Details | 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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2313 | - | 29 | using System.Globalization; |
2287 | - | 30 | |
31 | namespace MKLiveView |
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32 | { |
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33 | /// <summary> |
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34 | /// Interaktionslogik für MainWindow.xaml |
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35 | /// </summary> |
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36 | public partial class MainWindow : Window |
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37 | { |
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2304 | - | 38 | #region declarations |
39 | |||
2287 | - | 40 | GMapMarker copter; |
41 | GMapMarker home; |
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42 | PointLatLng start; |
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43 | PointLatLng end; |
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44 | PointLatLng pHome; |
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45 | |||
46 | |||
47 | String[] NC_Error = new string[44] |
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48 | { |
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49 | "No Error", |
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50 | "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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51 | "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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52 | "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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53 | "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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54 | "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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55 | "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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56 | "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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57 | "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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58 | "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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59 | "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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60 | "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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61 | "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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62 | "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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63 | "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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64 | "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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65 | "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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66 | "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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67 | "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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68 | "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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69 | "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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70 | "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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71 | "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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72 | "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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73 | "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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74 | "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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75 | "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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76 | "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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77 | "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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78 | "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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79 | "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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80 | "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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81 | "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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82 | "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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83 | "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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84 | "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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85 | "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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86 | "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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87 | "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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88 | "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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89 | "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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90 | "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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91 | "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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92 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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93 | }; |
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94 | |||
95 | [FlagsAttribute] |
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96 | enum NC_HWError0 : short |
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97 | { |
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98 | None = 0, |
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99 | SPI_RX = 1, |
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100 | COMPASS_RX = 2, |
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101 | FC_INCOMPATIBLE = 4, |
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102 | COMPASS_INCOMPATIBLE = 8, |
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103 | GPS_RX = 16, |
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104 | COMPASS_VALUE = 32 |
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105 | }; |
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106 | [FlagsAttribute] |
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107 | enum FC_HWError0 : short |
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108 | { |
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109 | None = 0, |
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110 | GYRO_NICK = 1, |
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111 | GYRO_ROLL = 2, |
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112 | GYRO_YAW = 4, |
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113 | ACC_NICK = 8, |
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114 | ACC_ROLL = 16, |
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115 | ACC_TOP = 32, |
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116 | PRESSURE = 64, |
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117 | CAREFREE = 128 |
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118 | }; |
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119 | [FlagsAttribute] |
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120 | enum FC_HWError1 : short |
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121 | { |
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122 | None = 0, |
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123 | I2C = 1, |
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124 | BL_MISSING = 2, |
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125 | SPI_RX = 4, |
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126 | PPM = 8, |
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127 | MIXER = 16, |
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128 | RC_VOLTAGE = 32, |
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129 | ACC_NOT_CAL = 64, |
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130 | RES3 = 128 |
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131 | }; |
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132 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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133 | // Various colors for logging info |
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134 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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135 | |||
136 | bool _bCBInit = true; |
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137 | bool _init = true; |
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138 | bool check_HWError = false; |
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139 | |||
140 | string filePath = Directory.GetCurrentDirectory(); |
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141 | bool bReadContinously = false; |
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142 | bool _debugDataAutorefresh = true; |
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143 | bool _navCtrlDataAutorefresh = true; |
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144 | bool _blctrlDataAutorefresh = true; |
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145 | bool _OSDAutorefresh = true; |
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146 | bool _bErrorLog = false; |
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147 | bool _bConnErr = false; |
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148 | bool _bFollowCopter = false; |
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149 | |||
150 | bool _bSaveWinStateNormal = true; |
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151 | bool _bSaveWinStateFull = true; |
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152 | |||
153 | double scaleNormalAll = 1; |
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154 | double scaleNormalTopBar = 1; |
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155 | double scaleNormalMotors = 1; |
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156 | double scaleNormalOSD = 1; |
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157 | double scaleNormalLOG = 1; |
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158 | double scaleNormalHorizon = 1; |
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159 | |||
160 | double scaleFullAll = 1; |
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161 | double scaleFullTopBar = 1; |
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162 | double scaleFullMotors = 1; |
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163 | double scaleFullOSD = 1; |
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164 | double scaleFullLOG = 1; |
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165 | double scaleFullHorizon = 1; |
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166 | |||
167 | int _iCtrlAct = 0; |
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168 | int iOSDPage = 0; |
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169 | int iOSDMax = 0; |
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170 | int _iLifeCounter = 0; |
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171 | int crcError = 0; |
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172 | |||
2291 | - | 173 | bool _bSatFix = false; |
174 | Storyboard stbSatFixLostAnim; |
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175 | bool _bAnimSatFixActive = false; |
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176 | bool _bVoiceSatFixActive = false; |
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177 | bool _bVoiceSatFixPlay = false; |
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178 | int _iSatsLast = 0; |
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179 | int _iSatsJitter = 0; |
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180 | |||
181 | bool _bMagneticFieldOK = false; |
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182 | Storyboard stbMagneticFieldAnim; |
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183 | bool _bAnimMagneticFieldActive = false; |
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184 | bool _bVoiceMagneticFieldActive = false; |
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185 | bool _bVoiceMagneticFieldPlay = false; |
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186 | int _iMagneticFieldLast = 0; |
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187 | int _iMagneticFieldJitter = 0; |
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188 | |||
189 | bool _bRCLevelOK = false; |
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190 | Storyboard stbRCLevelAnim; |
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191 | bool _bAnimRCLevelActive = false; |
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192 | bool _bVoiceRCLevelActive = false; |
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193 | bool _bVoiceRCLevelPlay = false; |
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194 | int _iRCLevelLast = 0; |
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195 | int _iRCLevelJitter = 0; |
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196 | |||
2287 | - | 197 | int _iMotors = 4; |
198 | int _LipoCells = 4; |
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199 | |||
200 | double _dLipoVMax = 16.88; |
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201 | double _dLipoVMin = 12; |
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202 | double _dThresholdVoltageWarn = 0; |
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203 | double _dThresholdVoltageCrit = 0; |
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204 | Storyboard stbVoltageCritAnim; |
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205 | bool _bCritAnimVoltActive = false; |
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206 | bool _bCritVoiceVoltActive = false; |
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2291 | - | 207 | bool _bWarnVoiceVoltActive = false; |
2287 | - | 208 | bool _bVoiceVoltPlay = false; |
209 | double _dVoltLast = 0; |
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210 | int _iVoltJitter = 0; |
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211 | |||
2291 | - | 212 | double _dThresholdDistanceWarn = 100; |
213 | Storyboard stbDistanceWarnAnim; |
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214 | bool _bAnimDistanceActive = false; |
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215 | bool _bVoiceDistanceActive = false; |
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216 | bool _bVoiceDistancePlay = false; |
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217 | double _dDistanceLast = 0; |
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218 | int _iDistanceJitter = 0; |
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219 | |||
220 | double _dThresholdDistanceMax = 1000; |
