField(1, "NA");
dtMotors1.Rows[data[i]].SetField(2, "NA");
}
}
//if (data[i] > 3 && data[i] < 8)
//{
// if (bAvailable)
// {
// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
// }
// else
// {
// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
// }
//}
}
}
}
/// <summary>
/// Navi-Ctrl data 'O'
/// GPS-Position, capacatiy, flying time...
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processNCData(byte[] data)
{
int i_32, i_16, iVal;
double d;
i_32 = data[4];
iVal = i_32 << 24;
i_32 = data[3];
iVal += i_32 << 16;
i_32 = data[2];
iVal += i_32 << 8;
iVal += data[1];
d = (double)iVal / Math.Pow(10, 7);
PointLatLng p = new PointLatLng();
p.Lng = d;
// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
i_32 = data[8];
iVal = i_32 << 24;
i_32 = data[7];
iVal += i_32 << 16;
i_32 = data[6];
iVal += i_32 << 8;
iVal += data[5];
d = (double)iVal / Math.Pow(10, 7);
p.Lat = d;
if (!_bFollowCopter && data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane
{
_setCopterData(p);
if(!MainMap.ViewArea.Contains(p))
Dispatcher.Invoke(() => MainMap.Position = p);
}
else
if(data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane
Dispatcher.Invoke(() => MainMap.Position = p);
// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
i_16 = data[28];
i_16 = (Int16)(i_16 << 8);
iVal = data[27] + i_16;
Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
i_16 = data[45];
i_16 = (Int16)(i_16 << 8);
iVal = data[44] + i_16;
// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
//--------------- Capacity used ------------------------
i_16 = data[81];
i_16 = (Int16)(i_16 << 8);
iVal = data[80] + i_16;
Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
//--------------- Flying time ------------------------
i_16 = data[56];
i_16 = (Int16)(i_16 << 8);
iVal = data[55] + i_16;
TimeSpan t = TimeSpan.FromSeconds(iVal);
string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
//--------------- RC quality ------------------------
Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
//--------------- NC Error ------------------------
Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
if (data[69] > 0)
_readNCError();
if (data[69] > 0 & data[69] < 44)
ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
else
if (_bErrorLog) _clearErrorLog("NC Error");
}
/// <summary>
/// Navi-Ctrl WP data struct 'X'
/// called by index
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processWPData(byte[] data)
{
_iWP = 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)
{
if (data[1] == 1)
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);
if (data[1] == data[0])
{
_bGetWP = false;
Dispatcher.Invoke(() => dgvWP.Items.Refresh());
}
}
}
else
{
Dispatcher.Invoke(() => lblWPIndex.Content = 0);
Dispatcher.Invoke(() => lblWPCount.Content = 0);
// Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
}
}
/// <summary>
/// OSD Menue 'L'
/// single page called by pagenumber
/// no autoupdate
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processOSDSingle(byte[] data)
{
if (data.Length == 84)
{
string sMessage = "";
iOSDPage = data[0];
iOSDMax = data[1];
if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
}
//else
// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
}
/// <summary>
/// OSD Menue 'H'
/// called by keys (0x01,0x02,0x03,0x04)
/// autoupdate
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processOSDAuto(byte[] data)
{
if (data.Length == 81)
{
string sMessage = "";
sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
}
//else
// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
}
#endregion processing received data
#region controller messages
/// <summary> send message to controller to request data
/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
/// </summary>
/// <param name="CMDID"> the command ID </param>
/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
private void _sendControllerMessage(char CMDID, byte address)
{
if (serialPortCtrl.Port.IsOpen)
{
Stream serialStream = serialPortCtrl.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary> send message to controller to request data
/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
/// </summary>
/// <param name="CMDID"> the command ID </param>
/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
/// <param name="data"> additional data for the request</param>
private void _sendControllerMessage(char CMDID, byte address, byte[] data)
{
if (serialPortCtrl.Port.IsOpen)
{
Stream serialStream = serialPortCtrl.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary>
/// start/stop continous polling of controller values
/// </summary>
/// <param name="b">start/stop switch</param>
void _readCont(bool b)
{
bReadContinously = b;
if (bReadContinously)
{
if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
}
else
{
// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
_bConnErr = false;
}
_iLifeCounter = 0;
}
private void _getVersion()
{
_sendControllerMessage('v', 0);
}
/// <summary>
/// get FC version struct via NC
/// by sending '1' as data (not documented in wiki...)
