Rev 2287 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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2287 | - | 1 | using GMap.NET; |
2 | using GMap.NET.MapProviders; |
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3 | using GMap.NET.WindowsPresentation; |
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4 | using MKLiveView.GMapCustomMarkers; |
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5 | using System; |
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6 | using System.Collections.Generic; |
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7 | using System.ComponentModel; |
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8 | using System.Data; |
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9 | using System.Diagnostics; |
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10 | using System.IO; |
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11 | using System.Linq; |
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12 | using System.Linq.Expressions; |
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13 | using System.Runtime.InteropServices; |
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14 | using System.Text; |
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15 | using System.Threading; |
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16 | using System.Threading.Tasks; |
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17 | using System.Windows; |
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18 | using System.Windows.Controls; |
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19 | using System.Windows.Data; |
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20 | using System.Windows.Documents; |
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21 | using System.Windows.Input; |
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22 | using System.Windows.Interop; |
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23 | using System.Windows.Media; |
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24 | using System.Windows.Media.Animation; |
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25 | using System.Windows.Media.Imaging; |
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26 | using System.Windows.Navigation; |
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27 | using System.Windows.Shapes; |
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28 | using System.Windows.Threading; |
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29 | |||
30 | namespace MKLiveView |
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31 | { |
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32 | /// <summary> |
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33 | /// Interaktionslogik für MainWindow.xaml |
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34 | /// </summary> |
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35 | public partial class MainWindow : Window |
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36 | { |
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37 | GMapMarker copter; |
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38 | GMapMarker home; |
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39 | PointLatLng start; |
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40 | PointLatLng end; |
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41 | PointLatLng pHome; |
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42 | |||
43 | |||
44 | String[] NC_Error = new string[44] |
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45 | { |
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46 | "No Error", |
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47 | "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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48 | "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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49 | "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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50 | "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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51 | "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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52 | "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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53 | "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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54 | "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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55 | "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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56 | "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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57 | "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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58 | "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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59 | "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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60 | "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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61 | "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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62 | "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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63 | "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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64 | "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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65 | "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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66 | "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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67 | "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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68 | "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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69 | "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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70 | "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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71 | "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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72 | "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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73 | "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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74 | "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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75 | "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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76 | "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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77 | "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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78 | "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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79 | "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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80 | "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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81 | "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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82 | "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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83 | "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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84 | "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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85 | "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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86 | "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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87 | "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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88 | "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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89 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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90 | }; |
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91 | |||
92 | [FlagsAttribute] |
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93 | enum NC_HWError0 : short |
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94 | { |
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95 | None = 0, |
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96 | SPI_RX = 1, |
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97 | COMPASS_RX = 2, |
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98 | FC_INCOMPATIBLE = 4, |
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99 | COMPASS_INCOMPATIBLE = 8, |
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100 | GPS_RX = 16, |
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101 | COMPASS_VALUE = 32 |
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102 | }; |
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103 | [FlagsAttribute] |
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104 | enum FC_HWError0 : short |
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105 | { |
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106 | None = 0, |
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107 | GYRO_NICK = 1, |
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108 | GYRO_ROLL = 2, |
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109 | GYRO_YAW = 4, |
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110 | ACC_NICK = 8, |
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111 | ACC_ROLL = 16, |
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112 | ACC_TOP = 32, |
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113 | PRESSURE = 64, |
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114 | CAREFREE = 128 |
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115 | }; |
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116 | [FlagsAttribute] |
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117 | enum FC_HWError1 : short |
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118 | { |
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119 | None = 0, |
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120 | I2C = 1, |
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121 | BL_MISSING = 2, |
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122 | SPI_RX = 4, |
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123 | PPM = 8, |
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124 | MIXER = 16, |
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125 | RC_VOLTAGE = 32, |
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126 | ACC_NOT_CAL = 64, |
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127 | RES3 = 128 |
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128 | }; |
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129 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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130 | // Various colors for logging info |
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131 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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132 | |||
133 | bool _bCBInit = true; |
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134 | bool _init = true; |
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135 | bool check_HWError = false; |
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136 | |||
137 | string filePath = Directory.GetCurrentDirectory(); |
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138 | bool bReadContinously = false; |
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139 | bool _debugDataAutorefresh = true; |
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140 | bool _navCtrlDataAutorefresh = true; |
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141 | bool _blctrlDataAutorefresh = true; |
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142 | bool _OSDAutorefresh = true; |
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143 | bool _bErrorLog = false; |
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144 | bool _bConnErr = false; |
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145 | bool _bFollowCopter = false; |
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146 | |||
147 | bool _bSaveWinStateNormal = true; |
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148 | bool _bSaveWinStateFull = true; |