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221 | int _iThresholdRC = 160; |
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222 | int _iThresholdMagField = 15; |
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223 | |||
2295 | - | 224 | bool _bAutoHome = false; |
225 | bool _bFirstSatFix = false; |
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226 | int _iFirstSatFix = 0; |
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2291 | - | 227 | |
2287 | - | 228 | double _dTopHeight = 36; |
229 | |||
230 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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231 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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232 | string[] serChanTitle = new string[12]; |
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233 | |||
234 | string[] sAnalogLabel = new string[32]; |
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235 | string[] sAnalogData = new string[32]; |
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236 | |||
237 | 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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238 | int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 }; |
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239 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
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240 | /// <summary> |
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241 | /// interval for sending debugdata (multiplied by 10ms) |
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242 | /// </summary> |
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243 | byte debugInterval = 10; //(=> 100ms) |
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244 | /// <summary> |
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245 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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246 | /// </summary> |
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247 | byte blctrlInterval = 75; |
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248 | /// <summary> |
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249 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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250 | /// </summary> |
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251 | byte navctrlInterval = 80; |
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252 | /// <summary> |
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253 | /// interval for sending OSD page update (multiplied by 10ms) |
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254 | /// </summary> |
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255 | byte OSDInterval = 85; |
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256 | /// <summary> |
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257 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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258 | /// </summary> |
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259 | DataTable dtAnalog = new DataTable(); |
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260 | /// <summary> |
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261 | /// datatable for motordata (current,temp) |
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262 | /// </summary> |
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2315 | - | 263 | DataTable dtMotors = new DataTable(); |
2287 | - | 264 | |
265 | DataTable dtWaypoints = new DataTable(); |
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2313 | - | 266 | static volatile int _iWPCount = -1; |
267 | static volatile int _iWPIndex = -1; |
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268 | int _iWPTimeout = 1000; |
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2287 | - | 269 | bool _bGetWP = false; |
270 | static volatile bool _bGetWPCount = false; |
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271 | |||
272 | DispatcherTimer timer = new DispatcherTimer(); |
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273 | |||
274 | /// <summary> |
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275 | /// stuff for enabeling touch zoom for the map |
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276 | /// </summary> |
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277 | Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0); |
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278 | int iFirstStylusID = -1; |
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279 | public string connectButtonText |
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280 | { |
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281 | get |
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282 | { |
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283 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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284 | } |
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285 | } |
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286 | |||
287 | WinState winState = new WinState(); |
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2304 | - | 288 | #endregion declarations |
2287 | - | 289 | public MainWindow() |
290 | { |
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291 | InitializeComponent(); |
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292 | _initForm(); |
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293 | _dataTablesInit(); |
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294 | _setupMap(); |
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295 | _init = false; |
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296 | timer.Tick += new EventHandler(timerEvent); |
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297 | timer.Interval = new TimeSpan(0, 0, 1); |
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298 | timer.Start(); |
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299 | } |
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300 | |||
301 | #region init |
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302 | void _initForm() |
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303 | { |
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304 | _readIni(); |
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305 | if (_bSaveWinStateNormal) |
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306 | _setScaleSliders(false); |
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307 | cBoxTimingsDebug.ItemsSource = |
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308 | cBoxTimingsNav.ItemsSource = |
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309 | cBoxTimingsBl.ItemsSource = |
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310 | cBoxTimingsOSD.ItemsSource = |
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311 | iTimings; |
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312 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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313 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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314 | _LipoMinMax(); |
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315 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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316 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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317 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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2291 | - | 318 | checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
319 | checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
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320 | checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
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321 | sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
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322 | checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
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2287 | - | 323 | |
2291 | - | 324 | sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
325 | |||
2287 | - | 326 | cBoxMotors.ItemsSource = iMotors; |
327 | cBoxMotors.SelectedItem = _iMotors; |
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328 | |||
329 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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330 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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331 | serialPortCtrl.DataReceived += processMessage; |
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332 | |||
333 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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334 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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335 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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336 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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337 | |||
338 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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339 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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340 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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341 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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2295 | - | 342 | checkBoxAutoSetHP.IsChecked = _bAutoHome; |
2287 | - | 343 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
344 | |||
345 | |||
346 | } |
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347 | /// <summary> |
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348 | /// initialize the datatables |
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349 | /// with columnnames etc |
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350 | /// </summary> |
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351 | void _dataTablesInit() |
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352 | { |
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2315 | - | 353 | dtMotors.Columns.Add("#"); |
2313 | - | 354 | if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
2315 | - | 355 | dtMotors.Columns.Add("Strom"); |
2313 | - | 356 | else |
2315 | - | 357 | dtMotors.Columns.Add("Current"); |
358 | dtMotors.Columns.Add("Temp"); |
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359 | dgvMotors1.DataContext = dtMotors.DefaultView; |
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2287 | - | 360 | _initDTMotors(); |
361 | |||
362 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0)); |
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363 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
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364 | style.Setters.Add(setter); |
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365 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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366 | style.Setters.Add(setter); |
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367 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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368 | style.Setters.Add(setter); |
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2313 | - | 369 | |
370 | dtWaypoints.Columns.Add("Index",typeof(int)); |
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2315 | - | 371 | dtWaypoints.Columns.Add("Type", typeof(int)); |
2313 | - | 372 | dtWaypoints.Columns.Add("Name",typeof(string)); |
2315 | - | 373 | dtWaypoints.Columns.Add("Latitude",typeof(double)); |
374 | dtWaypoints.Columns.Add("Longitude",typeof(double)); |
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2313 | - | 375 | dtWaypoints.Columns.Add("Altitude",typeof(string)); |
376 | dtWaypoints.Columns.Add("Heading",typeof(string)); |
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377 | dtWaypoints.Columns.Add("Speed",typeof(string)); |
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378 | dtWaypoints.Columns.Add("ClimbRate",typeof(string)); |
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379 | dtWaypoints.Columns.Add("Radius",typeof(string)); |
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380 | dtWaypoints.Columns.Add("HoldTime",typeof(string)); |
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381 | dtWaypoints.Columns.Add("AutoTrigger",typeof(string)); |
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382 | dtWaypoints.Columns.Add("CamAngle",typeof(string)); |
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383 | dtWaypoints.Columns.Add("Event",typeof(string)); |
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384 | dtWaypoints.Columns.Add("Out1Timer",typeof(string)); |
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385 | dtWaypoints.Columns.Add("Status",typeof(string)); |
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386 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
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387 | dgvWP.ItemsSource = dtWaypoints.DefaultView; |
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2287 | - | 388 | dgvWP.ColumnHeaderStyle = new Style(); |
389 | dgvWP.ColumnHeaderStyle = style; |
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2313 | - | 390 | |
391 | |||
2287 | - | 392 | } |
393 | /// <summary> |
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2315 | - | 394 | /// initialize the datatable dtMotors for motor values |
2313 | - | 395 | /// DataGridView dgvMotors1 is bound to dtMotors1 |
2287 | - | 396 | /// </summary> |
397 | void _initDTMotors() |
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398 | { |
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399 | for (int i = 0; i < 12; i++) |
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400 | { |
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2315 | - | 401 | if (dtMotors.Rows.Count < 12) |
402 | dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA"); |
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2287 | - | 403 | else |
404 | { |
||
2315 | - | 405 | dtMotors.Rows[i].SetField(1, "NA"); |
406 | dtMotors.Rows[i].SetField(2, "NA"); |
||
2287 | - | 407 | } |
408 | } |
||
409 | } |
||
410 | |||
411 | #endregion init |
||
412 | |||
413 | #region events |
||
414 | private void serialPortCtrl_PortOpened() |
||
415 | { |
||
416 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
||
417 | _getVersion(); |
||
418 | Thread.Sleep(100); |
||
419 | //_OSDMenue(0); |
||
420 | //Thread.Sleep(200); |
||
421 | //_sendSerialData(); |
||
422 | _readCont(true); |
||
423 | } |
||
424 | private void serialPortCtrl_PortClosed() |
||
425 | { |
||
426 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
||
427 | _readCont(false); |
||
428 | } |
||
429 | void timerEvent(object sender, EventArgs e) |
||
430 | { |
||
431 | if (bReadContinously) |
||
432 | { |
||
433 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
434 | |||
435 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
436 | |||
437 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
438 | check_HWError = true; |
||
439 | _getVersion(); |
||
440 | Thread.Sleep(10); |
||
441 | if (_OSDAutorefresh) |
||
442 | { |
||
443 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
444 | _initOSDCB(); |
||
445 | _OSDMenueAutoRefresh(); |
||
446 | } |
||
447 | if (_iLifeCounter > 0) |
||
448 | { |
||
449 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
450 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
451 | _iLifeCounter = 0; |
||
452 | _bConnErr = false; |