/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
/// </summary>
/// <param name="ctrl">controller number 1=FC</param>
private void _getVersion(byte ctrl)
{
_sendControllerMessage('v', 0, new byte[1] { ctrl });
}
/// <summary>
/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
/// </summary>
private void _switchToNC()
{
if (serialPortCtrl.Port.IsOpen)
{
Stream serialStream = serialPortCtrl.Port.BaseStream;
byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
serialStream.Write(bytes, 0, bytes.Length);
Thread.Sleep(100);
_getVersion();
Thread.Sleep(100);
// _OSDMenue(0);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary>
/// switch to FC
/// </summary>
private void _switchToFC()
{
_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
Thread.Sleep(100);
_getVersion();
Thread.Sleep(100);
// _OSDMenue(0);
}
/// <summary>
/// send RESET signal to FC
/// </summary>
private void _resetCtrl()
{
_sendControllerMessage('R', 1);
}
/// <summary>
/// poll the debug data (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readDebugData(bool auto)
{
byte interval = auto ? debugInterval : (byte)0;
_sendControllerMessage('d', 0, new byte[1] { debugInterval });
}
/// <summary>
/// poll the BL-CTRL status via NC (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readBLCtrl(bool auto)
{
byte interval = auto ? blctrlInterval : (byte)0;
_sendControllerMessage('k', 0, new byte[1] { interval });
}
/// <summary>
/// poll the NC data struct (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readNavData(bool auto)
{
byte interval = auto ? navctrlInterval : (byte)0;
_sendControllerMessage('o', 2, new byte[1] { interval });
}
/// <summary>
/// get the errortext for pending NC error
/// </summary>
private void _readNCError()
{
_sendControllerMessage('e', 2);
}
/// <summary>
/// request the Waypoint at index
/// </summary>
/// <param name="index"></param>
void _getpWP(int index)
{
if (serialPortCtrl.Port.IsOpen)
{
Stream serialStream = serialPortCtrl.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
void _getWP()
{
//if (_iWP > 0)
//{
// _getWPList();
//}
//else
//{
// if (_iWP == -1)
// {
_bGetWPCount = true;
_getpWP(1);
while (_bGetWPCount)
Thread.Sleep(100);
if (_iWP > 0)
_getWPList();
// }
//}
}
void _getWPList()
{
_bGetWP = true;
for (int j = 0; j < _iWP; j++)
{
_getpWP(j + 1);
Thread.Sleep(10);
}
}
#region OSD-Menue
/// <summary>
/// one time query of the OSD Menue with pagenumber
/// </summary>
/// <param name="iMenue">Menue page</param>
void _OSDMenue(int iMenue)
{
if (serialPortCtrl.Port.IsOpen)
{
if (iMenue > iOSDMax)
iMenue = 0;
Stream serialStream = serialPortCtrl.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary>
/// call the OSDMenue and start autorefresh
/// usually by sending a menuekey
/// a bit tricky - but by sending inverted value of 32 (32 = 0010 0000) you can start the OSD menue with autoupdate (abo) without switching the page with the keyvalues (0x1, 0x2)
/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
/// </summary>
void _OSDMenueAutoRefresh()
{
_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
}
void _OSDMenueAutoRefresh(byte key)
{
_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
}
/// <summary>
/// initialize the OSD menue combobox
/// combox is filled by numbers from 0 to max pagenumber
/// </summary>
void _initOSDCB()
{
_bCBInit = true;
if (iOSDMax == 0)
{
_OSDMenue(0);
Thread.Sleep(10);
}
Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
for (int i = 0; i <= iOSDMax; i++)
{
Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
}
Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
_bCBInit = false;
}
private void btnOSDForward_Click(object sender, RoutedEventArgs e)
{
iOSDPage++;
if (iOSDPage > iOSDMax)
iOSDPage = 0;
_OSDMenue(iOSDPage);
}
private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
{
iOSDPage--;
if (iOSDPage < 0)
iOSDPage = iOSDMax;
_OSDMenue(iOSDPage);
}
private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
{
_OSDMenueAutoRefresh(8);
}
private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
{
_OSDMenueAutoRefresh(4);
}
private void cbOSD_DropDownClosing(object sender, EventArgs e)
{
if (!_bCBInit && cbOSD.SelectedIndex > -1)
_OSDMenue(cbOSD.SelectedIndex);
}
private void OSD(LogMsgType msgtype, string msg, bool bNew)
{
Dispatcher.Invoke(() =>
{
TextRange tr;
if (bNew)
{
rtfOSD.SelectAll();
rtfOSD.Selection.Text = string.Empty;
}
tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
tr.Text = msg;
tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
// rtfOSD.AppendText("\r");
rtfOSD.ScrollToEnd();
});
}
#endregion OSD-Menue
#endregion controller messages
private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
{