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149 | |||
150 | double scaleNormalAll = 1; |
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151 | double scaleNormalTopBar = 1; |
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152 | double scaleNormalMotors = 1; |
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153 | double scaleNormalOSD = 1; |
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154 | double scaleNormalLOG = 1; |
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155 | double scaleNormalHorizon = 1; |
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156 | |||
157 | double scaleFullAll = 1; |
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158 | double scaleFullTopBar = 1; |
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159 | double scaleFullMotors = 1; |
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160 | double scaleFullOSD = 1; |
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161 | double scaleFullLOG = 1; |
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162 | double scaleFullHorizon = 1; |
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163 | |||
164 | int _iCtrlAct = 0; |
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165 | int iOSDPage = 0; |
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166 | int iOSDMax = 0; |
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167 | int _iLifeCounter = 0; |
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168 | int crcError = 0; |
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169 | |||
170 | int _iMotors = 4; |
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171 | int _LipoCells = 4; |
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172 | |||
173 | double _dLipoVMax = 16.88; |
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174 | double _dLipoVMin = 12; |
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175 | double _dThresholdVoltageWarn = 0; |
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176 | double _dThresholdVoltageCrit = 0; |
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177 | Storyboard stbVoltageCritAnim; |
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178 | bool _bCritAnimVoltActive = false; |
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179 | bool _bCritVoiceVoltActive = false; |
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180 | bool _bCWarnVoiceVoltActive = false; |
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181 | bool _bVoiceVoltPlay = false; |
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182 | double _dVoltLast = 0; |
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183 | int _iVoltJitter = 0; |
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184 | |||
185 | double _dTopHeight = 36; |
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186 | |||
187 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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188 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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189 | string[] serChanTitle = new string[12]; |
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190 | |||
191 | string[] sAnalogLabel = new string[32]; |
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192 | string[] sAnalogData = new string[32]; |
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193 | |||
194 | 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 }; |
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195 | int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 }; |
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196 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
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197 | /// <summary> |
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198 | /// interval for sending debugdata (multiplied by 10ms) |
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199 | /// </summary> |
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200 | byte debugInterval = 10; //(=> 100ms) |
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201 | /// <summary> |
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202 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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203 | /// </summary> |
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204 | byte blctrlInterval = 75; |
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205 | /// <summary> |
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206 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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207 | /// </summary> |
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208 | byte navctrlInterval = 80; |
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209 | /// <summary> |
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210 | /// interval for sending OSD page update (multiplied by 10ms) |
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211 | /// </summary> |
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212 | byte OSDInterval = 85; |
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213 | /// <summary> |
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214 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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215 | /// </summary> |
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216 | DataTable dtAnalog = new DataTable(); |
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217 | /// <summary> |
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218 | /// datatable for motordata (current,temp) |
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219 | /// </summary> |
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220 | DataTable dtMotors1 = new DataTable(); |
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221 | // DataTable dtMotors2 = new DataTable(); |
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222 | |||
223 | DataTable dtWaypoints = new DataTable(); |
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224 | static volatile int _iWP = -1; |
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225 | bool _bGetWP = false; |
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226 | static volatile bool _bGetWPCount = false; |
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227 | |||
228 | DispatcherTimer timer = new DispatcherTimer(); |
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229 | |||
230 | /// <summary> |
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231 | /// stuff for enabeling touch zoom for the map |
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232 | /// </summary> |
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233 | Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0); |
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234 | int iFirstStylusID = -1; |
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235 | public string connectButtonText |
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236 | { |
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237 | get |
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238 | { |
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239 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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240 | } |
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241 | } |
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242 | |||
243 | WinState winState = new WinState(); |
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244 | |||
245 | public MainWindow() |
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246 | { |
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247 | InitializeComponent(); |
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248 | _initForm(); |
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249 | _dataTablesInit(); |
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250 | _setupMap(); |
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251 | _init = false; |
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252 | timer.Tick += new EventHandler(timerEvent); |
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253 | timer.Interval = new TimeSpan(0, 0, 1); |
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254 | timer.Start(); |
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255 | } |
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256 | |||
257 | #region init |
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258 | void _initForm() |
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259 | { |
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260 | _readIni(); |
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261 | if (_bSaveWinStateNormal) |
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262 | _setScaleSliders(false); |
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263 | cBoxTimingsDebug.ItemsSource = |
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264 | cBoxTimingsNav.ItemsSource = |
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265 | cBoxTimingsBl.ItemsSource = |
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266 | cBoxTimingsOSD.ItemsSource = |
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267 | iTimings; |
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268 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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269 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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270 | _LipoMinMax(); |
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271 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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272 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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273 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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274 | |||
275 | cBoxMotors.ItemsSource = iMotors; |
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276 | cBoxMotors.SelectedItem = _iMotors; |
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277 | |||
278 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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279 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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280 | serialPortCtrl.DataReceived += processMessage; |
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281 | |||
282 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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283 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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284 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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285 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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286 | |||
287 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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288 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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289 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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290 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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291 | |||
292 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
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293 | |||
294 | |||
295 | } |
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296 | /// <summary> |
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297 | /// initialize the datatables |
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298 | /// with columnnames etc |
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299 | /// </summary> |
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300 | void _dataTablesInit() |
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301 | { |
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302 | //dtAnalog.Columns.Add("ID"); |
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303 | //dtAnalog.Columns.Add("Value"); |
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304 | // dataGridView1.DataSource = dtAnalog; |
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305 | |||
306 | dtMotors1.Columns.Add("#"); |
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307 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
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308 | dtMotors1.Columns.Add("Current"); |
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309 | else |
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310 | dtMotors1.Columns.Add("Strom"); |
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311 | dtMotors1.Columns.Add("Temp"); |