||
453 | } |
||
454 | else |
||
455 | { |
||
456 | if (!_bConnErr) |
||
457 | { |
||
458 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
459 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
460 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
||
461 | _bConnErr = true; |
||
462 | } |
||
463 | } |
||
464 | } |
||
465 | } |
||
466 | |||
467 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
468 | { |
||
469 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
470 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
471 | } |
||
472 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
473 | { |
||
474 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
475 | if (GridMotors.IsVisible) |
||
476 | _setMotorGridSize(); |
||
477 | } |
||
478 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
479 | { |
||
480 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
481 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
482 | } |
||
483 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
484 | { |
||
485 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
486 | } |
||
487 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
488 | { |
||
489 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
490 | } |
||
491 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
492 | { |
||
493 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
494 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
495 | } |
||
496 | |||
497 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
498 | { |
||
499 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
500 | t.Start(); |
||
501 | } |
||
502 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
503 | { |
||
2313 | - | 504 | Thread t = new Thread(new ThreadStart(_sendWPList)); |
505 | t.Start(); |
||
2287 | - | 506 | } |
507 | |||
508 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
509 | { |
||
510 | if (!serialPortCtrl.Port.IsOpen) |
||
511 | serialPortCtrl.Connect(true); |
||
512 | else |
||
513 | _readCont(!bReadContinously); |
||
514 | } |
||
515 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
516 | { |
||
517 | setHomePos(); |
||
518 | } |
||
519 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
520 | { |
||
521 | clearHomePos(); |
||
522 | } |
||
523 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
524 | { |
||
525 | if (home != null && MainMap.Markers.Contains(home)) |
||
526 | MainMap.Position = home.Position; |
||
527 | } |
||
2295 | - | 528 | private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
529 | { |
||
530 | _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
||
531 | } |
||
2287 | - | 532 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
533 | { |
||
534 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
535 | } |
||
536 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
537 | { |
||
538 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
539 | } |
||
540 | |||
2291 | - | 541 | #region thresholds |
2287 | - | 542 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
543 | { |
||
544 | if(!_init) |
||
545 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
||
546 | } |
||
547 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
548 | { |
||
549 | if(!_init) |
||
550 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
||
551 | } |
||
552 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
553 | { |
||
554 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
555 | } |
||
2291 | - | 556 | |
557 | private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
558 | { |
||
559 | if(!_init) |
||
560 | _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
||
561 | } |
||
562 | private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
||
563 | { |
||
564 | _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
||
565 | } |
||
566 | |||
567 | private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
||
568 | { |
||
569 | _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
||
570 | } |
||
571 | private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
||
572 | { |
||
573 | _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
||
574 | } |
||
575 | private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
||
576 | { |
||
577 | _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
||
578 | } |
||
579 | #endregion thresholds |
||
580 | |||
2287 | - | 581 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
582 | { |
||
583 | _switchToNC(); |
||
584 | } |
||
585 | |||
586 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
587 | { |
||
588 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
2291 | - | 589 | stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
590 | stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
||
591 | stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
||
592 | stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
||
2287 | - | 593 | _setMotorGridSize(); |
594 | } |
||
2310 | - | 595 | private void Window_Closing(object sender, CancelEventArgs e) |
596 | { |
||
597 | _writeIni(); |
||
598 | } |
||
2287 | - | 599 | #endregion events |
600 | |||
601 | #region GMap |
||
602 | |||
603 | void _setupMap() |
||
604 | { |
||
605 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
606 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
607 | MainMap.SetPositionByKeywords("Landshut"); |
||
608 | MainMap.MinZoom = 0; |
||
609 | MainMap.MaxZoom = 24; |
||
610 | MainMap.Zoom = 16; |
||
611 | MainMap.ShowCenter = true; |
||
612 | MainMap.ShowTileGridLines = false; |
||
613 | sliderMapZoom.Value = 16; |
||
614 | comboBoxMapType.ItemsSource = providerList; |
||
615 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
616 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
617 | |||
618 | // acccess mode |
||
619 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
620 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
621 | |||
622 | } |
||
623 | |||
624 | /// <summary> |
||
625 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
626 | /// comboBoxMapType.ItemsSource = providerList; |
||
627 | /// to: |
||
628 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
629 | /// in _setupMap() |
||
630 | /// or add items here: |
||
631 | /// </summary> |
||
632 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
633 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
634 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
635 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
636 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
637 | |||
638 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
639 | { |
||
640 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
641 | copter = new GMapMarker(MainMap.Position); |
||
2318 | - | 642 | |
643 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red"); |
||
644 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
645 | { |
||
646 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
647 | ((CustomMarkerCopter)(copter.Shape)).setColor(s); |
||
648 | } |
||
2287 | - | 649 | copter.Offset = new System.Windows.Point(-18, -18); |
650 | copter.ZIndex = int.MaxValue; |
||
651 | MainMap.Markers.Add(copter); |
||
652 | copter.Position = MainMap.Position; |
||
653 | } |
||
654 | void setHomePos() |
||
655 | { |
||
656 | pHome = MainMap.Position; |
||
657 | if (!MainMap.Markers.Contains(home)) |
||
658 | { |
||
659 | home = new GMapMarker(MainMap.Position); |
||
660 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
661 | home.Offset = new System.Windows.Point(-18, -18); |
||
662 | // home.ZIndex = int.MaxValue; |
||
663 | MainMap.Markers.Add(home); |
||
664 | } |
||
665 | home.Position = MainMap.Position; |
||
666 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
667 | } |
||
668 | void clearHomePos() |
||
669 | { |
||
670 | MainMap.Markers.Remove(home); |
||
671 | } |
||
672 | |||
673 | // access mode |
||
674 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
675 | { |
||
676 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
677 | MainMap.ReloadMap(); |
||
678 | } |
||
679 | // zoom up |
||
680 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
681 | { |
||
682 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
683 | } |
||
684 | |||
685 | // zoom down |
||
686 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
687 | { |
||
688 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
689 | } |
||
690 | |||
691 | // prefetch |
||
692 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
693 | { |
||
694 | RectLatLng area = MainMap.SelectedArea; |
||
695 | if (!area.IsEmpty) |
||
696 | { |
||
697 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
698 | { |
||
699 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
700 | |||
701 | if (res == MessageBoxResult.Yes) |
||
702 | { |
||
703 | TilePrefetcher obj = new TilePrefetcher(); |
||
704 | obj.Owner = this; |
||
705 | obj.ShowCompleteMessage = true; |
||
706 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
707 | } |
||
708 | else if (res == MessageBoxResult.No) |
||
709 | { |
||
710 | continue; |
||
711 | } |
||
712 | else if (res == MessageBoxResult.Cancel) |
||
713 | { |
||
714 | break; |
||
715 | } |
||
716 | } |
||
717 | } |
||
718 | else |
||
719 | { |
||
720 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
721 | } |
||
722 | } |
||
723 | |||
724 | // goto by geocoder |
||
725 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
726 | { |
||
727 | _goto_byGeoCoder(); |
||
728 | } |
||
729 | // goto by geocoder |
||
730 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
731 | { |
||
732 | if (e.Key == System.Windows.Input.Key.Enter) |
||
733 | _goto_byGeoCoder(); |
||
734 | } |
||
735 | void _goto_byGeoCoder() |
||
736 | { |
||
737 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
738 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
739 | { |
||
740 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
741 | } |
||
742 | } |
||
743 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
744 | { |
||
745 | try |
||
746 | { |
||
747 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
748 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
749 | |||
750 | MainMap.Position = new PointLatLng(lat, lng); |
||
751 | } |
||
752 | catch (Exception ex) |
||
753 | { |
||
754 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
755 | } |
||
756 | |||
757 | } |
||
758 | |||
759 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
760 | { |
||
761 | MainMap.ReloadMap(); |
||
762 | } |
||
763 | |||
764 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
765 | { |
||
766 | if (_bFollowCopter) |
||
767 | _setCopterData(MainMap.Position); |
||
768 | } |
||
769 | |||
770 | private void MainMap_OnMapZoomChanged() |
||
771 | { |
||
772 | if (_bFollowCopter) |
||
773 | _setCopterData(MainMap.Position); |
||
774 | if((int)sliderMapZoom.Value != MainMap.Zoom) |
||
775 | sliderMapZoom.Value = MainMap.Zoom; |
||
776 | } |
||
777 | |||
778 | void _setCopterData(PointLatLng p) |
||
779 | { |
||
780 | Dispatcher.Invoke(() => |
||
781 | { |
||
782 | copter.Position = p; |
||
783 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
784 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
785 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
786 | }); |
||
787 | if (home != null && MainMap.Markers.Contains(home)) |
||
788 | { |
||
789 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
790 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
791 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
2291 | - | 792 | |
793 | if(d*1000 < _dThresholdDistanceWarn) |
||
794 | { |
||
795 | _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
||
796 | if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
||
797 | { |
||
798 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
||
799 | _bAnimDistanceActive = false; |
||
800 | } |
||
801 | } |
||
802 | else |
||
803 | { |
||
804 | if (_iDistanceJitter < 20) |
||
805 | { _iDistanceJitter++; } |
||
806 | if (_iDistanceJitter == 20) |
||
807 | { |
||
808 | if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
||
809 | { |
||
810 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
||
811 | _bAnimDistanceActive = true; |
||
812 | } |
||
813 | if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
||
814 | { |
||
2295 | - | 815 | Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
816 | t.Start(); |
||
2291 | - | 817 | _bVoiceDistanceActive = true; |
818 | } |
||
819 | _iDistanceJitter++; |
||
820 | } |
||
821 | } |
||
2287 | - | 822 | } |
823 | } |
||
824 | |||
825 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
826 | { |
||
827 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
828 | } |
||
829 | |||
830 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
831 | { |
||
832 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
833 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
834 | } |
||
835 | #region Touch zooming hackattack ;) |
||
836 | /// <summary> |
||
837 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
838 | /// </summary> |
||
839 | bool bFirstAccess = true; |
||
840 | double dDistance = 0; |
||
841 | int iZoom; |
||
842 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
843 | { |
||
844 | var id = e.StylusDevice.Id; |
||
845 | e.StylusDevice.Capture(MainMap); |
||
846 | if (iFirstStylusID == -1) |
||
847 | { |
||
848 | iFirstStylusID = id; |
||
849 | } |
||
850 | else |
||
851 | { |
||
852 | |||
853 | MainMap.CanDragMap = false; |
||
854 | } |
||
855 | } |
||
856 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
857 | { |
||
858 | MainMap.ReleaseStylusCapture(); |
||
859 | iFirstStylusID = -1; |
||
860 | bFirstAccess = true; |
||
861 | MainMap.CanDragMap = true; |
||
862 | iZoom = 0; |
||
863 | } |
||
864 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
865 | { |
||
866 | var id = e.StylusDevice.Id; |
||
867 | var tp = e.GetPosition(MainMap); |
||
868 | |||
869 | // This is the first Stylus point; just record its position. |
||
870 | if (id == iFirstStylusID) |
||
871 | { |
||
872 | pTouch1.X = tp.X; |
||
873 | pTouch1.Y = tp.Y; |
||
874 | } |
||
875 | else |
||
876 | if (iFirstStylusID > -1) |
||
877 | { |
||
878 | pTouch2.X = tp.X; |
||
879 | pTouch2.Y = tp.Y; |
||
880 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
881 | if (!bFirstAccess) |
||
882 | { |
||
883 | if (distance > dDistance) |
||
884 | iZoom++; |
||
885 | else |
||
886 | if (distance < dDistance) |
||
887 | iZoom--; |
||
888 | } |
||
889 | if (iZoom > 30) |
||
890 | { |
||
891 | iZoom = 0; |
||
892 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
893 | } |
||
894 | if (iZoom < -30) |
||
895 | { |
||
896 | iZoom = 0; |
||
897 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
898 | } |
||
899 | dDistance = distance; |
||
900 | bFirstAccess = false; |
||
901 | } |
||
902 | } |
||
903 | #endregion Touch zooming hackattack ;) |
||
904 | |||
905 | #endregion GMap |
||
906 | |||
907 | #region settings |
||
908 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
909 | { |
||
910 | if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
||
911 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
||
912 | } |
||
913 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
914 | { |
||
915 | if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
||
916 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
||
917 | } |
||
918 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
919 | { |
||
920 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
921 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
922 | } |
||
923 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
924 | { |
||
925 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
926 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
927 | } |
||
928 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