if (winState.isMaximized)
{
winState.Restore(this);
imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
if(_bSaveWinStateFull)
_saveScaleSliders(true);
if(_bSaveWinStateNormal)
_setScaleSliders(false);
}
else
{
winState.Maximize(this);
imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
if(_bSaveWinStateNormal)
_saveScaleSliders(false);
if(_bSaveWinStateFull)
_setScaleSliders(true);
}
}
/// <summary>
/// reset the scaling of all UI elements to default
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
{
UIScaleHorizonSlider.Value =
UIScaleLOGSlider.Value =
UIScaleMotorsSlider.Value =
UIScaleOSDSlider.Value =
UIScaleSlider.Value =
UIScaleTopSlider.Value = 1;
}
/// <summary>
/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
if (GridMotors != null)
GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
if (GridSideBar != null)
GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
if (GridOSD != null)
GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
if (GridData != null)
GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
if (GridWP != null)
GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
}
void _setScaleSliders(bool bFull)
{
if(bFull)
{
UIScaleSlider.Value = scaleFullAll;
UIScaleTopSlider.Value = scaleFullTopBar;
UIScaleMotorsSlider.Value = scaleFullMotors;
UIScaleOSDSlider.Value = scaleFullOSD;
UIScaleLOGSlider.Value = scaleFullLOG;
UIScaleHorizonSlider.Value = scaleFullHorizon;
}
else
{
UIScaleSlider.Value = scaleNormalAll;
UIScaleTopSlider.Value = scaleNormalTopBar;
UIScaleMotorsSlider.Value = scaleNormalMotors;
UIScaleOSDSlider.Value = scaleNormalOSD;
UIScaleLOGSlider.Value = scaleNormalLOG;
UIScaleHorizonSlider.Value = scaleNormalHorizon;
}
}
void _saveScaleSliders(bool bFull)
{
if (bFull)
{
scaleFullAll = UIScaleSlider.Value;
scaleFullTopBar = UIScaleTopSlider.Value;
scaleFullMotors = UIScaleMotorsSlider.Value;
scaleFullOSD = UIScaleOSDSlider.Value;
scaleFullLOG = UIScaleLOGSlider.Value;
scaleFullHorizon = UIScaleHorizonSlider.Value;
}
else
{
scaleNormalAll = UIScaleSlider.Value;
scaleNormalTopBar = UIScaleTopSlider.Value;
scaleNormalMotors = UIScaleMotorsSlider.Value;
scaleNormalOSD = UIScaleOSDSlider.Value;
scaleNormalLOG = UIScaleLOGSlider.Value;
scaleNormalHorizon = UIScaleHorizonSlider.Value;
}
}
/// <summary>
/// read settings from ini-file
/// </summary>
void _readIni()
{
if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
_writeIni();
IniFile ini = new IniFile("MKLiveViewSettings.ini");
ini.path = filePath + "\\MKLiveViewSettings.ini";
string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
_debugDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
_OSDAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("timings", "IntervalDebugData");
debugInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
navctrlInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
blctrlInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("timings", "IntervalOSDData");
OSDInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("topBar", "voltage");
chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "capacity");
chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "current");
chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "flightTime");
chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "distanceHP");
chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "height");
chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "speed");
chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "magneticField");
chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "satellites");
chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("topBar", "rc");
chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("style", "saveFullScreen");
chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("style", "saveNormalState");
chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("style", "scaleNormalAll");
scaleNormalAll = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleNormalTopBar");
scaleNormalTopBar = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleNormalMotors");
scaleNormalMotors = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleNormalOSD");
scaleNormalOSD = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleNormalLOG");
scaleNormalLOG = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleNormalHorizon");
scaleNormalHorizon = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullAll");
scaleFullAll = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullTopBar");
scaleFullTopBar = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullMotors");
scaleFullMotors = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullOSD");