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312 | //dtMotors2.Columns.Add("#"); |
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313 | //if (Thread.CurrentThread.CurrentUICulture.Name == "") |
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314 | // dtMotors2.Columns.Add("Current"); |
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315 | //else |
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316 | // dtMotors2.Columns.Add("Strom"); |
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317 | //dtMotors2.Columns.Add("Temp"); |
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318 | dgvMotors1.DataContext = dtMotors1.DefaultView; |
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319 | //dgvMotors2.DataContext = dtMotors2.DefaultView; |
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320 | _initDTMotors(); |
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321 | //dgvMotors1.Columns[0].Width = 24; |
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322 | //dgvMotors1.Columns[1].Width = 74; |
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323 | //dgvMotors1.Columns[2].Width = 74; |
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324 | //dgvMotors2.Columns[0].Width = 24; |
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325 | //dgvMotors2.Columns[1].Width = 74; |
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326 | //dgvMotors2.Columns[2].Width = 74; |
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327 | |||
328 | dtWaypoints.Columns.Add("Index"); |
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329 | dtWaypoints.Columns.Add("Type"); |
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330 | dtWaypoints.Columns.Add("Name"); |
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331 | dtWaypoints.Columns.Add("Latitude"); |
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332 | dtWaypoints.Columns.Add("Longitude"); |
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333 | dtWaypoints.Columns.Add("Altitude"); |
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334 | dtWaypoints.Columns.Add("Heading"); |
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335 | dtWaypoints.Columns.Add("Speed"); |
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336 | dtWaypoints.Columns.Add("Altitude rate"); |
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337 | dtWaypoints.Columns.Add("Tol radius"); |
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338 | dtWaypoints.Columns.Add("Hold time"); |
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339 | dtWaypoints.Columns.Add("AutoTrigger"); |
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340 | dtWaypoints.Columns.Add("Cam angle"); |
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341 | dtWaypoints.Columns.Add("Event"); |
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342 | dtWaypoints.Columns.Add("Eventchan Val"); |
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343 | dtWaypoints.Columns.Add("Status"); |
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344 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
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345 | dgvWP.DataContext = dtWaypoints.DefaultView; |
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346 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0)); |
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347 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
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348 | style.Setters.Add(setter); |
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349 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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350 | style.Setters.Add(setter); |
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351 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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352 | style.Setters.Add(setter); |
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353 | dgvWP.ColumnHeaderStyle = new Style(); |
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354 | dgvWP.ColumnHeaderStyle = style; |
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355 | } |
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356 | /// <summary> |
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357 | /// initialize the 2 datatables for motor values |
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358 | /// dtMotors1 - motor 1 - 4 |
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359 | /// dtMotors2 - motor 5 - 8 |
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360 | /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
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361 | /// </summary> |
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362 | void _initDTMotors() |
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363 | { |
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364 | for (int i = 0; i < 12; i++) |
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365 | { |
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366 | if (dtMotors1.Rows.Count < 12) |
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367 | dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA"); |
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368 | else |
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369 | { |
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370 | dtMotors1.Rows[i].SetField(1, "NA"); |
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371 | dtMotors1.Rows[i].SetField(2, "NA"); |
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372 | } |
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373 | //if (dtMotors2.Rows.Count < 4) |
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374 | // dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
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375 | //else |
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376 | //{ |
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377 | // dtMotors2.Rows[i].SetField(1, "NA"); |
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378 | // dtMotors2.Rows[i].SetField(2, "NA"); |
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379 | //} |
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380 | } |
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381 | // Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout())); |
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382 | //dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
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383 | } |
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384 | |||
385 | #endregion init |
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386 | |||
387 | #region events |
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388 | private void serialPortCtrl_PortOpened() |
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389 | { |
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390 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
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391 | _getVersion(); |
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392 | Thread.Sleep(100); |
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393 | //_OSDMenue(0); |
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394 | //Thread.Sleep(200); |
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395 | //_sendSerialData(); |
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396 | _readCont(true); |
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397 | } |
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398 | private void serialPortCtrl_PortClosed() |
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399 | { |
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400 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
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401 | _readCont(false); |
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402 | } |
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403 | void timerEvent(object sender, EventArgs e) |
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404 | { |
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405 | if (bReadContinously) |
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406 | { |
||
407 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
408 | |||
409 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
410 | |||
411 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
412 | check_HWError = true; |
||
413 | _getVersion(); |
||
414 | Thread.Sleep(10); |
||
415 | if (_OSDAutorefresh) |
||
416 | { |
||
417 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
418 | _initOSDCB(); |
||
419 | _OSDMenueAutoRefresh(); |
||
420 | } |
||
421 | if (_iLifeCounter > 0) |
||
422 | { |
||
423 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
424 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
425 | _iLifeCounter = 0; |
||
426 | _bConnErr = false; |
||
427 | } |
||
428 | else |
||
429 | { |
||
430 | if (!_bConnErr) |
||
431 | { |
||
432 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
433 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
434 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
||
435 | _bConnErr = true; |
||
436 | } |
||
437 | } |
||
438 | } |
||
439 | } |
||
440 | |||
441 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
442 | { |
||
443 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
444 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
445 | } |
||
446 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
447 | { |
||
448 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
449 | if (GridMotors.IsVisible) |
||
450 | _setMotorGridSize(); |
||
451 | } |
||
452 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
453 | { |
||
454 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
455 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
456 | } |
||
457 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
458 | { |
||
459 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
460 | } |
||
461 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
462 | { |
||
463 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
464 | } |
||
465 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
466 | { |
||
467 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
468 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
469 | } |
||
470 | |||
471 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
472 | { |
||
473 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
474 | t.Start(); |
||
475 | } |
||
476 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
477 | { |
||
478 | |||
479 | } |
||
480 | |||
481 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
482 | { |
||
483 | if (!serialPortCtrl.Port.IsOpen) |
||
484 | serialPortCtrl.Connect(true); |
||
485 | else |
||
486 | _readCont(!bReadContinously); |
||
487 | } |
||
488 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
489 | { |
||
490 | setHomePos(); |
||
491 | } |
||
492 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
493 | { |
||
494 | clearHomePos(); |
||
495 | } |
||
496 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
497 | { |
||
498 | if (home != null && MainMap.Markers.Contains(home)) |
||
499 | MainMap.Position = home.Position; |
||
500 | } |
||
501 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
||
502 | { |
||
503 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
504 | } |
||
505 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
506 | { |
||
507 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
508 | } |
||
509 | |||
510 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
511 | { |
||
512 | if(!_init) |
||
513 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
||
514 | } |
||
515 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
516 | { |
||
517 | if(!_init) |
||
518 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
||
519 | } |
||
520 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
521 | { |
||
522 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
523 | } |
||
524 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
||
525 | { |
||
526 | _switchToNC(); |
||
527 | } |
||
528 | |||
529 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
530 | { |
||
531 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
532 | _setMotorGridSize(); |
||
533 | } |
||
534 | #endregion events |
||
535 | |||
536 | #region GMap |
||
537 | |||
538 | void _setupMap() |
||
539 | { |
||
540 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
541 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
542 | MainMap.SetPositionByKeywords("Landshut"); |
||
543 | MainMap.MinZoom = 0; |
||
544 | MainMap.MaxZoom = 24; |
||
545 | MainMap.Zoom = 16; |
||
546 | MainMap.ShowCenter = true; |
||
547 | MainMap.ShowTileGridLines = false; |
||
548 | sliderMapZoom.Value = 16; |
