Rev 2333 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2333 | Rev 2335 | ||
|---|---|---|---|
| Line 695... | Line 695... | ||
| 695 | } |
695 | } |
| 696 | void clearHomePos() |
696 | void clearHomePos() |
| 697 | { |
697 | { |
| 698 | MainMap.Markers.Remove(home); |
698 | MainMap.Markers.Remove(home); |
| 699 | } |
699 | } |
| - | 700 | void _clearMapMarkers(Type markerType) |
|
| - | 701 | { |
|
| - | 702 | for (int k = 0; k < MainMap.Markers.Count;) |
|
| - | 703 | { |
|
| - | 704 | GMapMarker p = MainMap.Markers[k]; |
|
| - | 705 | if (p.GetType() == markerType | p.Shape.GetType() == markerType) |
|
| - | 706 | MainMap.Markers.Remove(p); |
|
| - | 707 | else |
|
| - | 708 | k++; |
|
| - | 709 | } |
|
| - | 710 | ||
| - | 711 | } |
|
| Line 700... | Line 712... | ||
| 700 | 712 | ||
| 701 | // access mode |
713 | // access mode |
| 702 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
714 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
| 703 | { |
715 | { |
| Line 1653... | Line 1665... | ||
| 1653 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
1665 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
| 1654 | _bAnimSatFixActive = true; |
1666 | _bAnimSatFixActive = true; |
| 1655 | } |
1667 | } |
| 1656 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
1668 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
| 1657 | { |
1669 | { |
| 1658 | Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1670 | Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
| 1659 | th.Start(); |
1671 | th.Start(); |
| 1660 | _bVoiceSatFixActive = true; |
1672 | _bVoiceSatFixActive = true; |
| 1661 | } |
1673 | } |
| Line 1662... | Line 1674... | ||
| 1662 | 1674 | ||
| Line 1837... | Line 1849... | ||
| 1837 | _setMarkerColor(wp, (int)dr[1]); |
1849 | _setMarkerColor(wp, (int)dr[1]); |
| 1838 | MainMap.Markers.Add(wp); |
1850 | MainMap.Markers.Add(wp); |
| 1839 | }); |
1851 | }); |
| 1840 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1852 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| 1841 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
1853 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
| - | 1854 | if ((int)dr[1] == 0) |
|
| 1842 | wpList.Add(new PointLatLng((double)dr[3], (double)dr[4])); |
1855 | wpList.Add(new PointLatLng((double)dr[3], (double)dr[4])); |
| 1843 | if (data[1] == data[0]) |
1856 | if (data[1] == data[0]) |
| 1844 | { |
1857 | { |
| 1845 | _bGetWP = false; |
1858 | _bGetWP = false; |
| 1846 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1859 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Line 2084... | Line 2097... | ||
| 2084 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
2097 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
| Line 2085... | Line 2098... | ||
| 2085 | 2098 | ||
| 2086 | } |
2099 | } |
| 2087 | void _getWP() |
2100 | void _getWP() |
| - | 2101 | { |
|
| 2088 | { |
2102 | int iTimeout = 0; |
| 2089 | _bGetWPCount = true; |
2103 | _bGetWPCount = true; |
| 2090 | _getpWP(1); //get the itemscount of wp |
2104 | _getpWP(1); //get the itemscount of wp |
| - | 2105 | while (_bGetWPCount & iTimeout < _iWPTimeout * 5) |
|
| 2091 | while (_bGetWPCount) |
2106 | { |
| - | 2107 | Thread.Sleep(10); |
|
| - | 2108 | iTimeout++; |
|
| 2092 | Thread.Sleep(100); |
2109 | } |
| 2093 | if (_iWPCount > 0) |
2110 | if (_iWPCount > 0 & !_bGetWPCount) |
| 2094 | _getWPList(); |
2111 | _getWPList(); |
| 2095 | } |
2112 | } |
| 2096 | void _getWPList() |
2113 | void _getWPList() |
| 2097 | { |
2114 | { |
| Line 2108... | Line 2125... | ||
| 2108 | } |
2125 | } |
| 2109 | } |
2126 | } |
| 2110 | } |
2127 | } |
| 2111 | void _sendWPList() |
2128 | void _sendWPList() |
| 2112 | { |
2129 | { |
| - | 2130 | int iTimeout = 0; |
|
| 2113 | if (serialPortCtrl.Port.IsOpen) |
2131 | if (serialPortCtrl.Port.IsOpen) |
| 2114 | { |
2132 | { |
| 2115 | byte[] bData = new byte[30]; |
2133 | byte[] bData = new byte[30]; |
| 2116 | for (int i = 0; i < 30; i++) |
2134 | for (int i = 0; i < 30; i++) |
| 2117 | bData[i] = 0; |
2135 | bData[i] = 0; |
| 2118 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
2136 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
| 2119 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
2137 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
| 2120 | serialStream.Write(bytes, 0, bytes.Length); |
2138 | serialStream.Write(bytes, 0, bytes.Length); |
| Line 2121... | Line 2139... | ||
| 2121 | 2139 | ||
| 2122 | _iWPCount = -1; |