929 | { |
||
930 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
931 | } |
||
932 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
933 | { |
||
934 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
935 | } |
||
936 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
937 | { |
||
938 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
939 | } |
||
940 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
941 | { |
||
942 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
943 | } |
||
944 | |||
945 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
946 | { |
||
947 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
948 | { |
||
949 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
950 | _LipoMinMax(); |
||
951 | } |
||
952 | } |
||
953 | void _LipoMinMax() |
||
954 | { |
||
955 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
956 | _dLipoVMin = (double)_LipoCells * 3; |
||
957 | pbTopVoltage.Maximum = _dLipoVMax; |
||
958 | pbTopVoltage.Minimum = _dLipoVMin; |
||
959 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
960 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
961 | } |
||
962 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
963 | { |
||
964 | if (cBoxMotors.SelectedIndex > -1) |
||
965 | { |
||
966 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
967 | Dispatcher.Invoke(() => |
||
968 | { |
||
969 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
970 | GridMotors.Height = dgvMotors1.Height + 10; |
||
971 | }); |
||
972 | } |
||
973 | } |
||
974 | void _setMotorGridSize() |
||
975 | { |
||
976 | if (dgvMotors1.Columns.Count > 2) |
||
977 | { |
||
978 | dgvMotors1.Columns[0].Width = 24; |
||
979 | dgvMotors1.Columns[1].Width = 50; |
||
980 | dgvMotors1.Columns[2].Width = 50; |
||
981 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
982 | GridMotors.Height = dgvMotors1.Height + 10; |
||
983 | } |
||
984 | |||
985 | } |
||
986 | #endregion settings |
||
987 | |||
988 | #region functions |
||
989 | |||
990 | #region logging |
||
991 | /// <summary> Log data to the terminal window. </summary> |
||
992 | /// <param name="msgtype"> The type of message to be written. </param> |
||
993 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
994 | private void Log(LogMsgType msgtype, string msg) |
||
995 | { |
||
996 | Dispatcher.Invoke(() => |
||
997 | { |
||
998 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
||
999 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1000 | // rtfTerminal.AppendText(msg + "\r"); |
||
1001 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd); |
||
1002 | tr.Text = msg; |
||
1003 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1004 | rtfTerminal.AppendText("\r"); |
||
1005 | rtfTerminal.ScrollToEnd(); |
||
1006 | }); |
||
1007 | } |
||
1008 | private void ErrorLog(LogMsgType msgtype, string msg) |
||
1009 | { |
||
1010 | Dispatcher.Invoke(() => |
||
1011 | { |
||
1012 | TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
1013 | tr.Text = msg; |
||
1014 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1015 | rtfError.AppendText("\r"); |
||
1016 | rtfError.ScrollToEnd(); |
||
1017 | |||
1018 | _bErrorLog = true; |
||
1019 | }); |
||
1020 | } |
||
1021 | /// <summary> |
||
1022 | /// Clear the line in the errorlog window |
||
1023 | /// containing the error string when error has ceased |
||
1024 | /// </summary> |
||
1025 | /// <param name="s">substring of errrormessage</param> |
||
1026 | void _clearErrorLog(string s) |
||
1027 | { |
||
1028 | Dispatcher.Invoke((Action)(() => |
||
1029 | { |
||
1030 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
1031 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
1032 | |||
1033 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
1034 | |||
1035 | |||
1036 | if (iStart > -1) |
||
1037 | { |
||
1038 | int iLength = 0; |
||
1039 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
1040 | if (iEnd > 0) |
||
1041 | { |
||
1042 | iLength = iEnd + 1; |
||
1043 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
||
1044 | if (iHttp == iLength) |
||
1045 | { |
||
1046 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
1047 | if (iEnd2 > iLength) |
||
1048 | { |
||
1049 | iLength = iEnd2 + 1; |
||
1050 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1051 | |||
1052 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1053 | rtfError.Selection.Text = string.Empty; |
||
1054 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1055 | } |
||
1056 | |||
1057 | } |
||
1058 | else |
||
1059 | { |
||
1060 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1061 | rtfError.Selection.Text = string.Empty; |
||
1062 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1063 | } |
||
1064 | } |
||
1065 | } |
||
1066 | })); |
||
1067 | |||
1068 | } |
||
1069 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
1070 | { |
||
1071 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
1072 | if (offset < 0) |
||
1073 | return null; // Not found |
||
1074 | |||
1075 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
1076 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
1077 | |||
1078 | return result; |
||
1079 | } |
||
1080 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
1081 | { |
||
1082 | while (position != null) |
||
1083 | { |
||
1084 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
1085 | { |
||
1086 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
1087 | if (characterCount <= count) |
||
1088 | { |
||
1089 | return position.GetPositionAtOffset(characterCount); |
||
1090 | } |
||
1091 | |||
1092 | characterCount -= count; |
||
1093 | } |
||
1094 | |||
1095 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
1096 | if (nextContextPosition == null) |
||
1097 | return position; |
||
1098 | |||
1099 | position = nextContextPosition; |
||
1100 | } |
||
1101 | |||
1102 | return position; |
||
1103 | } |
||
1104 | #endregion logging |
||
1105 | |||
1106 | #region processing received data |
||
1107 | |||
1108 | private void processMessage(byte[] message) |
||
1109 | { |
||
1110 | if (message.Length > 0) |
||
1111 | { |
||
1112 | _iLifeCounter++; |
||
1113 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1114 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1115 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1116 | char cmdID; |
||
1117 | byte adr; |
||
1118 | byte[] data; |
||
1119 | byte[] tmp = null; |
||
1120 | if (message[0] != '#') |
||
1121 | { |
||
1122 | int iFound = -1; |
||
1123 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1124 | { //so this is a workaround to not spam the log box |
||
1125 | if (message[i] == 35) |
||
1126 | { |
||
1127 | iFound = i; |
||
1128 | break; |
||
1129 | } |
||
1130 | } |
||
1131 | if (iFound > 0) |
||
1132 | { |
||
1133 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1134 | tmp = new byte[message.Length - iFound]; |
||
1135 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1136 | } |
||
1137 | s = s.Trim('\0', '\n', '\r'); |
||
1138 | if (s.Length > 0) |
||
1139 | Log(LogMsgType.Normal, s); |
||
1140 | if (tmp != null) |
||
1141 | { |
||
1142 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1143 | processMessage(tmp); |
||
1144 | } |
||
1145 | } |
||
1146 | //Debug.Print(s); |
||
1147 | else |
||
1148 | { |
||
1149 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1150 | |||
1151 | if (adr == 255) { crcError++; } |
||
1152 | else crcError = 0; |
||
1153 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1154 | //display the active controller (FC / NC) |
||
1155 | 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...??? |
||
1156 | { |
||
1157 | _iCtrlAct = adr; |
||
1158 | switch (adr) |
||
1159 | { |
||
1160 | case 1: |
||
1161 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
2298 | - | 1162 | Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
2287 | - | 1163 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
1164 | // _setFieldsNA(); //display fields NA for FC |
||
1165 | break; |
||
1166 | case 2: |
||
1167 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1168 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1169 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1170 | break; |
||
1171 | //case 3: |
||
1172 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1173 | // break; |
||
1174 | //case 4: |
||
1175 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1176 | // break; |
||
1177 | default: |
||
1178 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1179 | break; |
||
1180 | } |
||
1181 | // _loadLabelNames(); |
||
1182 | } |
||
1183 | // else |
||
1184 | // Debug.Print("Address == 0?"); |
||
1185 | |||
1186 | if (data != null && data.Length > 0) |
||
1187 | { |
||
1188 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1189 | s = s.Trim('\0', '\n'); |
||
1190 | |||
1191 | switch (cmdID) |
||
1192 | { |
||
1193 | //case 'A': //Label names |
||
1194 | // _processLabelNames(s); |
||
1195 | // break; |
||
1196 | |||
1197 | case 'D': //Debug data |
||
1198 | _processDebugVals(adr, data); |
||
1199 | break; |
||
1200 | |||
1201 | case 'V': //Version |
||
1202 | _processVersion(adr, data); |
||
1203 | break; |
||
1204 | |||
1205 | case 'K'://BL-CTRL data |
||
1206 | _processBLCtrl(data); |
||
1207 | break; |
||
1208 | |||
1209 | case 'O': //NC Data |
||
1210 | _processNCData(data); |
||
1211 | break; |
||
1212 | |||
1213 | case 'E': //NC error-string |
||
1214 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1215 | break; |
||
1216 | |||
1217 | case 'L': //OSD Menue (called by pagenumber) |
||
1218 | _processOSDSingle(data); |
||
1219 | break; |
||
1220 | |||
1221 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1222 | _processOSDAuto(data); |
||
1223 | break; |
||
1224 | |||
1225 | case 'X': //Waypoint data |
||
1226 | _processWPData(data); |
||
1227 | break; |
||
1228 | |||
2313 | - | 1229 | case 'W': //return new Waypoint items count after sending waypoint to copter |
1230 | _iWPCount = data[0]; |
||
1231 | break; |
||
2287 | - | 1232 | //default: |
1233 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1234 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1235 | // break; |
||
1236 | } |
||
1237 | } |
||
1238 | //else |
||
1239 | //{ |
||
1240 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1241 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1242 | //} |
||
1243 | } |
||
1244 | } |
||
1245 | } |
||
1246 | /// <summary> |
||
1247 | /// Analog label names 'A' |
||
1248 | /// each label name is returned as a single string |
||
1249 | /// and added to string array sAnalogLabel[] |
||
1250 | /// and the datatable dtAnalog |
||
1251 | /// </summary> |
||
1252 | /// <param name="s">the label name</param> |
||
1253 | void _processLabelNames(string s) |
||
1254 | { |
||
1255 | //if (iLableIndex < 32) |
||
1256 | //{ |
||
1257 | // sAnalogLabel[iLableIndex] = s; |
||
1258 | // if (dtAnalog.Rows.Count < 32) |
||
1259 | // dtAnalog.Rows.Add(s, ""); |
||
1260 | // else |
||
1261 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1262 | |||
1263 | // // _getAnalogLabels(iLableIndex + 1); |
||
1264 | //} |
||
1265 | //Debug.Print(s); |
||
1266 | } |
||
1267 | /// <summary> |
||
1268 | /// Debug values 'D' |
||
1269 | /// </summary> |
||
1270 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1271 | /// <param name="data">the received byte array to process</param> |
||
1272 | void _processDebugVals(byte adr, byte[] data) |
||
1273 | { |
||
1274 | if (data.Length == 66) |
||
1275 | { |
||
1276 | int[] iAnalogData = new int[32]; |
||
1277 | double v; |
||
1278 | int index = 0; |
||
1279 | Int16 i16 = 0; |
||
1280 | double dTemp = 0; |
||
1281 | for (int i = 2; i < 66; i += 2) |
||
1282 | { |
||
1283 | i16 = data[i + 1]; |
||
1284 | i16 = (Int16)(i16 << 8); |
||
1285 | iAnalogData[index] = data[i] + i16; |
||
1286 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
1287 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
1288 | |||
1289 | if (adr == 2) //NC |
||
1290 | { |
||
1291 | switch (index) |
||
1292 | { |
||
1293 | case 0: //pitch (German: nick) |
||
1294 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1295 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1296 | break; |
||
1297 | case 1: //roll |
||
1298 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1299 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1300 | break; |
||
1301 | case 4: //altitude |
||
1302 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1303 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1304 | break; |
||
1305 | case 7: //Voltage |
||
1306 | v = (double)iAnalogData[index] / (double)10; |
||
1307 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1308 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1309 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1310 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1311 | { |
||
1312 | if (v == _dVoltLast) |
||
1313 | if(_iVoltJitter < 20) _iVoltJitter++; |
||
1314 | else |
||
1315 | { |
||
1316 | _iVoltJitter = 0; |
||
1317 | _dVoltLast = v; |
||
1318 | } |
||
1319 | if (_iVoltJitter == 20) |
||
1320 | { |
||
1321 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1322 | |||
1323 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1324 | { |
||
1325 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1326 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1327 | { |
||
1328 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1329 | _bCritAnimVoltActive = true; |
||
1330 | } |
||
1331 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1332 | { |
||
2295 | - | 1333 | Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1334 | t.Start(); |
||
2287 | - | 1335 | _bCritVoiceVoltActive = true; |
1336 | } |
||
1337 | } |
||
1338 | else |
||
1339 | { |
||
1340 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1341 | { |
||
1342 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1343 | _bCritAnimVoltActive = false; |
||
1344 | } |
||
1345 | _bCritVoiceVoltActive = false; |
||
1346 | |||
2291 | - | 1347 | if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
2287 | - | 1348 | { |
2295 | - | 1349 | Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
1350 | t.Start(); |
||
2291 | - | 1351 | _bWarnVoiceVoltActive = true; |
2287 | - | 1352 | } |
1353 | } |
||
1354 | } |
||
1355 | } |
||
1356 | else |
||
1357 | { |
||
1358 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1359 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1360 | { |
||
1361 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1362 | _bCritAnimVoltActive = false; |
||
1363 | } |
||
1364 | _bCritVoiceVoltActive = false; |
||
2291 | - | 1365 | _bWarnVoiceVoltActive = false; |
2287 | - | 1366 | _iVoltJitter = 0; |
1367 | } |
||
1368 | break; |
||
1369 | case 8: // Current |
||
1370 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1371 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1372 | break; |
||
1373 | case 10: //heading |
||
2291 | - | 1374 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
2287 | - | 1375 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
1376 | break; |
||
1377 | case 12: // SPI error |
||
2291 | - | 1378 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
2287 | - | 1379 | break; |
1380 | case 14: //i2c error |
||
2291 | - | 1381 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
2287 | - | 1382 | break; |
1383 | case 20: //Earthmagnet field |
||
2291 | - | 1384 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
1385 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
1386 | |||
1387 | if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
||
1388 | { |
||
1389 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1390 | _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
||
1391 | if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