||
549 | comboBoxMapType.ItemsSource = providerList; |
||
550 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
551 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
552 | |||
553 | // acccess mode |
||
554 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
555 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
556 | |||
557 | } |
||
558 | |||
559 | /// <summary> |
||
560 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
561 | /// comboBoxMapType.ItemsSource = providerList; |
||
562 | /// to: |
||
563 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
564 | /// in _setupMap() |
||
565 | /// or add items here: |
||
566 | /// </summary> |
||
567 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
568 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
569 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
570 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
571 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
572 | |||
573 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
574 | { |
||
575 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
576 | copter = new GMapMarker(MainMap.Position); |
||
577 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
578 | copter.Offset = new System.Windows.Point(-18, -18); |
||
579 | copter.ZIndex = int.MaxValue; |
||
580 | MainMap.Markers.Add(copter); |
||
581 | copter.Position = MainMap.Position; |
||
582 | } |
||
583 | void setHomePos() |
||
584 | { |
||
585 | pHome = MainMap.Position; |
||
586 | if (!MainMap.Markers.Contains(home)) |
||
587 | { |
||
588 | home = new GMapMarker(MainMap.Position); |
||
589 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
590 | home.Offset = new System.Windows.Point(-18, -18); |
||
591 | // home.ZIndex = int.MaxValue; |
||
592 | MainMap.Markers.Add(home); |
||
593 | } |
||
594 | home.Position = MainMap.Position; |
||
595 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
596 | } |
||
597 | void clearHomePos() |
||
598 | { |
||
599 | MainMap.Markers.Remove(home); |
||
600 | } |
||
601 | |||
602 | // access mode |
||
603 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
604 | { |
||
605 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
606 | MainMap.ReloadMap(); |
||
607 | } |
||
608 | // zoom up |
||
609 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
610 | { |
||
611 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
612 | } |
||
613 | |||
614 | // zoom down |
||
615 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
616 | { |
||
617 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
618 | } |
||
619 | |||
620 | // prefetch |
||
621 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
622 | { |
||
623 | RectLatLng area = MainMap.SelectedArea; |
||
624 | if (!area.IsEmpty) |
||
625 | { |
||
626 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
627 | { |
||
628 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
629 | |||
630 | if (res == MessageBoxResult.Yes) |
||
631 | { |
||
632 | TilePrefetcher obj = new TilePrefetcher(); |
||
633 | obj.Owner = this; |
||
634 | obj.ShowCompleteMessage = true; |
||
635 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
636 | } |
||
637 | else if (res == MessageBoxResult.No) |
||
638 | { |
||
639 | continue; |
||
640 | } |
||
641 | else if (res == MessageBoxResult.Cancel) |
||
642 | { |
||
643 | break; |
||
644 | } |
||
645 | } |
||
646 | } |
||
647 | else |
||
648 | { |
||
649 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
650 | } |
||
651 | } |
||
652 | |||
653 | // goto by geocoder |
||
654 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
655 | { |
||
656 | _goto_byGeoCoder(); |
||
657 | } |
||
658 | // goto by geocoder |
||
659 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
660 | { |
||
661 | if (e.Key == System.Windows.Input.Key.Enter) |
||
662 | _goto_byGeoCoder(); |
||
663 | } |
||
664 | void _goto_byGeoCoder() |
||
665 | { |
||
666 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
667 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
668 | { |
||
669 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
670 | } |
||
671 | } |
||
672 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
673 | { |
||
674 | try |
||
675 | { |
||
676 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
677 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
678 | |||
679 | MainMap.Position = new PointLatLng(lat, lng); |
||
680 | } |
||
681 | catch (Exception ex) |
||
682 | { |
||
683 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
684 | } |
||
685 | |||
686 | } |
||
687 | |||
688 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
689 | { |
||
690 | MainMap.ReloadMap(); |
||
691 | } |
||
692 | |||
693 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
694 | { |
||
695 | if (_bFollowCopter) |
||
696 | _setCopterData(MainMap.Position); |
||
697 | } |
||
698 | |||
699 | private void MainMap_OnMapZoomChanged() |
||
700 | { |
||
701 | if (_bFollowCopter) |
||
702 | _setCopterData(MainMap.Position); |
||
703 | if((int)sliderMapZoom.Value != MainMap.Zoom) |
||
704 | sliderMapZoom.Value = MainMap.Zoom; |
||
705 | } |
||
706 | |||
707 | void _setCopterData(PointLatLng p) |
||
708 | { |
||
709 | Dispatcher.Invoke(() => |
||
710 | { |
||
711 | copter.Position = p; |
||
712 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
713 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
714 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
715 | }); |
||
716 | if (home != null && MainMap.Markers.Contains(home)) |
||
717 | { |
||
718 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
719 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
720 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
721 | } |
||
722 | } |
||
723 | |||
724 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
725 | { |
||
726 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
727 | } |
||
728 | |||
729 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
730 | { |
||
731 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
732 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
733 | } |
||
734 | #region Touch zooming hackattack ;) |
||
735 | /// <summary> |
||
736 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
737 | /// </summary> |
||
738 | bool bFirstAccess = true; |
||
739 | double dDistance = 0; |
||
740 | int iZoom; |
||
741 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
742 | { |
||
743 | var id = e.StylusDevice.Id; |
||
744 | e.StylusDevice.Capture(MainMap); |
||
745 | if (iFirstStylusID == -1) |
||
746 | { |
||
747 | iFirstStylusID = id; |
||
748 | } |
||
749 | else |
||
750 | { |
||
751 | |||
752 | MainMap.CanDragMap = false; |
||
753 | } |
||
754 | } |
||
755 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
756 | { |
||
757 | MainMap.ReleaseStylusCapture(); |
||
758 | iFirstStylusID = -1; |
||
759 | bFirstAccess = true; |
||
760 | MainMap.CanDragMap = true; |
||
761 | iZoom = 0; |
||
762 | } |
||
763 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
764 | { |
||
765 | var id = e.StylusDevice.Id; |
||
766 | var tp = e.GetPosition(MainMap); |
||
767 | |||
768 | // This is the first Stylus point; just record its position. |
||
769 | if (id == iFirstStylusID) |
||
770 | { |
||
771 | pTouch1.X = tp.X; |
||
772 | pTouch1.Y = tp.Y; |
||
773 | } |
||
774 | else |
||
775 | if (iFirstStylusID > -1) |
||
776 | { |
||
777 | pTouch2.X = tp.X; |
||
778 | pTouch2.Y = tp.Y; |
||
779 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
780 | if (!bFirstAccess) |
||
781 | { |
||
782 | if (distance > dDistance) |
||
783 | iZoom++; |
||
784 | else |
||
785 | if (distance < dDistance) |
||
786 | iZoom--; |
||
787 | } |
||
788 | if (iZoom > 30) |
||
789 | { |
||
790 | iZoom = 0; |
||
791 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
792 | } |
||
793 | if (iZoom < -30) |
||
794 | { |
||
795 | iZoom = 0; |
||
796 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
797 | } |
||
798 | dDistance = distance; |
||
799 | bFirstAccess = false; |
||
800 | } |
||
801 | } |
||
802 | #endregion Touch zooming hackattack ;) |
||
803 | |||
804 | #endregion GMap |
||
805 | |||
806 | #region settings |
||
807 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
808 | { |
||
809 | if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
||
810 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
||
811 | } |
||
812 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
813 | { |
||
814 | if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
||
815 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
||
816 | } |
||
817 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
818 | { |
||
819 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
820 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
821 | } |
||
822 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
823 | { |
||
824 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
825 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
826 | } |
||
827 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
828 | { |
||
829 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
830 | } |
||
831 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
832 | { |
||
833 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
834 | } |
||
835 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
836 | { |
||
837 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
838 | } |
||
839 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
840 | { |
||
841 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
842 | } |
||
843 | |||
844 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
845 | { |
||
846 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
847 | { |
||
848 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
849 | _LipoMinMax(); |
||
850 | } |
||
851 | } |
||
852 | void _LipoMinMax() |
||
853 | { |
||
854 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
855 | _dLipoVMin = (double)_LipoCells * 3; |
||
856 | pbTopVoltage.Maximum = _dLipoVMax; |
||
857 | pbTopVoltage.Minimum = _dLipoVMin; |
||
858 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
859 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
860 | } |
||
861 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
862 | { |
||
863 | if (cBoxMotors.SelectedIndex > -1) |
||
864 | { |
||
865 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
866 | Dispatcher.Invoke(() => |
||
867 | { |
||
868 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
869 | GridMotors.Height = dgvMotors1.Height + 10; |
||
870 | }); |
||
871 | } |
||
872 | } |
||
873 | void _setMotorGridSize() |
||
874 | { |
||
875 | if (dgvMotors1.Columns.Count > 2) |
||
876 | { |
||
877 | dgvMotors1.Columns[0].Width = 24; |
||
878 | dgvMotors1.Columns[1].Width = 50; |
||
879 | dgvMotors1.Columns[2].Width = 50; |
||
880 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
881 | GridMotors.Height = dgvMotors1.Height + 10; |
||
882 | } |
||
883 | |||
884 | } |
||
885 | #endregion settings |
||
886 | |||
887 | #region functions |
||
888 | |||
889 | #region logging |
||
890 | /// <summary> Log data to the terminal window. </summary> |
||
891 | /// <param name="msgtype"> The type of message to be written. </param> |
||
892 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
893 | private void Log(LogMsgType msgtype, string msg) |
||
894 | { |
||
895 | Dispatcher.Invoke(() => |
||
896 | { |
||
897 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
||
898 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
899 | // rtfTerminal.AppendText(msg + "\r"); |
||
900 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd); |
||
901 | tr.Text = msg; |
||
902 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
903 | rtfTerminal.AppendText("\r"); |
||
904 | rtfTerminal.ScrollToEnd(); |
||
905 | }); |
||
906 | } |
||
907 | private void ErrorLog(LogMsgType msgtype, string msg) |
||
908 | { |
||
909 | Dispatcher.Invoke(() => |
||
910 | { |
||
911 | TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
912 | tr.Text = msg; |
||
913 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
914 | rtfError.AppendText("\r"); |
||
915 | rtfError.ScrollToEnd(); |
||
916 | |||
917 | _bErrorLog = true; |
||
918 | }); |
||
919 | } |
||
920 | /// <summary> |
||
921 | /// Clear the line in the errorlog window |
||
922 | /// containing the error string when error has ceased |
||
923 | /// </summary> |
||
924 | /// <param name="s">substring of errrormessage</param> |
||
925 | void _clearErrorLog(string s) |
||
926 | { |
||
927 | Dispatcher.Invoke((Action)(() => |
||
928 | { |
||
929 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
930 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
931 | |||
932 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
933 | |||
934 | |||
935 | if (iStart > -1) |
||
936 | { |
||
937 | int iLength = 0; |
||
938 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
939 | if (iEnd > 0) |
||