2140 | _iWPCount = -1; |
| - | 2141 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
|
| 2123 | while (_iWPCount == -1) |
2142 | { |
| - | 2143 | Thread.Sleep(10); |
|
| - | 2144 | iTimeout++; |
|
| 2124 | Thread.Sleep(10); |
2145 | } |
| - | 2146 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
|
| - | 2147 | if (_iWPCount > -1) |
|
| Line 2125... | Line 2148... | ||
| 2125 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
2148 | { |
| 2126 | 2149 | ||
| 2127 | int iVal; |
2150 | int iVal; |
| 2128 | double dVal; |
2151 | double dVal; |
| 2129 | NumberFormatInfo nfi = new NumberFormatInfo(); |
2152 | NumberFormatInfo nfi = new NumberFormatInfo(); |
| 2130 | nfi.NumberDecimalSeparator = ","; |
2153 | nfi.NumberDecimalSeparator = ","; |
| 2131 | for (int i = 0; i < dtWaypoints.Rows.Count; i++) |
2154 | for (int i = 0; i < dtWaypoints.Rows.Count; i++) |
| 2132 | { |
2155 | { |
| 2133 | //longitude |
2156 | //longitude |
| 2134 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi); |
2157 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi); |
| 2135 | iVal = (int)(dVal * Math.Pow(10, 7)); |
2158 | iVal = (int)(dVal * Math.Pow(10, 7)); |
| 2136 | bData[0] = (byte)(iVal & 0xff); |
2159 | bData[0] = (byte)(iVal & 0xff); |
| 2137 | bData[1] = (byte)((iVal >> 8) & 0xff); |
2160 | bData[1] = (byte)((iVal >> 8) & 0xff); |
| 2138 | bData[2] = (byte)((iVal >> 16) & 0xff); |
2161 | bData[2] = (byte)((iVal >> 16) & 0xff); |
| 2139 | bData[3] = (byte)(iVal >> 24); |
2162 | bData[3] = (byte)(iVal >> 24); |
| 2140 | //latitude |
2163 | //latitude |
| 2141 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi); |
2164 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi); |
| 2142 | iVal = (int)(dVal * Math.Pow(10, 7)); |
2165 | iVal = (int)(dVal * Math.Pow(10, 7)); |
| 2143 | bData[4] = (byte)(iVal & 0xff); |
2166 | bData[4] = (byte)(iVal & 0xff); |
| 2144 | bData[5] = (byte)((iVal >> 8) & 0xff); |
2167 | bData[5] = (byte)((iVal >> 8) & 0xff); |
| 2145 | bData[6] = (byte)((iVal >> 16) & 0xff); |
2168 | bData[6] = (byte)((iVal >> 16) & 0xff); |
| 2146 | bData[7] = (byte)(iVal >> 24); |
2169 | bData[7] = (byte)(iVal >> 24); |
| 2147 | //altitude |
2170 | //altitude |
| 2148 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi); |
2171 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi); |
| 2149 | iVal = (int)(dVal * 10); |
2172 | iVal = (int)(dVal * 10); |
| 2150 | bData[8] = (byte)(iVal & 0xff); |
2173 | bData[8] = (byte)(iVal & 0xff); |
| 2151 | bData[9] = (byte)((iVal >> 8) & 0xff); |
2174 | bData[9] = (byte)((iVal >> 8) & 0xff); |
| 2152 | bData[10] = (byte)((iVal >> 16) & 0xff); |
2175 | bData[10] = (byte)((iVal >> 16) & 0xff); |
| 2153 | bData[11] = (byte)(iVal >> 24); |
2176 | bData[11] = (byte)(iVal >> 24); |
| 2154 | //Status 'NEWDATA' |
2177 | //Status 'NEWDATA' |
| 2155 | bData[12] = 1; |
2178 | bData[12] = 1; |
| 2156 | //heading |
2179 | //heading |
| 2157 | iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]); |
2180 | iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]); |
| 2158 | bData[13] = (byte)(iVal & 0xff); |
2181 | bData[13] = (byte)(iVal & 0xff); |
| 2159 | bData[14] = (byte)((iVal >> 8) & 0xff); |
2182 | bData[14] = (byte)((iVal >> 8) & 0xff); |
| 2160 | //ToleranceRadius |
2183 | //ToleranceRadius |
| 2161 | bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]); |
2184 | bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]); |
| 2162 | //HoldTime |
2185 | //HoldTime |
| 2163 | bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]); |
2186 | bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]); |
| 2164 | //Event_Flag |
2187 | //Event_Flag |
| 2165 | bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]); |
2188 | bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]); |
| 2166 | //Index |
2189 | //Index |
| 2167 | bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]); |
2190 | bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]); |
| 2168 | //Type |
2191 | //Type |
| 2169 | bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]); |
2192 | bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]); |
| 2170 | //WP_EventChannelValue |
2193 | //WP_EventChannelValue |
| 2171 | bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]); |
2194 | bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]); |
| 2172 | //AltitudeRate |
2195 | //AltitudeRate |
| 2173 | bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]); |
2196 | bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]); |