scaleFullOSD = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullLOG");
scaleFullLOG = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("style", "scaleFullHorizon");
scaleFullHorizon = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("general", "LiPoCells");
_LipoCells = Convert.ToInt16(sVal);
sVal = ini.IniReadValue("general", "Motors");
_iMotors = Convert.ToInt16(sVal);
sVal = ini.IniReadValue("map", "followMe");
_bFollowCopter = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("threshold", "VoltageWarning");
if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("threshold", "VoltageCritical");
if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
sVal = ini.IniReadValue("threshold", "VoiceEnable");
if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
}
/// <summary>
/// save settings to ini-file
/// </summary>
void _writeIni()
{
IniFile ini = new IniFile("MKLiveViewSettings.ini");
ini.path = filePath + "\\MKLiveViewSettings.ini";
ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
ini.IniWriteValue("general", "Motors", _iMotors.ToString());
ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
ini.IniWriteValue("threshold", "VoiceEnable", _bVoiceVoltPlay.ToString());
}
#endregion functions
private void Window_Closing(object sender, CancelEventArgs e)
{
_writeIni();
}
}
public class BooleanToVisibilityConverter : IValueConverter
{
public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
{
return (bool)value ? Visibility.Visible : Visibility.Collapsed;
}
public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
{
throw new NotImplementedException();
}
}
public class IniFile
{
public string path;
[DllImport("kernel32")]
private static extern long WritePrivateProfileString(string section,
string key, string val, string filePath);
[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
uint nSize, string lpFileName);
[DllImport("kernel32")]
private static extern int GetPrivateProfileString(string section,
string key, string def, StringBuilder retVal,
int size, string filePath);
public IniFile(string INIPath)
{
path = INIPath;
}
public void IniWriteValue(string Section, string Key, string Value)
{
WritePrivateProfileString(Section, Key, Value, this.path);
}
public string IniReadValue(string Section, string Key)
{
StringBuilder temp = new StringBuilder(255);
int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
return temp.ToString();
}
//Ini_sections auslesen in String-Array
public string[] IniSectionNames()
{
// uint MAX_BUFFER = 32767;
uint MAX_BUFFER = 8388608;
IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
if (bytesReturned == 0)
{
Marshal.FreeCoTaskMem(pReturnedString);
return null;
}
string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
Marshal.FreeCoTaskMem(pReturnedString);
//use of Substring below removes terminating null for split
return local.Substring(0, local.Length - 1).Split('\0');
}
}
/// <summary>
/// Selected Win AI Function Calls
/// </summary>
public class WinApi
{
[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
public static extern int GetSystemMetrics(int which);
[DllImport("user32.dll")]
public static extern void
SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
int X, int Y, int width, int height, uint flags);
private const int SM_CXSCREEN = 0;
private const int SM_CYSCREEN = 1;
private static IntPtr HWND_TOP = IntPtr.Zero;
private const int SWP_SHOWWINDOW = 64; // 0x0040
public static int ScreenX
{
get { return GetSystemMetrics(SM_CXSCREEN); }
}
public static int ScreenY
{
get { return GetSystemMetrics(SM_CYSCREEN); }
}
public static void SetWinFullScreen(IntPtr hwnd)
{
SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
}
}
/// <summary>
/// Class used to preserve / restore state of the window
/// </summary>
public class WinState
{
private WindowState winState;
private WindowStyle brdStyle;
private bool topMost;
private Rect restore;
private bool IsMaximized = false;
public bool isMaximized
{
get { return IsMaximized; }
}
public void Maximize(Window targetForm)
{
if (!IsMaximized)
{
IsMaximized = true;
Save(targetForm);
targetForm.WindowState = WindowState.Maximized;
targetForm.WindowStyle = WindowStyle.None;
targetForm.Topmost = true;
WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
}
}
public void Save(Window targetForm)
{
winState = targetForm.WindowState;
brdStyle = targetForm.WindowStyle;
topMost = targetForm.Topmost;
restore = targetForm.RestoreBounds;
}
public void Restore(Window targetForm)
{
targetForm.WindowState = winState;
targetForm.WindowStyle = brdStyle;
targetForm.Topmost = topMost;
targetForm.Left = restore.Left;
targetForm.Top = restore.Top;
targetForm.Height = restore.Height;
targetForm.Width = restore.Width;
IsMaximized = false;
}
}
}