940 | { |
||
941 | iLength = iEnd + 1; |
||
942 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
||
943 | if (iHttp == iLength) |
||
944 | { |
||
945 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
946 | if (iEnd2 > iLength) |
||
947 | { |
||
948 | iLength = iEnd2 + 1; |
||
949 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
950 | |||
951 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
952 | rtfError.Selection.Text = string.Empty; |
||
953 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
954 | } |
||
955 | |||
956 | } |
||
957 | else |
||
958 | { |
||
959 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
960 | rtfError.Selection.Text = string.Empty; |
||
961 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
962 | } |
||
963 | } |
||
964 | } |
||
965 | })); |
||
966 | |||
967 | } |
||
968 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
969 | { |
||
970 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
971 | if (offset < 0) |
||
972 | return null; // Not found |
||
973 | |||
974 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
975 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
976 | |||
977 | return result; |
||
978 | } |
||
979 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
980 | { |
||
981 | while (position != null) |
||
982 | { |
||
983 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
984 | { |
||
985 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
986 | if (characterCount <= count) |
||
987 | { |
||
988 | return position.GetPositionAtOffset(characterCount); |
||
989 | } |
||
990 | |||
991 | characterCount -= count; |
||
992 | } |
||
993 | |||
994 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
995 | if (nextContextPosition == null) |
||
996 | return position; |
||
997 | |||
998 | position = nextContextPosition; |
||
999 | } |
||
1000 | |||
1001 | return position; |
||
1002 | } |
||
1003 | #endregion logging |
||
1004 | |||
1005 | #region processing received data |
||
1006 | |||
1007 | private void processMessage(byte[] message) |
||
1008 | { |
||
1009 | if (message.Length > 0) |
||
1010 | { |
||
1011 | _iLifeCounter++; |
||
1012 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1013 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1014 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1015 | char cmdID; |
||
1016 | byte adr; |
||
1017 | byte[] data; |
||
1018 | byte[] tmp = null; |
||
1019 | if (message[0] != '#') |
||
1020 | { |
||
1021 | int iFound = -1; |
||
1022 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1023 | { //so this is a workaround to not spam the log box |
||
1024 | if (message[i] == 35) |
||
1025 | { |
||
1026 | iFound = i; |
||
1027 | break; |
||
1028 | } |
||
1029 | } |
||
1030 | if (iFound > 0) |
||
1031 | { |
||
1032 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1033 | tmp = new byte[message.Length - iFound]; |
||
1034 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1035 | } |
||
1036 | s = s.Trim('\0', '\n', '\r'); |
||
1037 | if (s.Length > 0) |
||
1038 | Log(LogMsgType.Normal, s); |
||
1039 | if (tmp != null) |
||
1040 | { |
||
1041 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1042 | processMessage(tmp); |
||
1043 | } |
||
1044 | } |
||
1045 | //Debug.Print(s); |
||
1046 | else |
||
1047 | { |
||
1048 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1049 | |||
1050 | if (adr == 255) { crcError++; } |
||
1051 | else crcError = 0; |
||
1052 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1053 | //display the active controller (FC / NC) |
||
1054 | 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...??? |
||
1055 | { |
||
1056 | _iCtrlAct = adr; |
||
1057 | switch (adr) |
||
1058 | { |
||
1059 | case 1: |
||
1060 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
1061 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
||
1062 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
||
1063 | // _setFieldsNA(); //display fields NA for FC |
||
1064 | break; |
||
1065 | case 2: |
||
1066 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1067 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1068 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1069 | break; |
||
1070 | //case 3: |
||
1071 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1072 | // break; |
||
1073 | //case 4: |
||
1074 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1075 | // break; |
||
1076 | default: |
||
1077 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1078 | break; |
||
1079 | } |
||
1080 | // _loadLabelNames(); |
||
1081 | } |
||
1082 | // else |
||
1083 | // Debug.Print("Address == 0?"); |
||
1084 | |||
1085 | if (data != null && data.Length > 0) |
||
1086 | { |
||
1087 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1088 | s = s.Trim('\0', '\n'); |
||
1089 | |||
1090 | switch (cmdID) |
||
1091 | { |
||
1092 | //case 'A': //Label names |
||
1093 | // _processLabelNames(s); |
||
1094 | // break; |
||
1095 | |||
1096 | case 'D': //Debug data |
||
1097 | _processDebugVals(adr, data); |
||
1098 | break; |
||
1099 | |||
1100 | case 'V': //Version |
||
1101 | _processVersion(adr, data); |
||
1102 | break; |
||
1103 | |||
1104 | case 'K'://BL-CTRL data |
||
1105 | _processBLCtrl(data); |
||
1106 | break; |
||
1107 | |||
1108 | case 'O': //NC Data |
||
1109 | _processNCData(data); |
||
1110 | break; |
||
1111 | |||
1112 | case 'E': //NC error-string |
||
1113 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1114 | break; |
||
1115 | |||
1116 | case 'L': //OSD Menue (called by pagenumber) |
||
1117 | _processOSDSingle(data); |
||
1118 | break; |
||
1119 | |||
1120 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1121 | _processOSDAuto(data); |
||
1122 | break; |
||
1123 | |||
1124 | case 'X': //Waypoint data |
||
1125 | _processWPData(data); |
||
1126 | break; |
||
1127 | |||
1128 | //default: |
||
1129 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1130 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1131 | // break; |
||
1132 | } |
||
1133 | } |
||
1134 | //else |
||
1135 | //{ |
||
1136 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1137 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1138 | //} |
||
1139 | } |
||
1140 | } |
||
1141 | } |
||
1142 | /// <summary> |
||
1143 | /// Analog label names 'A' |
||
1144 | /// each label name is returned as a single string |
||
1145 | /// and added to string array sAnalogLabel[] |
||
1146 | /// and the datatable dtAnalog |
||
1147 | /// </summary> |
||
1148 | /// <param name="s">the label name</param> |
||
1149 | void _processLabelNames(string s) |
||
1150 | { |
||
1151 | //if (iLableIndex < 32) |
||
1152 | //{ |
||
1153 | // sAnalogLabel[iLableIndex] = s; |
||
1154 | // if (dtAnalog.Rows.Count < 32) |
||
1155 | // dtAnalog.Rows.Add(s, ""); |
||
1156 | // else |
||
1157 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1158 | |||
1159 | // // _getAnalogLabels(iLableIndex + 1); |
||
1160 | //} |
||
1161 | //Debug.Print(s); |
||
1162 | } |
||
1163 | /// <summary> |
||
1164 | /// Debug values 'D' |
||
1165 | /// </summary> |
||
1166 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1167 | /// <param name="data">the received byte array to process</param> |
||
1168 | void _processDebugVals(byte adr, byte[] data) |
||
1169 | { |
||
1170 | if (data.Length == 66) |
||
1171 | { |
||
1172 | int[] iAnalogData = new int[32]; |
||
1173 | double v; |
||
1174 | int index = 0; |
||
1175 | Int16 i16 = 0; |
||
1176 | double dTemp = 0; |
||
1177 | for (int i = 2; i < 66; i += 2) |
||
1178 | { |
||
1179 | i16 = data[i + 1]; |
||
1180 | i16 = (Int16)(i16 << 8); |
||
1181 | iAnalogData[index] = data[i] + i16; |
||
1182 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
1183 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
1184 | |||
1185 | if (adr == 2) //NC |
||
1186 | { |
||
1187 | switch (index) |
||
1188 | { |
||
1189 | case 0: //pitch (German: nick) |
||
1190 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1191 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1192 | break; |
||
1193 | case 1: //roll |
||
1194 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1195 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1196 | break; |
||
1197 | case 4: //altitude |
||
1198 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1199 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1200 | break; |
||
1201 | case 7: //Voltage |
||
1202 | v = (double)iAnalogData[index] / (double)10; |
||
1203 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1204 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1205 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1206 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1207 | { |
||
1208 | if (v == _dVoltLast) |
||
1209 | if(_iVoltJitter < 20) _iVoltJitter++; |
||
1210 | else |
||
1211 | { |
||
1212 | _iVoltJitter = 0; |
||
1213 | _dVoltLast = v; |
||
1214 | } |
||
1215 | if (_iVoltJitter == 20) |
||
1216 | { |
||
1217 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1218 | |||
1219 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1220 | { |
||
1221 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1222 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1223 | { |
||
1224 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1225 | _bCritAnimVoltActive = true; |
||
1226 | } |
||
1227 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1228 | { |
||
1229 | if (File.Exists("Voice\\CriticalBattery.mp3")) |
||
1230 | { |
||
1231 | |||
1232 | MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer(); |
||
1233 | mp.Open("Voice\\CriticalBattery.mp3"); |
||
1234 | mp.Play(); |
||
1235 | } |
||
1236 | _bCritVoiceVoltActive = true; |
||
1237 | } |
||
1238 | } |
||
1239 | else |
||
1240 | { |
||
1241 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1242 | { |
||
1243 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1244 | _bCritAnimVoltActive = false; |
||
1245 | } |
||
1246 | _bCritVoiceVoltActive = false; |
||
1247 | |||
1248 | if (_bVoiceVoltPlay && !_bCWarnVoiceVoltActive) |
||
1249 | { |
||
1250 | if (File.Exists("Voice\\LowBattery.mp3")) |
||
1251 | { |
||
1252 | |||
1253 | MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer(); |
||
1254 | mp.Open("Voice\\LowBattery.mp3"); |
||
1255 | mp.Play(); |
||
1256 | } |
||
1257 | _bCWarnVoiceVoltActive = true; |
||
1258 | } |
||
1259 | } |
||
1260 | } |
||
1261 | } |
||
1262 | else |
||
1263 | { |
||
1264 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1265 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1266 | { |
||
1267 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1268 | _bCritAnimVoltActive = false; |
||
1269 | } |
||
1270 | _bCritVoiceVoltActive = false; |
||
1271 | _bCWarnVoiceVoltActive = false; |
||
1272 | _iVoltJitter = 0; |
||
1273 | } |
||
1274 | break; |
||
1275 | case 8: // Current |
||
1276 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1277 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1278 | break; |
||
1279 | case 10: //heading |
||
1280 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
||
1281 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
||
1282 | break; |
||
1283 | case 12: // SPI error |
||
1284 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
||
1285 | break; |
||
1286 | case 14: //i2c error |
||
1287 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
||
1288 | break; |
||
1289 | case 20: //Earthmagnet field |
||
1290 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
||
1291 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
1292 | if(iAnalogData[index] > 115 | iAnalogData[index] < 85) |
||
1293 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
1294 | else |
||
1295 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1296 | break; |
||
1297 | case 21: //GroundSpeed |
||
1298 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1299 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1300 | break; |
||
1301 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
||
1302 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
1303 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1304 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1305 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1306 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1307 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1308 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
1309 | break; |
||
1310 | case 31: //Sats used |
||
1311 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
||
1312 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
1313 | break; |
||
1314 | } |
||
1315 | } |
||
1316 | //if (adr == 1) //FC |
||
1317 | //{ |
||
1318 | // switch (index) |
||
1319 | // { |
||
1320 | // case 0: //pitch (German: nick) |
||
1321 | // artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
||
1322 | // lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1323 | // break; |
||