||
1392 | { |
||
1393 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
||
1394 | _bAnimMagneticFieldActive = false; |
||
1395 | } |
||
1396 | } |
||
1397 | else |
||
1398 | { |
||
1399 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
1400 | if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
||
1401 | { |
||
1402 | if (_iMagneticFieldJitter < 20) |
||
1403 | _iMagneticFieldJitter++; |
||
1404 | } |
||
1405 | else |
||
1406 | { |
||
1407 | _iMagneticFieldJitter = 0; |
||
1408 | _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
||
1409 | } |
||
1410 | if(_iMagneticFieldJitter == 20) |
||
1411 | { |
||
1412 | if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
||
1413 | { |
||
1414 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
||
1415 | _bAnimMagneticFieldActive = true; |
||
1416 | } |
||
1417 | if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
||
1418 | { |
||
2295 | - | 1419 | Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
1420 | t.Start(); |
||
2291 | - | 1421 | _bVoiceMagneticFieldActive = true; |
1422 | } |
||
1423 | } |
||
1424 | } |
||
2287 | - | 1425 | break; |
1426 | case 21: //GroundSpeed |
||
1427 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1428 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1429 | break; |
||
2291 | - | 1430 | |
1431 | ///********** needs testing --> not sure what position this is *************** |
||
2287 | - | 1432 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
1433 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
1434 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1435 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1436 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1437 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1438 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1439 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
1440 | break; |
||
2291 | - | 1441 | |
2287 | - | 1442 | case 31: //Sats used |
1443 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
||
1444 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
1445 | break; |
||
1446 | } |
||
1447 | } |
||
1448 | index++; |
||
1449 | } |
||
1450 | } |
||
1451 | else |
||
1452 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1453 | } |
||
1454 | /// <summary> |
||
1455 | /// Version string 'V' |
||
1456 | /// </summary> |
||
1457 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1458 | /// <param name="data">the received byte array to process</param> |
||
1459 | void _processVersion(byte adr, byte[] data) |
||
1460 | { |
||
1461 | if (data.Length == 12) |
||
1462 | { |
||
1463 | if (!check_HWError) |
||
1464 | { |
||
1465 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1466 | string sVersion = ""; |
||
1467 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1468 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1469 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1470 | Log(LogMsgType.Incoming, sVersion); |
||
1471 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1472 | Log(LogMsgType.Incoming, sVersion); |
||
1473 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1474 | } |
||
1475 | if (data[5] > 0) //error0 |
||
1476 | { |
||
1477 | if (adr == 1) |
||
1478 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
1479 | if (adr == 2) |
||
1480 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
1481 | } |
||
1482 | if (data[6] > 0) //error1 |
||
1483 | { |
||
1484 | if (adr == 1) |
||
1485 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
1486 | if (adr == 2) |
||
1487 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
1488 | } |
||
1489 | if ((data[5] + data[6] == 0) && _bErrorLog) |
||
1490 | _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
1491 | |||
1492 | } |
||
1493 | check_HWError = false; |
||
1494 | } |
||
1495 | /// <summary> |
||
1496 | /// BL-Ctrl data 'K' |
||
1497 | /// for FC you have to use a customized firmware |
||
1498 | /// </summary> |
||
1499 | /// <param name="data">the received byte array to process</param> |
||
1500 | void _processBLCtrl(byte[] data) |
||
1501 | { |
||
1502 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1503 | { |
||
1504 | bool bAvailable = false; |
||
1505 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1506 | { |
||
1507 | |||
1508 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1509 | bAvailable = true; |
||
1510 | else |
||
1511 | bAvailable = false; |
||
1512 | |||
1513 | if (data[i] < _iMotors) |
||
1514 | { |
||
1515 | if (bAvailable) |
||
1516 | { |
||
2315 | - | 1517 | dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
1518 | dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
2287 | - | 1519 | } |
1520 | else |
||
1521 | { |
||
2315 | - | 1522 | dtMotors.Rows[data[i]].SetField(1, "NA"); |
1523 | dtMotors.Rows[data[i]].SetField(2, "NA"); |
||
2287 | - | 1524 | } |
1525 | } |
||
1526 | //if (data[i] > 3 && data[i] < 8) |
||
1527 | //{ |
||
1528 | // if (bAvailable) |
||
1529 | // { |
||
1530 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1531 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1532 | // } |
||
1533 | // else |
||
1534 | // { |
||
1535 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1536 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1537 | // } |
||
1538 | //} |
||
1539 | } |
||
1540 | } |
||
1541 | } |
||
1542 | /// <summary> |
||
1543 | /// Navi-Ctrl data 'O' |
||
1544 | /// GPS-Position, capacatiy, flying time... |
||
1545 | /// </summary> |
||
1546 | /// <param name="data">the received byte array to process</param> |
||
1547 | void _processNCData(byte[] data) |
||
1548 | { |
||
1549 | int i_32, i_16, iVal; |
||
1550 | double d; |
||
1551 | i_32 = data[4]; |
||
1552 | iVal = i_32 << 24; |
||
1553 | i_32 = data[3]; |
||
1554 | iVal += i_32 << 16; |
||
1555 | i_32 = data[2]; |
||
1556 | iVal += i_32 << 8; |
||
1557 | iVal += data[1]; |
||
1558 | d = (double)iVal / Math.Pow(10, 7); |
||
1559 | |||
1560 | PointLatLng p = new PointLatLng(); |
||
1561 | |||
1562 | p.Lng = d; |
||
1563 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
1564 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
1565 | |||
1566 | i_32 = data[8]; |
||
1567 | iVal = i_32 << 24; |
||
1568 | i_32 = data[7]; |
||
1569 | iVal += i_32 << 16; |
||
1570 | i_32 = data[6]; |
||
1571 | iVal += i_32 << 8; |
||
1572 | iVal += data[5]; |
||
1573 | d = (double)iVal / Math.Pow(10, 7); |
||
1574 | p.Lat = d; |
||
2291 | - | 1575 | if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
1576 | { |
||
1577 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
2295 | - | 1578 | if(_bAutoHome && !_bFirstSatFix) |
1579 | { |
||
1580 | if (_iFirstSatFix < 3) |
||
1581 | _iFirstSatFix++; |
||
1582 | else |
||
1583 | { |
||
1584 | _bFirstSatFix = true; |
||
1585 | Dispatcher.Invoke(() => setHomePos()); |
||
1586 | } |
||
1587 | } |
||
2291 | - | 1588 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
1589 | { |
||
1590 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
1591 | _bAnimSatFixActive = false; |
||
1592 | } |
||
1593 | if (!_bFollowCopter) |
||
1594 | { |
||
1595 | _setCopterData(p); |
||
1596 | if (!MainMap.ViewArea.Contains(p)) |
||
1597 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
2287 | - | 1598 | |
2291 | - | 1599 | } |
1600 | else |
||
2287 | - | 1601 | Dispatcher.Invoke(() => MainMap.Position = p); |
1602 | } |
||
1603 | else |
||
2291 | - | 1604 | { |
1605 | if(_bSatFix) |
||
1606 | { |
||
1607 | if (data[50] == _iSatsLast) |
||
1608 | { |
||
1609 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
1610 | } |
||
1611 | else |
||
1612 | { |
||
1613 | _iSatsJitter = 0; |
||
1614 | _iSatsLast = data[50]; |
||
1615 | } |
||
2287 | - | 1616 | |
2291 | - | 1617 | if (_iSatsJitter == 20) |
1618 | { |
||
1619 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
1620 | { |
||
1621 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
1622 | _bAnimSatFixActive = true; |
||
1623 | } |
||
1624 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
1625 | { |
||
2295 | - | 1626 | Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1627 | th.Start(); |
||
2291 | - | 1628 | _bVoiceSatFixActive = true; |
1629 | } |
||
1630 | |||
1631 | _bSatFix = false; |
||
1632 | } |
||
1633 | } |
||
1634 | } |
||
1635 | |||
2287 | - | 1636 | // lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
1637 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
||
1638 | |||
1639 | i_16 = data[28]; |
||
1640 | i_16 = (Int16)(i_16 << 8); |
||
1641 | iVal = data[27] + i_16; |
||
1642 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP |
||
1643 | |||
1644 | i_16 = data[45]; |
||
1645 | i_16 = (Int16)(i_16 << 8); |
||
1646 | iVal = data[44] + i_16; |
||
1647 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1648 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1649 | |||
1650 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index |
||
1651 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
||
1652 | |||
1653 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites |
||
1654 | |||
1655 | |||
1656 | //--------------- Capacity used ------------------------ |
||
1657 | i_16 = data[81]; |
||
1658 | i_16 = (Int16)(i_16 << 8); |
||
1659 | iVal = data[80] + i_16; |
||
1660 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
1661 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
1662 | |||
1663 | //--------------- Flying time ------------------------ |
||
1664 | i_16 = data[56]; |
||
1665 | i_16 = (Int16)(i_16 << 8); |
||
1666 | iVal = data[55] + i_16; |
||
1667 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
1668 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
1669 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
1670 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
1671 | |||
1672 | //--------------- RC quality ------------------------ |
||
1673 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
1674 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
1675 | |||
2291 | - | 1676 | if(data[66] > _iThresholdRC) |
1677 | { |
||
1678 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
1679 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
1680 | { |
||
1681 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
1682 | _bAnimRCLevelActive = false; |
||
1683 | } |
||
1684 | } |
||
1685 | else |
||
1686 | { |
||
1687 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
1688 | if (_iRCLevelJitter == 20) |
||
1689 | { |
||
1690 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
1691 | { |
||
1692 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
1693 | _bAnimRCLevelActive = true; |
||
1694 | } |
||
1695 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
1696 | { |
||
2295 | - | 1697 | Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
1698 | th.Start(); |
||
2291 | - | 1699 | _bVoiceRCLevelActive = true; |
1700 | } |
||
1701 | _iRCLevelJitter++; |
||
1702 | } |
||
1703 | } |
||
1704 | |||
2287 | - | 1705 | //--------------- NC Error ------------------------ |
1706 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
1707 | if (data[69] > 0) |
||
1708 | _readNCError(); |
||
1709 | if (data[69] > 0 & data[69] < 44) |
||
1710 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
1711 | else |
||
1712 | if (_bErrorLog) _clearErrorLog("NC Error"); |
||
1713 | |||
2298 | - | 1714 | //-------------FC / NC Status Flags |
1715 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1716 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
1717 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
1718 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
1719 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
1720 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
1721 | |||
1722 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1723 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1724 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
1725 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
1726 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
1727 | Dispatcher.Invoke((Action)(() => FC2_6.Background = ((data[74] & 32) ==32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
||
1728 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
1729 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
1730 | |||
1731 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
1732 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
1733 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
1734 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
1735 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
1736 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
1737 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
2299 | - | 1738 | |
1739 | //Sidebar StatusSymbols |
||
1740 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1741 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255,211,210,210))));// FC_STATUS_MOTOR_RUN 0x01 |
||
1742 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01 |
||
1743 | |||
1744 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1745 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
||
1746 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
||
1747 | |||
1748 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2304 | - | 1749 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
1750 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2299 | - | 1751 | |
1752 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1753 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1754 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1755 | |||
1756 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2304 | - | 1757 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[68] & 2) == 2)|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
1758 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[68] & 2) == 2)|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
1759 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[68] & 2) == 2)|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2299 | - | 1760 | |
2287 | - | 1761 | } |
1762 | /// <summary> |
||
1763 | /// Navi-Ctrl WP data struct 'X' |
||
1764 | /// called by index |
||
1765 | /// </summary> |
||
1766 | /// <param name="data">the received byte array to process</param> |
||
1767 | void _processWPData(byte[] data) |
||
1768 | { |
||
2313 | - | 1769 | _iWPCount = data[0]; |
2287 | - | 1770 | _bGetWPCount = false; |
1771 | if (data.Length >= 28) |
||
1772 | { |
||
1773 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
1774 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
1775 | if (_bGetWP) |
||
1776 | { |
||
1777 | if (data[1] == 1) |
||
2315 | - | 1778 | { |
2287 | - | 1779 | dtWaypoints.Rows.Clear(); |
2318 | - | 1780 | Dispatcher.Invoke(() => { |
1781 | for (int k = 0; k < MainMap.Markers.Count;) |
||
1782 | { |
||
1783 | GMapMarker p = MainMap.Markers[k]; |
||
1784 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
1785 | MainMap.Markers.Remove(p); |
||
1786 | else |
||
1787 | k++; |
||
1788 | } |
||
1789 | }); |
||
2315 | - | 1790 | } |
2287 | - | 1791 | DataRow dr = dtWaypoints.NewRow(); |
1792 | dr = Waypoints.toDataRow(data, dr); |
||
2313 | - | 1793 | dtWaypoints.Rows.Add(dr); |
2318 | - | 1794 | Dispatcher.Invoke(() => { |
1795 | GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4])); |
||
1796 | wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]); |
||
1797 | _setMarkerColor(wp, (int)dr[1]); |
||
1798 | MainMap.Markers.Add(wp); |
||
1799 | }); |
||
2313 | - | 1800 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1801 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
||
2287 | - | 1802 | if (data[1] == data[0]) |
1803 | { |
||
1804 | _bGetWP = false; |
||
1805 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
1806 | } |
||