| 2174 | //Speed |
2197 | //Speed |
| 2175 | bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]); |
2198 | bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]); |
| 2176 | //CamAngle |
2199 | //CamAngle |
| 2177 | bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]); |
2200 | bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]); |
| 2178 | //Name |
2201 | //Name |
| 2179 | byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]); |
2202 | byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]); |
| 2180 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
2203 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
| 2181 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
2204 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
| 2182 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
2205 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
| 2183 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
2206 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
| 2184 | //Autotrigger |
2207 | //Autotrigger |
| 2185 | bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]); |
2208 | bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]); |
| 2186 | 2209 | ||
| 2187 | bytes = FlightControllerMessage.CreateMessage('w', 2, bData); |
2210 | bytes = FlightControllerMessage.CreateMessage('w', 2, bData); |
| 2188 | serialStream.Write(bytes, 0, bytes.Length); |
2211 | serialStream.Write(bytes, 0, bytes.Length); |
| 2189 | 2212 | ||
| - | 2213 | _iWPCount = -1; |
|
| - | 2214 | iTimeout = 0; |
|
| 2190 | _iWPCount = -1; |
2215 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
| - | 2216 | { |
|
| - | 2217 | Thread.Sleep(10); |
|
| - | 2218 | iTimeout++; |
|
| - | 2219 | } |
|
| - | 2220 | if (_iWPCount == -1) |
|
| - | 2221 | { |
|
| - | 2222 | Log(LogMsgType.Error, "Timeout while sending list!"); |
|
| 2191 | while (_iWPCount == -1) |
2223 | break; |
| - | 2224 | } |
|
| 2192 | Thread.Sleep(10); |
2225 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
| - | 2226 | } |
|
| - | 2227 | } |
|
| 2193 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
2228 | else |
| 2194 | } |
2229 | Log(LogMsgType.Error, "Timeout while sending list!"); |
| 2195 | } |
2230 | } |
| Line 2196... | Line 2231... | ||
| 2196 | else |
2231 | else |
| Line 2975... | Line 3010... | ||
| 2975 | } |
3010 | } |
| 2976 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
3011 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
| 2977 | { |
3012 | { |
| 2978 | _readWPLFile(); |
3013 | _readWPLFile(); |
| 2979 | } |
3014 | } |
| - | 3015 | private void btnClearWPList_Click(object sender, RoutedEventArgs e) |
|
| - | 3016 | { |
|
| - | 3017 | _clearMapMarkers(typeof(CustomMarkerWP)); |
|
| - | 3018 | wpList.Clear(); |
|
| - | 3019 | if (mRouteWP != null) |
|
| - | 3020 | MainMap.Markers.Remove(mRouteWP); |
|
| - | 3021 | dtWaypoints.Rows.Clear(); |
|
| - | 3022 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
|
| - | 3023 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
|
| - | 3024 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
|
| - | 3025 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
|
| - | 3026 | } |
|
| 2980 | #endregion WP |
3027 | #endregion WP |
| - | 3028 | ||
| 2981 | #region GPX |
3029 | #region GPX |
| 2982 | private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
3030 | private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
| 2983 | { |
3031 | { |
| 2984 | _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
3032 | _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
| 2985 | } |
3033 | } |
| Line 3054... | Line 3102... | ||
| 3054 | 3102 | ||
| 3055 | private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
3103 | private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
| 3056 | { |
3104 | { |
| 3057 | _clearMapMarkers(typeof(GMapRoute)); |
3105 | _clearMapMarkers(typeof(GMapRoute)); |
| 3058 | } |
- | |
| 3059 | void _clearMapMarkers(Type markerType) |
- | |
| 3060 | { |
- | |
| 3061 | for (int k = 0; k < MainMap.Markers.Count;) |
- | |
| 3062 | { |
- | |
| 3063 | GMapMarker p = MainMap.Markers[k]; |
- | |
| 3064 | if (p.GetType() == markerType | p.Shape.GetType() == markerType) |
- | |
| 3065 | MainMap.Markers.Remove(p); |
- | |
| 3066 | else |
- | |
| 3067 | k++; |
- | |
| Line 3068... | Line -... | ||
| 3068 | } |
- | |
| 3069 | 3106 | } |
|
| 3070 | } |
3107 | |
| Line 3071... | Line 3108... | ||
| 3071 | void _loadGPXLog() |
3108 | void _loadGPXLog() |
| 3072 | { |
3109 | { |