1324 | // case 1: //roll |
||
1325 | // artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
||
1326 | // lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1327 | // break; |
||
1328 | // case 5: //altitude |
||
1329 | // lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
||
1330 | // break; |
||
1331 | // case 8: //heading |
||
1332 | // lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
||
1333 | // headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
||
1334 | // break; |
||
1335 | // case 9: //Voltage |
||
1336 | // lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
||
1337 | // break; |
||
1338 | // case 10: //Receiver quality |
||
1339 | // lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index])); |
||
1340 | // break; |
||
1341 | // case 22: // Current |
||
1342 | // lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
||
1343 | // break; |
||
1344 | // case 23: //capacity used |
||
1345 | // lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh"))); |
||
1346 | // break; |
||
1347 | // case 27: // SPI error |
||
1348 | // lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
||
1349 | // break; |
||
1350 | // case 28: //i2c error |
||
1351 | // lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
||
1352 | // break; |
||
1353 | // } |
||
1354 | //} |
||
1355 | index++; |
||
1356 | } |
||
1357 | } |
||
1358 | else |
||
1359 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1360 | } |
||
1361 | /// <summary> |
||
1362 | /// Version string 'V' |
||
1363 | /// </summary> |
||
1364 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1365 | /// <param name="data">the received byte array to process</param> |
||
1366 | void _processVersion(byte adr, byte[] data) |
||
1367 | { |
||
1368 | if (data.Length == 12) |
||
1369 | { |
||
1370 | if (!check_HWError) |
||
1371 | { |
||
1372 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1373 | string sVersion = ""; |
||
1374 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1375 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1376 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1377 | Log(LogMsgType.Incoming, sVersion); |
||
1378 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1379 | Log(LogMsgType.Incoming, sVersion); |
||
1380 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1381 | } |
||
1382 | if (data[5] > 0) //error0 |
||
1383 | { |
||
1384 | if (adr == 1) |
||
1385 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
1386 | if (adr == 2) |
||
1387 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
1388 | } |
||
1389 | if (data[6] > 0) //error1 |
||
1390 | { |
||
1391 | if (adr == 1) |
||
1392 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
1393 | if (adr == 2) |
||
1394 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
1395 | } |
||
1396 | if ((data[5] + data[6] == 0) && _bErrorLog) |
||
1397 | _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
1398 | |||
1399 | } |
||
1400 | check_HWError = false; |
||
1401 | } |
||
1402 | /// <summary> |
||
1403 | /// BL-Ctrl data 'K' |
||
1404 | /// for FC you have to use a customized firmware |
||
1405 | /// </summary> |
||
1406 | /// <param name="data">the received byte array to process</param> |
||
1407 | void _processBLCtrl(byte[] data) |
||
1408 | { |
||
1409 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1410 | { |
||
1411 | bool bAvailable = false; |
||
1412 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1413 | { |
||
1414 | |||
1415 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1416 | bAvailable = true; |
||
1417 | else |
||
1418 | bAvailable = false; |
||
1419 | |||
1420 | if (data[i] < _iMotors) |
||
1421 | { |
||
1422 | if (bAvailable) |
||
1423 | { |
||
1424 | dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1425 | dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
1426 | } |
||
1427 | else |
||
1428 | { |
||
1429 | dtMotors1.Rows[data[i]].SetField(1, "NA"); |
||
1430 | dtMotors1.Rows[data[i]].SetField(2, "NA"); |
||
1431 | } |
||
1432 | } |
||
1433 | //if (data[i] > 3 && data[i] < 8) |
||
1434 | //{ |
||
1435 | // if (bAvailable) |
||
1436 | // { |
||
1437 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1438 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1439 | // } |
||
1440 | // else |
||
1441 | // { |
||
1442 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1443 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1444 | // } |
||
1445 | //} |
||
1446 | } |
||
1447 | } |
||
1448 | } |
||
1449 | /// <summary> |
||
1450 | /// Navi-Ctrl data 'O' |
||
1451 | /// GPS-Position, capacatiy, flying time... |
||
1452 | /// </summary> |
||
1453 | /// <param name="data">the received byte array to process</param> |
||
1454 | void _processNCData(byte[] data) |
||
1455 | { |
||
1456 | int i_32, i_16, iVal; |
||
1457 | double d; |
||
1458 | i_32 = data[4]; |
||
1459 | iVal = i_32 << 24; |
||
1460 | i_32 = data[3]; |
||
1461 | iVal += i_32 << 16; |
||
1462 | i_32 = data[2]; |
||
1463 | iVal += i_32 << 8; |
||
1464 | iVal += data[1]; |
||
1465 | d = (double)iVal / Math.Pow(10, 7); |
||
1466 | |||
1467 | PointLatLng p = new PointLatLng(); |
||
1468 | |||
1469 | p.Lng = d; |
||
1470 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
1471 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
1472 | |||
1473 | i_32 = data[8]; |
||
1474 | iVal = i_32 << 24; |
||
1475 | i_32 = data[7]; |
||
1476 | iVal += i_32 << 16; |
||
1477 | i_32 = data[6]; |
||
1478 | iVal += i_32 << 8; |
||
1479 | iVal += data[5]; |
||
1480 | d = (double)iVal / Math.Pow(10, 7); |
||
1481 | p.Lat = d; |
||
1482 | |||
1483 | if (!_bFollowCopter && data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane |
||
1484 | { |
||
1485 | _setCopterData(p); |
||
1486 | if(!MainMap.ViewArea.Contains(p)) |
||
1487 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
1488 | |||
1489 | } |
||
1490 | else |
||
1491 | if(data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane |
||
1492 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
1493 | |||
1494 | |||
1495 | // lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
||
1496 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
||
1497 | |||
1498 | i_16 = data[28]; |
||
1499 | i_16 = (Int16)(i_16 << 8); |
||
1500 | iVal = data[27] + i_16; |
||
1501 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP |
||
1502 | |||
1503 | i_16 = data[45]; |
||
1504 | i_16 = (Int16)(i_16 << 8); |
||
1505 | iVal = data[44] + i_16; |
||
1506 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1507 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1508 | |||
1509 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index |
||
1510 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
||
1511 | |||
1512 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites |
||
1513 | |||
1514 | |||
1515 | //--------------- Capacity used ------------------------ |
||
1516 | i_16 = data[81]; |
||
1517 | i_16 = (Int16)(i_16 << 8); |
||
1518 | iVal = data[80] + i_16; |
||
1519 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
1520 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
1521 | |||
1522 | //--------------- Flying time ------------------------ |
||
1523 | i_16 = data[56]; |
||
1524 | i_16 = (Int16)(i_16 << 8); |
||
1525 | iVal = data[55] + i_16; |
||
1526 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
1527 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
1528 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
1529 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
1530 | |||
1531 | //--------------- RC quality ------------------------ |
||
1532 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
1533 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
1534 | |||
1535 | |||
1536 | //--------------- NC Error ------------------------ |
||
1537 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
1538 | if (data[69] > 0) |
||
1539 | _readNCError(); |
||
1540 | if (data[69] > 0 & data[69] < 44) |
||
1541 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
1542 | else |
||
1543 | if (_bErrorLog) _clearErrorLog("NC Error"); |
||
1544 | |||
1545 | } |
||
1546 | /// <summary> |
||
1547 | /// Navi-Ctrl WP data struct 'X' |
||
1548 | /// called by index |
||
1549 | /// </summary> |
||
1550 | /// <param name="data">the received byte array to process</param> |
||
1551 | void _processWPData(byte[] data) |
||
1552 | { |
||
1553 | _iWP = data[0]; |
||
1554 | _bGetWPCount = false; |
||
1555 | if (data.Length >= 28) |
||
1556 | { |
||
1557 | //int count = data[0]; |
||
1558 | //int index = data[1]; |
||
1559 | //cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear())); |
||
1560 | //for (int i = 0; i < count; i++) |
||
1561 | // cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1))); |
||
1562 | //cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index)); |
||
1563 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
1564 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
1565 | if (_bGetWP) |
||
1566 | { |
||
1567 | if (data[1] == 1) |
||
1568 | dtWaypoints.Rows.Clear(); |
||
1569 | DataRow dr = dtWaypoints.NewRow(); |
||
1570 | dr = Waypoints.toDataRow(data, dr); |
||
1571 | //if (dtWaypoints.Rows.Contains(data[1])) |
||
1572 | //{ |
||
1573 | // dtWaypoints.Rows.Find(data[1]).Delete(); |
||
1574 | // dtWaypoints.Rows.InsertAt(dr, data[1] - 1); |
||
1575 | //} |
||
1576 | //else |
||
1577 | dtWaypoints.Rows.Add(dr); |
||
1578 | |||
1579 | if (data[1] == data[0]) |
||
1580 | { |
||
1581 | _bGetWP = false; |
||
1582 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
1583 | } |
||
1584 | |||
1585 | } |
||
1586 | } |
||
1587 | else |
||
1588 | { |
||
1589 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
1590 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
1591 | // Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length))); |
||
1592 | } |
||
1593 | } |
||
1594 | /// <summary> |
||
1595 | /// OSD Menue 'L' |
||
1596 | /// single page called by pagenumber |
||
1597 | /// no autoupdate |
||
1598 | /// </summary> |
||
1599 | /// <param name="data">the received byte array to process</param> |
||
1600 | void _processOSDSingle(byte[] data) |
||
1601 | { |
||
1602 | if (data.Length == 84) |
||
1603 | { |
||
1604 | string sMessage = ""; |
||
1605 | iOSDPage = data[0]; |
||
1606 | iOSDMax = data[1]; |
||
1607 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
1608 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
1609 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1610 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1611 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1612 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1613 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
1614 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
1615 | |||
1616 | } |
||
1617 | //else |
||
1618 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
1619 | |||
1620 | } |
||
1621 | /// <summary> |
||
1622 | /// OSD Menue 'H' |
||
1623 | /// called by keys (0x01,0x02,0x03,0x04) |
||
1624 | /// autoupdate |
||
1625 | /// </summary> |
||
1626 | /// <param name="data">the received byte array to process</param> |
||
1627 | void _processOSDAuto(byte[] data) |
||
1628 | { |
||
1629 | if (data.Length == 81) |
||
1630 | { |
||
1631 | string sMessage = ""; |
||
1632 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
1633 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1634 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1635 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1636 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1637 | |||
1638 | } |
||
1639 | //else |
||
1640 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
1641 | } |
||
1642 | |||
1643 | #endregion processing received data |
||
1644 | |||
1645 | #region controller messages |
||
1646 | /// <summary> send message to controller to request data |
||
1647 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1648 | /// </summary> |
||
1649 | /// <param name="CMDID"> the command ID </param> |
||
1650 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1651 | private void _sendControllerMessage(char CMDID, byte address) |
||
1652 | { |
||
1653 | if (serialPortCtrl.Port.IsOpen) |
||
1654 | { |
||
1655 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1656 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
1657 | serialStream.Write(bytes, 0, bytes.Length); |
||
1658 | |||
1659 | } |
||
1660 | else |
||
1661 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1662 | } |
||
1663 | /// <summary> send message to controller to request data |
||
1664 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1665 | /// </summary> |
||
1666 | /// <param name="CMDID"> the command ID </param> |
||
1667 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1668 | /// <param name="data"> additional data for the request</param> |
||
1669 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