1807 | |||
1808 | } |
||
1809 | } |
||
1810 | else |
||
1811 | { |
||
1812 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
1813 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
1814 | } |
||
1815 | } |
||
1816 | /// <summary> |
||
1817 | /// OSD Menue 'L' |
||
1818 | /// single page called by pagenumber |
||
1819 | /// no autoupdate |
||
1820 | /// </summary> |
||
1821 | /// <param name="data">the received byte array to process</param> |
||
1822 | void _processOSDSingle(byte[] data) |
||
1823 | { |
||
1824 | if (data.Length == 84) |
||
1825 | { |
||
1826 | string sMessage = ""; |
||
1827 | iOSDPage = data[0]; |
||
1828 | iOSDMax = data[1]; |
||
1829 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
1830 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
1831 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1832 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1833 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1834 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1835 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
1836 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
1837 | |||
1838 | } |
||
1839 | //else |
||
1840 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
1841 | |||
1842 | } |
||
1843 | /// <summary> |
||
1844 | /// OSD Menue 'H' |
||
1845 | /// called by keys (0x01,0x02,0x03,0x04) |
||
1846 | /// autoupdate |
||
1847 | /// </summary> |
||
1848 | /// <param name="data">the received byte array to process</param> |
||
1849 | void _processOSDAuto(byte[] data) |
||
1850 | { |
||
1851 | if (data.Length == 81) |
||
1852 | { |
||
1853 | string sMessage = ""; |
||
1854 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
1855 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1856 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1857 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1858 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1859 | |||
1860 | } |
||
1861 | //else |
||
1862 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
1863 | } |
||
1864 | |||
1865 | #endregion processing received data |
||
1866 | |||
1867 | #region controller messages |
||
1868 | /// <summary> send message to controller to request data |
||
1869 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1870 | /// </summary> |
||
1871 | /// <param name="CMDID"> the command ID </param> |
||
1872 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1873 | private void _sendControllerMessage(char CMDID, byte address) |
||
1874 | { |
||
1875 | if (serialPortCtrl.Port.IsOpen) |
||
1876 | { |
||
1877 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1878 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
1879 | serialStream.Write(bytes, 0, bytes.Length); |
||
1880 | |||
1881 | } |
||
1882 | else |
||
1883 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1884 | } |
||
1885 | /// <summary> send message to controller to request data |
||
1886 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1887 | /// </summary> |
||
1888 | /// <param name="CMDID"> the command ID </param> |
||
1889 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1890 | /// <param name="data"> additional data for the request</param> |
||
1891 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
1892 | { |
||
1893 | if (serialPortCtrl.Port.IsOpen) |
||
1894 | { |
||
1895 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1896 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
1897 | serialStream.Write(bytes, 0, bytes.Length); |
||
1898 | |||
1899 | } |
||
1900 | else |
||
1901 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1902 | } |
||
1903 | |||
1904 | /// <summary> |
||
1905 | /// start/stop continous polling of controller values |
||
1906 | /// </summary> |
||
1907 | /// <param name="b">start/stop switch</param> |
||
1908 | void _readCont(bool b) |
||
1909 | { |
||
1910 | bReadContinously = b; |
||
1911 | if (bReadContinously) |
||
1912 | { |
||
1913 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
1914 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1915 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1916 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
1917 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
1918 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
1919 | } |
||
1920 | else |
||
1921 | { |
||
1922 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
1923 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
1924 | _bConnErr = false; |
||
1925 | } |
||
1926 | _iLifeCounter = 0; |
||
1927 | } |
||
1928 | |||
1929 | private void _getVersion() |
||
1930 | { |
||
1931 | _sendControllerMessage('v', 0); |
||
1932 | } |
||
1933 | /// <summary> |
||
1934 | /// get FC version struct via NC |
||
1935 | /// by sending '1' as data (not documented in wiki...) |
||
1936 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
1937 | /// </summary> |
||
1938 | /// <param name="ctrl">controller number 1=FC</param> |
||
1939 | private void _getVersion(byte ctrl) |
||
1940 | { |
||
1941 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
1942 | } |
||
1943 | /// <summary> |
||
1944 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
1945 | /// </summary> |
||
1946 | private void _switchToNC() |
||
1947 | { |
||
1948 | if (serialPortCtrl.Port.IsOpen) |
||
1949 | { |
||
1950 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1951 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
1952 | serialStream.Write(bytes, 0, bytes.Length); |
||
1953 | |||
1954 | Thread.Sleep(100); |
||
1955 | _getVersion(); |
||
1956 | Thread.Sleep(100); |
||
1957 | // _OSDMenue(0); |
||
1958 | } |
||
1959 | else |
||
1960 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1961 | } |
||
1962 | /// <summary> |
||
1963 | /// switch to FC |
||
1964 | /// </summary> |
||
1965 | private void _switchToFC() |
||
1966 | { |
||
1967 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
1968 | Thread.Sleep(100); |
||
1969 | _getVersion(); |
||
1970 | Thread.Sleep(100); |
||
1971 | // _OSDMenue(0); |
||
1972 | } |
||
1973 | /// <summary> |
||
1974 | /// send RESET signal to FC |
||
1975 | /// </summary> |
||
1976 | private void _resetCtrl() |
||
1977 | { |
||
1978 | _sendControllerMessage('R', 1); |
||
1979 | } |
||
1980 | /// <summary> |
||
1981 | /// poll the debug data (4sec subscription) |
||
1982 | /// </summary> |
||
1983 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1984 | private void _readDebugData(bool auto) |
||
1985 | { |
||
1986 | byte interval = auto ? debugInterval : (byte)0; |
||
1987 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
1988 | } |
||
1989 | /// <summary> |
||
1990 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
1991 | /// </summary> |
||
1992 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1993 | private void _readBLCtrl(bool auto) |
||
1994 | { |
||
1995 | byte interval = auto ? blctrlInterval : (byte)0; |
||
1996 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
1997 | } |
||
1998 | /// <summary> |
||
1999 | /// poll the NC data struct (4sec subscription) |
||
2000 | /// </summary> |
||
2001 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2002 | private void _readNavData(bool auto) |
||
2003 | { |
||
2004 | byte interval = auto ? navctrlInterval : (byte)0; |
||
2005 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
2006 | } |
||
2007 | /// <summary> |
||
2008 | /// get the errortext for pending NC error |
||
2009 | /// </summary> |
||
2010 | private void _readNCError() |
||
2011 | { |
||
2012 | _sendControllerMessage('e', 2); |
||
2013 | } |
||
2014 | /// <summary> |
||
2015 | /// request the Waypoint at index |
||
2016 | /// </summary> |
||
2017 | /// <param name="index"></param> |
||
2018 | void _getpWP(int index) |
||
2019 | { |
||
2020 | if (serialPortCtrl.Port.IsOpen) |
||
2021 | { |
||
2022 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2023 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
2024 | serialStream.Write(bytes, 0, bytes.Length); |
||
2025 | } |
||
2026 | else |
||
2027 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2028 | |||
2029 | } |
||
2030 | void _getWP() |
||
2031 | { |
||
2032 | _bGetWPCount = true; |
||
2315 | - | 2033 | _getpWP(1); //get the itemscount of wp |
2287 | - | 2034 | while (_bGetWPCount) |
2035 | Thread.Sleep(100); |
||
2313 | - | 2036 | if (_iWPCount > 0) |
2287 | - | 2037 | _getWPList(); |
2038 | } |
||
2039 | void _getWPList() |
||
2040 | { |
||
2041 | _bGetWP = true; |
||
2313 | - | 2042 | int iTimeout=0; |
2043 | for (int j = 0; j < _iWPCount; j++) |
||
2287 | - | 2044 | { |
2045 | _getpWP(j + 1); |
||
2313 | - | 2046 | iTimeout = 0; |
2047 | while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
||
2048 | { |
||
2049 | Thread.Sleep(1); |
||
2050 | iTimeout++; |
||
2051 | } |
||
2287 | - | 2052 | } |
2053 | } |
||
2313 | - | 2054 | void _sendWPList() |
2055 | { |
||
2056 | if (serialPortCtrl.Port.IsOpen) |
||
2057 | { |
||
2058 | byte[] bData = new byte[30]; |
||
2059 | for (int i = 0; i < 30; i++) |
||
2060 | bData[i] = 0; |
||
2061 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2062 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
||
2063 | serialStream.Write(bytes, 0, bytes.Length); |
||
2287 | - | 2064 | |
2313 | - | 2065 | _iWPCount = -1; |
2066 | while (_iWPCount == -1) |
||
2067 | Thread.Sleep(10); |
||
2068 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
||
2287 | - | 2069 | |
2313 | - | 2070 | int iVal; |
2071 | double dVal; |
||
2072 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
2073 | nfi.NumberDecimalSeparator = ","; |
||
2074 | for (int i = 0; i < dtWaypoints.Rows.Count; i++) |
||
2075 | { |
||
2076 | //longitude |
||
2077 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi); |
||
2078 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2079 | bData[0] = (byte)(iVal & 0xff); |
||
2080 | bData[1] = (byte)((iVal >> 8) & 0xff); |
||
2081 | bData[2] = (byte)((iVal >> 16) & 0xff); |
||
2082 | bData[3] = (byte)(iVal >> 24); |
||
2083 | //latitude |
||
2084 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi); |
||
2085 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2086 | bData[4] = (byte)(iVal & 0xff); |
||
2087 | bData[5] = (byte)((iVal >> 8) & 0xff); |
||
2088 | bData[6] = (byte)((iVal >> 16) & 0xff); |
||
2089 | bData[7] = (byte)(iVal >> 24); |
||
2090 | //altitude |
||
2091 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi); |
||
2092 | iVal = (int)(dVal * 10); |
||
2093 | bData[8] = (byte)(iVal & 0xff); |
||
2094 | bData[9] = (byte)((iVal >> 8) & 0xff); |
||
2095 | bData[10] = (byte)((iVal >> 16) & 0xff); |
||
2096 | bData[11] = (byte)(iVal >> 24); |
||
2097 | //Status 'NEWDATA' |
||
2098 | bData[12] = 1; |
||
2099 | //heading |
||
2100 | iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]); |
||
2101 | bData[13] = (byte)(iVal & 0xff); |
||
2102 | bData[14] = (byte)((iVal >> 8) & 0xff); |
||
2103 | //ToleranceRadius |
||
2104 | bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]); |
||
2105 | //HoldTime |
||
2106 | bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]); |
||
2107 | //Event_Flag |
||
2108 | bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]); |
||
2109 | //Index |
||
2110 | bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]); |
||
2111 | //Type |
||
2112 | bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]); |
||
2113 | //WP_EventChannelValue |
||
2114 | bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]); |
||
2115 | //AltitudeRate |
||
2116 | bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]); |
||
2117 | //Speed |
||
2118 | bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]); |
||
2119 | //CamAngle |
||
2120 | bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]); |
||
2121 | //Name |
||
2122 | byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]); |
||
2123 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
||
2124 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
||
2125 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
||
2126 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
||
2127 | //Autotrigger |
||
2128 | bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]); |
||
2129 | |||
2130 | bytes = FlightControllerMessage.CreateMessage('w', 2, bData); |
||
2131 | serialStream.Write(bytes, 0, bytes.Length); |
||
2132 | |||
2133 | _iWPCount = -1; |
||
2134 | while (_iWPCount == -1) |
||
2135 | Thread.Sleep(10); |
||
2136 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
||
2137 | } |
||
2138 | } |
||
2139 | else |
||
2140 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2141 | |||
2142 | } |
||
2143 | |||
2287 | - | 2144 | #region OSD-Menue |
2145 | |||
2146 | /// <summary> |
||
2147 | /// one time query of the OSD Menue with pagenumber |
||
2148 | /// </summary> |
||
2149 | /// <param name="iMenue">Menue page</param> |
||
2150 | void _OSDMenue(int iMenue) |
||
2151 | { |
||
2152 | if (serialPortCtrl.Port.IsOpen) |
||
2153 | { |
||
2154 | if (iMenue > iOSDMax) |
||
2155 | iMenue = 0; |
||
2156 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2157 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
2158 | serialStream.Write(bytes, 0, bytes.Length); |
||
2159 | } |
||
2160 | else |
||
2161 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2162 | |||
2163 | } |
||
2164 | /// <summary> |
||
2165 | /// call the OSDMenue and start autorefresh |
||
2166 | /// usually by sending a menuekey |
||
2167 | /// 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) |
||
2168 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
2169 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
2170 | /// </summary> |
||
2171 | void _OSDMenueAutoRefresh() |
||
2172 | { |
||
2173 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
2174 | } |
||
2175 | void _OSDMenueAutoRefresh(byte key) |
||
2176 | { |
||
2177 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
2178 | } |
||
2179 | /// <summary> |
||
2180 | /// initialize the OSD menue combobox |
||
2181 | /// combox is filled by numbers from 0 to max pagenumber |
||
2182 | /// </summary> |
||
2183 | void _initOSDCB() |
||
2184 | { |
||
2185 | _bCBInit = true; |
||
2186 | if (iOSDMax == 0) |
||
2187 | { |
||
2188 | _OSDMenue(0); |
||
2189 | Thread.Sleep(10); |
||
2190 | } |
||
2191 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
2192 | for (int i = 0; i <= iOSDMax; i++) |
||
2193 | { |
||
2194 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
2195 | } |
||
2196 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
2197 | _bCBInit = false; |
||
2198 | } |
||
2199 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
2200 | { |
||
2201 | iOSDPage++; |
||
2202 | if (iOSDPage > iOSDMax) |
||
2203 | iOSDPage = 0; |
||
2204 | |||
2205 | _OSDMenue(iOSDPage); |
||
2206 | } |
||
2207 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
2208 | { |
||
2209 | iOSDPage--; |
||
2210 | if (iOSDPage < 0) |
||
2211 | iOSDPage = iOSDMax; |
||
2212 | |||
2213 | _OSDMenue(iOSDPage); |
||
2214 | } |
||
2215 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
2216 | { |
||
2217 | _OSDMenueAutoRefresh(8); |
||
2218 | } |
||
2219 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
2220 | { |
||
2221 | _OSDMenueAutoRefresh(4); |
||
2222 | } |
||
2223 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
2224 | { |
||
2225 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
2226 | _OSDMenue(cbOSD.SelectedIndex); |
||
2227 | } |
||
2228 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
2229 | { |
||
2230 | Dispatcher.Invoke(() => |
||
2231 | { |
||
2232 | TextRange tr; |
||
2233 | if (bNew) |
||
2234 | { |
||
2235 | rtfOSD.SelectAll(); |
||
2236 | rtfOSD.Selection.Text = string.Empty; |
||
2237 | } |
||
2238 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
2239 | tr.Text = msg; |
||