1670 | { |
||
1671 | if (serialPortCtrl.Port.IsOpen) |
||
1672 | { |
||
1673 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1674 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
1675 | serialStream.Write(bytes, 0, bytes.Length); |
||
1676 | |||
1677 | } |
||
1678 | else |
||
1679 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1680 | } |
||
1681 | |||
1682 | /// <summary> |
||
1683 | /// start/stop continous polling of controller values |
||
1684 | /// </summary> |
||
1685 | /// <param name="b">start/stop switch</param> |
||
1686 | void _readCont(bool b) |
||
1687 | { |
||
1688 | bReadContinously = b; |
||
1689 | if (bReadContinously) |
||
1690 | { |
||
1691 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
1692 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1693 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1694 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
1695 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
1696 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
1697 | } |
||
1698 | else |
||
1699 | { |
||
1700 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
1701 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
1702 | _bConnErr = false; |
||
1703 | } |
||
1704 | _iLifeCounter = 0; |
||
1705 | } |
||
1706 | |||
1707 | private void _getVersion() |
||
1708 | { |
||
1709 | _sendControllerMessage('v', 0); |
||
1710 | } |
||
1711 | /// <summary> |
||
1712 | /// get FC version struct via NC |
||
1713 | /// by sending '1' as data (not documented in wiki...) |
||
1714 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
1715 | /// </summary> |
||
1716 | /// <param name="ctrl">controller number 1=FC</param> |
||
1717 | private void _getVersion(byte ctrl) |
||
1718 | { |
||
1719 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
1720 | } |
||
1721 | /// <summary> |
||
1722 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
1723 | /// </summary> |
||
1724 | private void _switchToNC() |
||
1725 | { |
||
1726 | if (serialPortCtrl.Port.IsOpen) |
||
1727 | { |
||
1728 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1729 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
1730 | serialStream.Write(bytes, 0, bytes.Length); |
||
1731 | |||
1732 | Thread.Sleep(100); |
||
1733 | _getVersion(); |
||
1734 | Thread.Sleep(100); |
||
1735 | // _OSDMenue(0); |
||
1736 | } |
||
1737 | else |
||
1738 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1739 | } |
||
1740 | /// <summary> |
||
1741 | /// switch to FC |
||
1742 | /// </summary> |
||
1743 | private void _switchToFC() |
||
1744 | { |
||
1745 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
1746 | Thread.Sleep(100); |
||
1747 | _getVersion(); |
||
1748 | Thread.Sleep(100); |
||
1749 | // _OSDMenue(0); |
||
1750 | } |
||
1751 | /// <summary> |
||
1752 | /// send RESET signal to FC |
||
1753 | /// </summary> |
||
1754 | private void _resetCtrl() |
||
1755 | { |
||
1756 | _sendControllerMessage('R', 1); |
||
1757 | } |
||
1758 | /// <summary> |
||
1759 | /// poll the debug data (4sec subscription) |
||
1760 | /// </summary> |
||
1761 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1762 | private void _readDebugData(bool auto) |
||
1763 | { |
||
1764 | byte interval = auto ? debugInterval : (byte)0; |
||
1765 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
1766 | } |
||
1767 | /// <summary> |
||
1768 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
1769 | /// </summary> |
||
1770 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1771 | private void _readBLCtrl(bool auto) |
||
1772 | { |
||
1773 | byte interval = auto ? blctrlInterval : (byte)0; |
||
1774 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
1775 | } |
||
1776 | /// <summary> |
||
1777 | /// poll the NC data struct (4sec subscription) |
||
1778 | /// </summary> |
||
1779 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1780 | private void _readNavData(bool auto) |
||
1781 | { |
||
1782 | byte interval = auto ? navctrlInterval : (byte)0; |
||
1783 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
1784 | } |
||
1785 | /// <summary> |
||
1786 | /// get the errortext for pending NC error |
||
1787 | /// </summary> |
||
1788 | private void _readNCError() |
||
1789 | { |
||
1790 | _sendControllerMessage('e', 2); |
||
1791 | } |
||
1792 | /// <summary> |
||
1793 | /// request the Waypoint at index |
||
1794 | /// </summary> |
||
1795 | /// <param name="index"></param> |
||
1796 | void _getpWP(int index) |
||
1797 | { |
||
1798 | if (serialPortCtrl.Port.IsOpen) |
||
1799 | { |
||
1800 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1801 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
1802 | serialStream.Write(bytes, 0, bytes.Length); |
||
1803 | } |
||
1804 | else |
||
1805 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1806 | |||
1807 | } |
||
1808 | void _getWP() |
||
1809 | { |
||
1810 | //if (_iWP > 0) |
||
1811 | //{ |
||
1812 | // _getWPList(); |
||
1813 | //} |
||
1814 | //else |
||
1815 | //{ |
||
1816 | // if (_iWP == -1) |
||
1817 | // { |
||
1818 | _bGetWPCount = true; |
||
1819 | _getpWP(1); |
||
1820 | while (_bGetWPCount) |
||
1821 | Thread.Sleep(100); |
||
1822 | if (_iWP > 0) |
||
1823 | _getWPList(); |
||
1824 | // } |
||
1825 | //} |
||
1826 | } |
||
1827 | void _getWPList() |
||
1828 | { |
||
1829 | _bGetWP = true; |
||
1830 | for (int j = 0; j < _iWP; j++) |
||
1831 | { |
||
1832 | _getpWP(j + 1); |
||
1833 | Thread.Sleep(10); |
||
1834 | } |
||
1835 | } |
||
1836 | |||
1837 | |||
1838 | #region OSD-Menue |
||
1839 | |||
1840 | /// <summary> |
||
1841 | /// one time query of the OSD Menue with pagenumber |
||
1842 | /// </summary> |
||
1843 | /// <param name="iMenue">Menue page</param> |
||
1844 | void _OSDMenue(int iMenue) |
||
1845 | { |
||
1846 | if (serialPortCtrl.Port.IsOpen) |
||
1847 | { |
||
1848 | if (iMenue > iOSDMax) |
||
1849 | iMenue = 0; |
||
1850 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1851 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
1852 | serialStream.Write(bytes, 0, bytes.Length); |
||
1853 | } |
||
1854 | else |
||
1855 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1856 | |||
1857 | } |
||
1858 | /// <summary> |
||
1859 | /// call the OSDMenue and start autorefresh |
||
1860 | /// usually by sending a menuekey |
||
1861 | /// 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) |
||
1862 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
1863 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
1864 | /// </summary> |
||
1865 | void _OSDMenueAutoRefresh() |
||
1866 | { |
||
1867 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
1868 | } |
||
1869 | void _OSDMenueAutoRefresh(byte key) |
||
1870 | { |
||
1871 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
1872 | } |
||
1873 | /// <summary> |
||
1874 | /// initialize the OSD menue combobox |
||
1875 | /// combox is filled by numbers from 0 to max pagenumber |
||
1876 | /// </summary> |
||
1877 | void _initOSDCB() |
||
1878 | { |
||
1879 | _bCBInit = true; |
||
1880 | if (iOSDMax == 0) |
||
1881 | { |
||
1882 | _OSDMenue(0); |
||
1883 | Thread.Sleep(10); |
||
1884 | } |
||
1885 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
1886 | for (int i = 0; i <= iOSDMax; i++) |
||
1887 | { |
||
1888 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
1889 | } |
||
1890 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
1891 | _bCBInit = false; |
||
1892 | } |
||
1893 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
1894 | { |
||
1895 | iOSDPage++; |
||
1896 | if (iOSDPage > iOSDMax) |
||
1897 | iOSDPage = 0; |
||
1898 | |||
1899 | _OSDMenue(iOSDPage); |
||
1900 | } |
||
1901 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
1902 | { |
||
1903 | iOSDPage--; |
||
1904 | if (iOSDPage < 0) |
||
1905 | iOSDPage = iOSDMax; |
||
1906 | |||
1907 | _OSDMenue(iOSDPage); |
||
1908 | } |
||
1909 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
1910 | { |
||
1911 | _OSDMenueAutoRefresh(8); |
||
1912 | } |
||
1913 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
1914 | { |
||
1915 | _OSDMenueAutoRefresh(4); |
||
1916 | } |
||
1917 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
1918 | { |
||
1919 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
1920 | _OSDMenue(cbOSD.SelectedIndex); |
||
1921 | } |
||
1922 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
1923 | { |
||
1924 | Dispatcher.Invoke(() => |
||
1925 | { |
||
1926 | TextRange tr; |
||
1927 | if (bNew) |
||
1928 | { |
||
1929 | rtfOSD.SelectAll(); |
||
1930 | rtfOSD.Selection.Text = string.Empty; |
||
1931 | } |
||
1932 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
1933 | tr.Text = msg; |
||
1934 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1935 | // rtfOSD.AppendText("\r"); |
||
1936 | rtfOSD.ScrollToEnd(); |
||
1937 | |||
1938 | }); |
||
1939 | } |
||
1940 | |||
1941 | #endregion OSD-Menue |
||
1942 | |||
1943 | #endregion controller messages |
||
1944 | |||
1945 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
||
1946 | { |
||
1947 | if (winState.isMaximized) |
||
1948 | { |
||
1949 | winState.Restore(this); |
||
1950 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
1951 | if(_bSaveWinStateFull) |
||
1952 | _saveScaleSliders(true); |
||
1953 | if(_bSaveWinStateNormal) |
||
1954 | _setScaleSliders(false); |
||
1955 | } |
||
1956 | else |
||
1957 | { |
||
1958 | winState.Maximize(this); |
||
1959 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
1960 | if(_bSaveWinStateNormal) |
||
1961 | _saveScaleSliders(false); |
||
1962 | if(_bSaveWinStateFull) |
||
1963 | _setScaleSliders(true); |
||
1964 | } |
||
1965 | } |
||
1966 | |||
1967 | /// <summary> |
||
1968 | /// reset the scaling of all UI elements to default |
||
1969 | /// </summary> |
||
1970 | /// <param name="sender"></param> |
||
1971 | /// <param name="e"></param> |
||
1972 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
1973 | { |
||
1974 | UIScaleHorizonSlider.Value = |
||
1975 | UIScaleLOGSlider.Value = |
||
1976 | UIScaleMotorsSlider.Value = |
||
1977 | UIScaleOSDSlider.Value = |
||
1978 | UIScaleSlider.Value = |
||
1979 | UIScaleTopSlider.Value = 1; |
||
1980 | } |
||
1981 | /// <summary> |
||
1982 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
1983 | /// </summary> |
||
1984 | /// <param name="sender"></param> |
||
1985 | /// <param name="e"></param> |
||
1986 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
1987 | { |
||
1988 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
1989 | if (GridMotors != null) |
||
1990 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
1991 | if (GridSideBar != null) |
||
1992 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
1993 | if (GridOSD != null) |
||
1994 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
1995 | if (GridData != null) |
||
1996 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
1997 | if (GridWP != null) |
||
1998 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
1999 | } |
||
2000 | |||
2001 | void _setScaleSliders(bool bFull) |
||
2002 | { |
||
2003 | if(bFull) |
||
2004 | { |
||
2005 | UIScaleSlider.Value = scaleFullAll; |
||
2006 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
2007 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
2008 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
2009 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
2010 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
2011 | } |
||
2012 | else |
||
2013 | { |
||
2014 | UIScaleSlider.Value = scaleNormalAll; |
||
2015 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
2016 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
2017 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
2018 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
2019 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
2020 | } |
||
2021 | } |
||
2022 | |||
2023 | void _saveScaleSliders(bool bFull) |
||
2024 | { |
||
2025 | |||
2026 | if (bFull) |
||
2027 | { |
||
2028 | scaleFullAll = UIScaleSlider.Value; |
||
2029 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
2030 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
2031 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
2032 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
2033 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
2034 | } |
||
2035 | else |
||
2036 | { |
||
2037 | scaleNormalAll = UIScaleSlider.Value; |
||
2038 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
2039 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
2040 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
2041 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
2042 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
2043 | } |
||
2044 | } |
||
2045 | |||
2046 | /// <summary> |
||
2047 | /// read settings from ini-file |
||
2048 | /// </summary> |
||
2049 | void _readIni() |
||
2050 | { |
||