2240 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
2241 | // rtfOSD.AppendText("\r"); |
||
2242 | rtfOSD.ScrollToEnd(); |
||
2243 | |||
2244 | }); |
||
2245 | } |
||
2246 | |||
2247 | #endregion OSD-Menue |
||
2248 | |||
2249 | #endregion controller messages |
||
2250 | |||
2295 | - | 2251 | void _mediaPlayer(string file) |
2252 | { |
||
2253 | if (File.Exists(file)) |
||
2254 | { |
||
2255 | MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer(); |
||
2256 | mp.Open(file); |
||
2257 | mp.Play(); |
||
2258 | } |
||
2259 | } |
||
2310 | - | 2260 | |
2261 | /// <summary> |
||
2262 | /// Switch between fullscreen and normal window mode |
||
2263 | /// save & restore scaling settings |
||
2264 | /// </summary> |
||
2265 | /// <param name="sender"></param> |
||
2266 | /// <param name="e"></param> |
||
2287 | - | 2267 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
2268 | { |
||
2269 | if (winState.isMaximized) |
||
2270 | { |
||
2271 | winState.Restore(this); |
||
2272 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
2273 | if(_bSaveWinStateFull) |
||
2274 | _saveScaleSliders(true); |
||
2275 | if(_bSaveWinStateNormal) |
||
2276 | _setScaleSliders(false); |
||
2277 | } |
||
2278 | else |
||
2279 | { |
||
2280 | winState.Maximize(this); |
||
2281 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
2282 | if(_bSaveWinStateNormal) |
||
2283 | _saveScaleSliders(false); |
||
2284 | if(_bSaveWinStateFull) |
||
2285 | _setScaleSliders(true); |
||
2286 | } |
||
2287 | } |
||
2288 | |||
2289 | /// <summary> |
||
2290 | /// reset the scaling of all UI elements to default |
||
2291 | /// </summary> |
||
2292 | /// <param name="sender"></param> |
||
2293 | /// <param name="e"></param> |
||
2294 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
2295 | { |
||
2296 | UIScaleHorizonSlider.Value = |
||
2297 | UIScaleLOGSlider.Value = |
||
2298 | UIScaleMotorsSlider.Value = |
||
2299 | UIScaleOSDSlider.Value = |
||
2300 | UIScaleSlider.Value = |
||
2301 | UIScaleTopSlider.Value = 1; |
||
2302 | } |
||
2303 | /// <summary> |
||
2304 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
2305 | /// </summary> |
||
2306 | /// <param name="sender"></param> |
||
2307 | /// <param name="e"></param> |
||
2308 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
2309 | { |
||
2310 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
2311 | if (GridMotors != null) |
||
2312 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
2313 | if (GridSideBar != null) |
||
2314 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
2315 | if (GridOSD != null) |
||
2316 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2317 | if (GridData != null) |
||
2318 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
2319 | if (GridWP != null) |
||
2320 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
2321 | } |
||
2310 | - | 2322 | /// <summary> |
2323 | /// restore the saved scalings for the fullscreen/normal window mode |
||
2324 | /// </summary> |
||
2325 | /// <param name="bFull">the mode the window is set to</param> |
||
2287 | - | 2326 | void _setScaleSliders(bool bFull) |
2327 | { |
||
2328 | if(bFull) |
||
2329 | { |
||
2330 | UIScaleSlider.Value = scaleFullAll; |
||
2331 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
2332 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
2333 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
2334 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
2335 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
2336 | } |
||
2337 | else |
||
2338 | { |
||
2339 | UIScaleSlider.Value = scaleNormalAll; |
||
2340 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
2341 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
2342 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
2343 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
2344 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
2345 | } |
||
2346 | } |
||
2347 | |||
2310 | - | 2348 | /// <summary> |
2349 | /// save the scalings for the actual window mode |
||
2350 | /// </summary> |
||
2351 | /// <param name="bFull">the actual window mode</param> |
||
2287 | - | 2352 | void _saveScaleSliders(bool bFull) |
2353 | { |
||
2354 | |||
2355 | if (bFull) |
||
2356 | { |
||
2357 | scaleFullAll = UIScaleSlider.Value; |
||
2358 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
2359 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
2360 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
2361 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
2362 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
2363 | } |
||
2364 | else |
||
2365 | { |
||
2366 | scaleNormalAll = UIScaleSlider.Value; |
||
2367 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
2368 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
2369 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
2370 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
2371 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
2372 | } |
||
2373 | } |
||
2374 | |||
2375 | /// <summary> |
||
2376 | /// read settings from ini-file |
||
2377 | /// </summary> |
||
2378 | void _readIni() |
||
2379 | { |
||
2380 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
2381 | _writeIni(); |
||
2382 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2383 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2312 | - | 2384 | try |
2385 | { |
||
2287 | - | 2386 | |
2312 | - | 2387 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
2388 | if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
2389 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
2390 | if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2391 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
2392 | if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2393 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
2394 | if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2287 | - | 2395 | |
2312 | - | 2396 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
2397 | if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
||
2398 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
2399 | if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2400 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
2401 | if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2402 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
2403 | if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2287 | - | 2404 | |
2312 | - | 2405 | sVal = ini.IniReadValue("topBar", "voltage"); |
2406 | if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
2407 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
2408 | if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
2409 | sVal = ini.IniReadValue("topBar", "current"); |
||
2410 | if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
2411 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
2412 | if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
2413 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
2414 | if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
2415 | sVal = ini.IniReadValue("topBar", "height"); |
||
2416 | if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
2417 | sVal = ini.IniReadValue("topBar", "speed"); |
||
2418 | if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
2419 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
2420 | if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
2421 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
2422 | if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
2423 | sVal = ini.IniReadValue("topBar", "rc"); |
||
2424 | if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2425 | |
2312 | - | 2426 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
2427 | if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
2428 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
2429 | if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2430 | |
2312 | - | 2431 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
2432 | if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
||
2433 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
2434 | if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
||
2435 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
2436 | if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
||
2437 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
2438 | if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
||
2439 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
2440 | if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
||
2441 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
2442 | if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2443 | |
2312 | - | 2444 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
2445 | if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
||
2446 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
2447 | if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
||
2448 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
2449 | if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
||
2450 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
2451 | if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
||
2452 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
2453 | if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
||
2454 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
2455 | if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2456 | |
2312 | - | 2457 | sVal = ini.IniReadValue("general", "LiPoCells"); |
2458 | _LipoCells = Convert.ToInt16(sVal); |
||
2459 | sVal = ini.IniReadValue("general", "Motors"); |
||
2460 | if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
||
2287 | - | 2461 | |
2312 | - | 2462 | sVal = ini.IniReadValue("map", "followMe"); |
2463 | if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
||
2464 | sVal = ini.IniReadValue("map", "AutoSetHome"); |
||
2465 | if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
||
2287 | - | 2466 | |
2312 | - | 2467 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
2468 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
2469 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
2470 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
2471 | sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
||
2472 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
2473 | sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
||
2474 | if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
||
2475 | sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
||
2476 | if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
||
2477 | sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
||
2478 | if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
||
2479 | sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
||
2480 | if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
||
2481 | sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
||
2482 | if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
||
2483 | sVal = ini.IniReadValue("threshold", "MaxDistance"); |
||
2484 | if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
||
2485 | sVal = ini.IniReadValue("threshold", "RCThreshold"); |
||
2486 | if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
||
2487 | sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
||
2488 | if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
||
2321 | - | 2489 | |
2490 | sVal = ini.IniReadValue("waypoints", "wpcolor"); |
||
2491 | if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2492 | sVal = ini.IniReadValue("waypoints", "poicolor"); |
||
2493 | if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2494 | sVal = ini.IniReadValue("waypoints", "fscolor"); |
||
2495 | if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2496 | sVal = ini.IniReadValue("waypoints", "coptercolor"); |
||
2497 | if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2312 | - | 2498 | } |
2499 | catch (Exception e) |
||
2500 | { |
||
2287 | - | 2501 | |
2312 | - | 2502 | MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
2503 | } |
||
2504 | |||
2287 | - | 2505 | } |
2506 | |||
2507 | /// <summary> |
||
2508 | /// save settings to ini-file |
||
2509 | /// </summary> |
||
2510 | void _writeIni() |
||
2511 | { |
||
2512 | |||
2513 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2514 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2515 | |||
2312 | - | 2516 | try |
2517 | { |
||
2287 | - | 2518 | |
2312 | - | 2519 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
2520 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
2521 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
2522 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2287 | - | 2523 | |
2312 | - | 2524 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
2525 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
2526 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
2527 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2287 | - | 2528 | |
2312 | - | 2529 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
2530 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2287 | - | 2531 | |
2312 | - | 2532 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
2533 | ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
||
2287 | - | 2534 | |
2312 | - | 2535 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
2536 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
2537 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
2538 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
2539 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
2540 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
2541 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
2542 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
2543 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
2544 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2287 | - | 2545 | |
2312 | - | 2546 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
2547 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2287 | - | 2548 | |
2312 | - | 2549 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
2550 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
2551 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
2552 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
2553 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
2554 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2287 | - | 2555 | |
2312 | - | 2556 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
2557 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
2558 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
2559 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
2560 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
2561 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2287 | - | 2562 | |
2312 | - | 2563 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
2564 | |||
2565 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
2566 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
2567 | ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
||
2568 | ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
||
2569 | ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
||
2570 | ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
||
2571 | ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
||
2572 | ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
||
2573 | ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
||
2574 | ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
||
2575 | ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
||
2321 | - | 2576 | |
2577 | ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString()); |
||
2578 | ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString()); |
||
2579 | ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString()); |
||
2580 | ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString()); |
||
2312 | - | 2581 | } |
2582 | catch (Exception e) |
||
2583 | { |
||
2584 | |||
2585 | MessageBox.Show("Error writing ini-file!" + Environment.NewLine + "Please make sure that the programm is in a location where it is allowed to write" + Environment.NewLine + e.Message, "Write ini-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
2586 | } |
||
2287 | - | 2587 | } |
2312 | - | 2588 | |
2315 | - | 2589 | #region WP |
2312 | - | 2590 | void _readWPLFile() |
2591 | { |
||
2592 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
2593 | fd.Filter = "Waypointlists | *.wpl"; |
||
2594 | fd.Multiselect = false; |
||
2595 | if (fd.ShowDialog().Value) |
||
2596 | { |
||
2597 | string file = fd.SafeFileName; |
||
2598 | IniFile ini = new IniFile(fd.SafeFileName); |
||
2599 | ini.path = fd.FileName; |
||
2600 | |||
2601 | try |
||
2602 | { |
||
2603 | string sVal = ini.IniReadValue("General", "FileVersion"); |
||
2604 | if (sVal == "") |
||
2605 | MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2606 | else |
||
2607 | { |
||
2608 | if (Convert.ToInt16(sVal) < 3) |
||
2609 | MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2610 | else |
||
2611 | { |
||
2612 | sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
||
2613 | if (sVal == "") |
||
2614 | MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2615 | else |
||
2616 | { |
||
2617 | int wpnum = Convert.ToInt16(sVal); |
||
2618 | string wp; |
||
2619 | int i; |
||
2313 | - | 2620 | NumberFormatInfo nfi = new NumberFormatInfo(); |
2621 | nfi.NumberDecimalSeparator = "."; |
||
2312 | - | 2622 | dtWaypoints.Rows.Clear(); |
2315 | - | 2623 | for(int k = 0; k < MainMap.Markers.Count;) |
2624 | { |
||
2625 | GMapMarker p = MainMap.Markers[k]; |
||
2626 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2627 | MainMap.Markers.Remove(p); |
||
2628 | else |
||
2629 | k++; |
||
2630 | } |
||
2312 | - | 2631 | for (int k = 1; k <= wpnum; k++) |
2632 | { |
||
2633 | DataRow dr = dtWaypoints.NewRow(); |
||
2634 | dr.ItemArray = new object[16]; |
||
2635 | object[] o = new object[16]; |
||
2636 | i = 0; |
||
2637 | wp = "Point" + k.ToString(); |
||
2638 | o[i] = k; |
||
2639 | i++; |
||
2640 | sVal = ini.IniReadValue(wp, "Type"); |
||
2641 | if (sVal != "") |
||
2315 | - | 2642 | o[i] = Convert.ToInt16(sVal) - 1; |
2312 | - | 2643 | i++; |
2644 | sVal = ini.IniReadValue(wp, "Prefix"); |
||
2645 | if (sVal != "") |
||
2646 | o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString(); |
||
2647 | i++; |
||
2313 | - | 2648 | sVal = ini.IniReadValue(wp, "Latitude"); |
2312 | - | 2649 | if (sVal != "") |
2313 | - | 2650 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2651 | i++; |
2313 | - | 2652 | sVal = ini.IniReadValue(wp, "Longitude"); |
2312 | - | 2653 | if (sVal != "") |
2313 | - | 2654 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2655 | i++; |
2656 | sVal = ini.IniReadValue(wp, "Altitude"); |
||
2657 | if (sVal != "") |
||
2313 | - | 2658 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2659 | i++; |
2660 | sVal = ini.IniReadValue(wp, "Heading"); |
||
2661 | if (sVal != "") |
||
2662 | o[i] = Convert.ToInt16(sVal); |
||
2663 | i++; |
||
2664 | sVal = ini.IniReadValue(wp, "Speed"); |
||
2665 | if (sVal != "") |
||
2315 | - | 2666 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 2667 | i++; |
2668 | sVal = ini.IniReadValue(wp, "ClimbRate"); |
||
2669 | if (sVal != "") |
||
2670 | o[i] = Convert.ToInt16(sVal); |
||
2671 | i++; |
||
2672 | sVal = ini.IniReadValue(wp, "Radius"); |
||
2673 | if (sVal != "") |
||
2674 | o[i] = Convert.ToInt16(sVal); |
||
2675 | i++; |
||
2676 | sVal = ini.IniReadValue(wp, "DelayTime"); |
||
2677 | if (sVal != "") |
||
2678 | o[i] = Convert.ToInt16(sVal); |
||
2679 | i++; |
||
2680 | sVal = ini.IniReadValue(wp, "AutoTrigger"); |
||
2681 | if (sVal != "") |
||
2682 | o[i] = Convert.ToInt16(sVal); ; |
||
2683 | i++; |
||
2684 | sVal = ini.IniReadValue(wp, "CAM-Nick"); |
||
2685 | if (sVal != "") |
||
2313 | - | 2686 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 2687 | i++; |
2688 | o[i] = 0; |
||
2689 | i++; |
||
2690 | sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
||
2691 | if (sVal != "") |
||
2692 | o[i] = Convert.ToInt16(sVal); |
||
2693 | i++; |
||
2694 | o[i] = "New"; |
||
2695 | |||
2696 | dr.ItemArray = o; |
||
2697 | dtWaypoints.Rows.Add(dr); |
||
2315 | - | 2698 | GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4])); |
2699 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]); |
||
2700 | _setMarkerColor(wpMarker, (int)o[1]); |
||
2701 | MainMap.Markers.Add(wpMarker); |
||
2702 | |||
2312 | - | 2703 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
2704 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
||
2705 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2706 | Thread.Sleep(10); |
||
2707 | } |
||
2708 | } |
||
2709 | } |
||
2710 | } |
||
2711 | |||
2712 | } |
||
2713 | catch (Exception e) |
||
2714 | { |
||
2715 | |||
2716 | MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
2717 | } |
||
2718 | |||
2719 | } |
||
2720 | } |
||
2315 | - | 2721 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
2722 | { |
||
2723 | Dispatcher.Invoke(() => |
||
2724 | { |
||
2725 | switch (iType) |
||
2726 | { |
||
2727 | case 0: |
||
2728 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
2729 | { |
||
2730 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
2731 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2732 | } |
||
2733 | else |
||
2734 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2735 | break; |
||
2736 | case 1: |
||
2737 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
2738 | { |
||
2739 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
2740 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2741 | } |
||
2742 | else |
||
2743 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2744 | break; |
||
2745 | case 2: |
||
2746 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
2747 | { |
||
2748 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
2749 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2750 | } |
||
2751 | else |
||
2752 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2753 | break; |
||
2754 | default: |
||
2755 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2756 | break; |
||
2757 | } |
||
2758 | }); |
||
2312 | - | 2759 | |
2315 | - | 2760 | } |
2761 | private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e) |
||
2312 | - | 2762 | { |
2315 | - | 2763 | Dispatcher.Invoke(() => |
2764 | { |
||
2765 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
2766 | { |
||
2767 | for (int k = 0; k < MainMap.Markers.Count;k++) |
||
2768 | { |
||
2769 | GMapMarker p = MainMap.Markers[k]; |
||
2770 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2771 | { |
||
2772 | if (((CustomMarkerWP)p.Shape).WPType == 0) |
||
2773 | { |
||
2774 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
2775 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2776 | } |
||
2777 | } |
||
2778 | } |
||
2779 | } |
||
2780 | }); |
||
2312 | - | 2781 | } |
2315 | - | 2782 | private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e) |
2783 | { |
||
2784 | Dispatcher.Invoke(() => |
||
2785 | { |
||
2786 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
2787 | { |
||
2788 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
2789 | { |
||
2790 | GMapMarker p = MainMap.Markers[k]; |
||
2791 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2792 | { |
||
2793 | if (((CustomMarkerWP)p.Shape).WPType == 1) |
||
2794 | { |
||
2795 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
2796 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2797 | } |
||
2798 | } |
||
2799 | } |
||
2800 | } |
||
2801 | }); |
||
2287 | - | 2802 | |
2315 | - | 2803 | } |
2804 | private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e) |
||
2287 | - | 2805 | { |
2315 | - | 2806 | Dispatcher.Invoke(() => |
2807 | { |
||
2808 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
2809 | { |
||
2810 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
2811 | { |
||
2812 | GMapMarker p = MainMap.Markers[k]; |
||
2813 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2814 | { |
||
2815 | if (((CustomMarkerWP)p.Shape).WPType == 2) |
||
2816 | { |
||
2817 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
2818 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2819 | } |
||
2820 | } |
||
2821 | } |
||
2822 | } |
||
2823 | }); |
||
2287 | - | 2824 | } |
2318 | - | 2825 | private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e) |
2826 | { |
||
2827 | Dispatcher.Invoke(() => { |
||
2828 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
2829 | { |
||
2830 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2831 | ((CustomMarkerCopter)(copter.Shape)).setColor(s); |
||
2832 | } |
||
2833 | else |
||
2834 | ((CustomMarkerCopter)(copter.Shape)).setColor("red"); |
||
2835 | }); |
||
2836 | } |
||
2315 | - | 2837 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
2287 | - | 2838 | { |
2315 | - | 2839 | _readWPLFile(); |
2287 | - | 2840 | } |
2315 | - | 2841 | #endregion WP |
2842 | |||
2843 | #endregion functions |
||
2287 | - | 2844 | } |
2315 | - | 2845 | /// <summary> |
2846 | /// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter |
||
2847 | /// </summary> |
||
2313 | - | 2848 | public class waypointsConverter : IValueConverter |
2849 | { |
||
2850 | public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
||
2851 | { |
||
2852 | if (value != null) |
||
2853 | { |
||
2854 | switch ((string)parameter) |
||
2855 | { |
||
2856 | case "Latitude": |
||
2857 | return value.ToString() + " °"; |
||
2858 | case "Longitude": |
||
2859 | return value.ToString() + " °"; |
||
2860 | case "Radius": |
||
2861 | return value.ToString() + " m"; |
||
2862 | case "Altitude": |
||
2863 | return value.ToString() + " m"; |
||
2864 | case "ClimbRate": |
||
2865 | return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
||
2866 | case "DelayTime": |
||
2867 | return value.ToString() + " s"; |
||
2868 | case "Heading": |
||
2869 | return Waypoints.Heading(System.Convert.ToInt32(value)); |
||
2870 | case "Speed": |
||
2871 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
2872 | case "CamAngle": |
||
2873 | return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
||
2874 | case "Type": |
||
2875 | return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
||
2876 | case "AutoTrigger": |
||
2877 | return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
||
2878 | case "Status": |
||
2879 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
2880 | } |
||
2881 | |||
2882 | return value.ToString(); |
||
2883 | } |
||
2884 | else return value; |
||
2885 | } |
||
2886 | |||
2887 | public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
||
2888 | { |
||
2889 | throw new NotImplementedException(); |
||
2890 | } |
||
2891 | } |
||
2892 | |||
2287 | - | 2893 | public class IniFile |
2894 | { |
||
2895 | public string path; |
||
2896 | |||
2897 | [DllImport("kernel32")] |
||
2898 | private static extern long WritePrivateProfileString(string section, |
||
2899 | string key, string val, string filePath); |
||
2900 | |||
2901 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
2902 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
2903 | uint nSize, string lpFileName); |
||
2904 | |||
2905 | [DllImport("kernel32")] |
||
2906 | private static extern int GetPrivateProfileString(string section, |
||
2907 | string key, string def, StringBuilder retVal, |
||
2908 | int size, string filePath); |
||
2909 | |||
2910 | public IniFile(string INIPath) |
||
2911 | { |
||
2912 | path = INIPath; |
||
2913 | } |
||
2914 | |||
2915 | public void IniWriteValue(string Section, string Key, string Value) |
||
2916 | { |
||
2917 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
2918 | } |
||
2919 | |||
2920 | public string IniReadValue(string Section, string Key) |
||
2921 | { |
||
2922 | StringBuilder temp = new StringBuilder(255); |
||
2923 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
2924 | return temp.ToString(); |
||
2925 | } |
||
2926 | //Ini_sections auslesen in String-Array |
||
2927 | public string[] IniSectionNames() |
||
2928 | { |
||
2929 | |||
2930 | // uint MAX_BUFFER = 32767; |
||
2931 | uint MAX_BUFFER = 8388608; |
||
2932 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
2933 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
2934 | if (bytesReturned == 0) |
||
2935 | { |
||
2936 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2937 | return null; |
||
2938 | } |
||
2939 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
2940 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2941 | //use of Substring below removes terminating null for split |
||
2942 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
2943 | |||
2944 | |||
2945 | } |
||
2946 | } |
||
2947 | |||
2948 | /// <summary> |
||
2949 | /// Selected Win AI Function Calls |
||
2950 | /// </summary> |
||
2951 | public class WinApi |
||
2952 | { |
||
2953 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
2954 | public static extern int GetSystemMetrics(int which); |
||
2955 | [DllImport("user32.dll")] |
||
2956 | public static extern void |
||
2957 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
2958 | int X, int Y, int width, int height, uint flags); |
||
2959 | |||
2960 | private const int SM_CXSCREEN = 0; |
||
2961 | private const int SM_CYSCREEN = 1; |
||
2962 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
2963 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
2964 | |||
2965 | public static int ScreenX |
||
2966 | { |
||
2967 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
2968 | } |
||
2969 | |||
2970 | public static int ScreenY |
||
2971 | { |
||
2972 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
2973 | } |
||
2974 | |||
2975 | public static void SetWinFullScreen(IntPtr hwnd) |
||
2976 | { |
||
2977 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
2978 | } |
||
2979 | } |
||
2980 | /// <summary> |
||
2981 | /// Class used to preserve / restore state of the window |
||
2982 | /// </summary> |
||
2983 | public class WinState |
||
2984 | { |
||
2985 | private WindowState winState; |
||
2986 | private WindowStyle brdStyle; |
||
2987 | private bool topMost; |
||
2988 | private Rect restore; |
||
2989 | private bool IsMaximized = false; |
||
2990 | |||
2991 | public bool isMaximized |
||
2992 | { |
||
2993 | get { return IsMaximized; } |
||
2994 | } |
||
2995 | public void Maximize(Window targetForm) |
||
2996 | { |
||
2997 | if (!IsMaximized) |
||
2998 | { |
||
2999 | IsMaximized = true; |
||
3000 | Save(targetForm); |
||
3001 | targetForm.WindowState = WindowState.Maximized; |
||
3002 | targetForm.WindowStyle = WindowStyle.None; |
||
3003 | targetForm.Topmost = true; |
||
3004 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
3005 | } |
||
3006 | } |
||
3007 | |||
3008 | public void Save(Window targetForm) |
||
3009 | { |
||
3010 | winState = targetForm.WindowState; |
||
3011 | brdStyle = targetForm.WindowStyle; |
||
3012 | topMost = targetForm.Topmost; |
||
3013 | restore = targetForm.RestoreBounds; |
||
3014 | } |
||
3015 | public void Restore(Window targetForm) |
||
3016 | { |
||
3017 | targetForm.WindowState = winState; |
||
3018 | targetForm.WindowStyle = brdStyle; |
||
3019 | targetForm.Topmost = topMost; |
||
3020 | |||
3021 | targetForm.Left = restore.Left; |
||
3022 | targetForm.Top = restore.Top; |
||
3023 | targetForm.Height = restore.Height; |
||
3024 | targetForm.Width = restore.Width; |
||
3025 | IsMaximized = false; |
||
3026 | } |
||
3027 | } |
||
3028 | |||
3029 | } |