2051 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
2052 | _writeIni(); |
||
2053 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2054 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2055 | |||
2056 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
||
2057 | _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
2058 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
2059 | _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2060 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
2061 | _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2062 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
2063 | _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2064 | |||
2065 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
||
2066 | debugInterval = (byte)Convert.ToInt16(sVal); |
||
2067 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
2068 | navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2069 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
2070 | blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2071 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
2072 | OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2073 | |||
2074 | sVal = ini.IniReadValue("topBar", "voltage"); |
||
2075 | chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
2076 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
2077 | chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
2078 | sVal = ini.IniReadValue("topBar", "current"); |
||
2079 | chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
2080 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
2081 | chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
2082 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
2083 | chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
2084 | sVal = ini.IniReadValue("topBar", "height"); |
||
2085 | chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
2086 | sVal = ini.IniReadValue("topBar", "speed"); |
||
2087 | chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
2088 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
2089 | chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
2090 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
2091 | chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
2092 | sVal = ini.IniReadValue("topBar", "rc"); |
||
2093 | chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2094 | |||
2095 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
||
2096 | chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
2097 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
2098 | chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2099 | |||
2100 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
||
2101 | scaleNormalAll = Convert.ToDouble(sVal); |
||
2102 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
2103 | scaleNormalTopBar = Convert.ToDouble(sVal); |
||
2104 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
2105 | scaleNormalMotors = Convert.ToDouble(sVal); |
||
2106 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
2107 | scaleNormalOSD = Convert.ToDouble(sVal); |
||
2108 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
2109 | scaleNormalLOG = Convert.ToDouble(sVal); |
||
2110 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
2111 | scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2112 | |||
2113 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
||
2114 | scaleFullAll = Convert.ToDouble(sVal); |
||
2115 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
2116 | scaleFullTopBar = Convert.ToDouble(sVal); |
||
2117 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
2118 | scaleFullMotors = Convert.ToDouble(sVal); |
||
2119 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
2120 | scaleFullOSD = Convert.ToDouble(sVal); |
||
2121 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
2122 | scaleFullLOG = Convert.ToDouble(sVal); |
||
2123 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
2124 | scaleFullHorizon = Convert.ToDouble(sVal); |
||
2125 | |||
2126 | sVal = ini.IniReadValue("general", "LiPoCells"); |
||
2127 | _LipoCells = Convert.ToInt16(sVal); |
||
2128 | sVal = ini.IniReadValue("general", "Motors"); |
||
2129 | _iMotors = Convert.ToInt16(sVal); |
||
2130 | |||
2131 | sVal = ini.IniReadValue("map", "followMe"); |
||
2132 | _bFollowCopter = Convert.ToBoolean(sVal); |
||
2133 | |||
2134 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
||
2135 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
2136 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
2137 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
2138 | sVal = ini.IniReadValue("threshold", "VoiceEnable"); |
||
2139 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
2140 | |||
2141 | } |
||
2142 | |||
2143 | /// <summary> |
||
2144 | /// save settings to ini-file |
||
2145 | /// </summary> |
||
2146 | void _writeIni() |
||
2147 | { |
||
2148 | |||
2149 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2150 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2151 | |||
2152 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
||
2153 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
2154 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
2155 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2156 | |||
2157 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
||
2158 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
2159 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
2160 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2161 | |||
2162 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
||
2163 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2164 | |||
2165 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
||
2166 | |||
2167 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
||
2168 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
2169 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
2170 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
2171 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
2172 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
2173 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
2174 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
2175 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
2176 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2177 | |||
2178 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
||
2179 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2180 | |||
2181 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
||
2182 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
2183 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
2184 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
2185 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
2186 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2187 | |||
2188 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
||
2189 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
2190 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
2191 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
2192 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
2193 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2194 | |||
2195 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
||
2196 | |||
2197 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
2198 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
2199 | ini.IniWriteValue("threshold", "VoiceEnable", _bVoiceVoltPlay.ToString()); |
||
2200 | |||
2201 | } |
||
2202 | #endregion functions |
||
2203 | |||
2204 | private void Window_Closing(object sender, CancelEventArgs e) |
||
2205 | { |
||
2206 | _writeIni(); |
||
2207 | } |
||
2208 | } |
||
2209 | public class BooleanToVisibilityConverter : IValueConverter |
||
2210 | { |
||
2211 | |||
2212 | public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture) |
||
2213 | { |
||
2214 | return (bool)value ? Visibility.Visible : Visibility.Collapsed; |
||
2215 | } |
||
2216 | |||
2217 | public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture) |
||
2218 | { |
||
2219 | throw new NotImplementedException(); |
||
2220 | } |
||
2221 | } |
||
2222 | |||
2223 | public class IniFile |
||
2224 | { |
||
2225 | public string path; |
||
2226 | |||
2227 | [DllImport("kernel32")] |
||
2228 | private static extern long WritePrivateProfileString(string section, |
||
2229 | string key, string val, string filePath); |
||
2230 | |||
2231 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
2232 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
2233 | uint nSize, string lpFileName); |
||
2234 | |||
2235 | [DllImport("kernel32")] |
||
2236 | private static extern int GetPrivateProfileString(string section, |
||
2237 | string key, string def, StringBuilder retVal, |
||
2238 | int size, string filePath); |
||
2239 | |||
2240 | public IniFile(string INIPath) |
||
2241 | { |
||
2242 | path = INIPath; |
||
2243 | } |
||
2244 | |||
2245 | public void IniWriteValue(string Section, string Key, string Value) |
||
2246 | { |
||
2247 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
2248 | } |
||
2249 | |||
2250 | public string IniReadValue(string Section, string Key) |
||
2251 | { |
||
2252 | StringBuilder temp = new StringBuilder(255); |
||
2253 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
2254 | return temp.ToString(); |
||
2255 | } |
||
2256 | //Ini_sections auslesen in String-Array |
||
2257 | public string[] IniSectionNames() |
||
2258 | { |
||
2259 | |||
2260 | // uint MAX_BUFFER = 32767; |
||
2261 | uint MAX_BUFFER = 8388608; |
||
2262 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
2263 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
2264 | if (bytesReturned == 0) |
||
2265 | { |
||
2266 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2267 | return null; |
||
2268 | } |
||
2269 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
2270 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2271 | //use of Substring below removes terminating null for split |
||
2272 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
2273 | |||
2274 | |||
2275 | } |
||
2276 | } |
||
2277 | |||
2278 | /// <summary> |
||
2279 | /// Selected Win AI Function Calls |
||
2280 | /// </summary> |
||
2281 | public class WinApi |
||
2282 | { |
||
2283 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
2284 | public static extern int GetSystemMetrics(int which); |
||
2285 | [DllImport("user32.dll")] |
||
2286 | public static extern void |
||
2287 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
2288 | int X, int Y, int width, int height, uint flags); |
||
2289 | |||
2290 | private const int SM_CXSCREEN = 0; |
||
2291 | private const int SM_CYSCREEN = 1; |
||
2292 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
2293 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
2294 | |||
2295 | public static int ScreenX |
||
2296 | { |
||
2297 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
2298 | } |
||
2299 | |||
2300 | public static int ScreenY |
||
2301 | { |
||
2302 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
2303 | } |
||
2304 | |||
2305 | public static void SetWinFullScreen(IntPtr hwnd) |
||
2306 | { |
||
2307 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
2308 | } |
||
2309 | } |
||
2310 | /// <summary> |
||
2311 | /// Class used to preserve / restore state of the window |
||
2312 | /// </summary> |
||
2313 | public class WinState |
||
2314 | { |
||
2315 | private WindowState winState; |
||
2316 | private WindowStyle brdStyle; |
||
2317 | private bool topMost; |
||
2318 | private Rect restore; |
||
2319 | private bool IsMaximized = false; |
||
2320 | |||
2321 | public bool isMaximized |
||
2322 | { |
||
2323 | get { return IsMaximized; } |
||
2324 | } |
||
2325 | public void Maximize(Window targetForm) |
||
2326 | { |
||
2327 | if (!IsMaximized) |
||
2328 | { |
||
2329 | IsMaximized = true; |
||
2330 | Save(targetForm); |
||
2331 | targetForm.WindowState = WindowState.Maximized; |
||
2332 | targetForm.WindowStyle = WindowStyle.None; |
||
2333 | targetForm.Topmost = true; |
||
2334 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
2335 | } |
||
2336 | } |
||
2337 | |||
2338 | public void Save(Window targetForm) |
||
2339 | { |
||
2340 | winState = targetForm.WindowState; |
||
2341 | brdStyle = targetForm.WindowStyle; |
||
2342 | topMost = targetForm.Topmost; |
||
2343 | restore = targetForm.RestoreBounds; |
||
2344 | } |
||
2345 | public void Restore(Window targetForm) |
||
2346 | { |
||
2347 | targetForm.WindowState = winState; |
||
2348 | targetForm.WindowStyle = brdStyle; |
||
2349 | targetForm.Topmost = topMost; |
||
2350 | |||
2351 | targetForm.Left = restore.Left; |
||
2352 | targetForm.Top = restore.Top; |
||
2353 | targetForm.Height = restore.Height; |
||
2354 | targetForm.Width = restore.Width; |
||
2355 | IsMaximized = false; |
||
2356 | } |
||
2357 | } |
||
2358 | |||
2359 | } |