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; |
2324 | - | 30 | using System.Xml; |
31 | using System.Xml.Linq; |
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2287 | - | 32 | |
33 | namespace MKLiveView |
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34 | { |
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35 | /// <summary> |
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36 | /// Interaktionslogik für MainWindow.xaml |
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37 | /// </summary> |
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38 | public partial class MainWindow : Window |
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39 | { |
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2304 | - | 40 | #region declarations |
41 | |||
2287 | - | 42 | GMapMarker copter; |
43 | GMapMarker home; |
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44 | PointLatLng start; |
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45 | PointLatLng end; |
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46 | PointLatLng pHome; |
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2328 | - | 47 | GMapRoute mRouteWP; |
48 | List<PointLatLng> wpList = new List<PointLatLng>(); |
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2324 | - | 49 | #region NC-Errors |
2287 | - | 50 | String[] NC_Error = new string[44] |
51 | { |
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52 | "No Error", |
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53 | "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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54 | "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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55 | "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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56 | "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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57 | "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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58 | "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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59 | "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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60 | "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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61 | "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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62 | "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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63 | "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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64 | "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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65 | "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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66 | "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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67 | "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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68 | "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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69 | "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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70 | "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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71 | "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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72 | "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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73 | "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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74 | "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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75 | "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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76 | "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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77 | "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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78 | "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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79 | "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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80 | "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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81 | "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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82 | "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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83 | "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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84 | "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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85 | "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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86 | "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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87 | "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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88 | "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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89 | "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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90 | "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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91 | "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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92 | "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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93 | "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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94 | "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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95 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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96 | }; |
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2324 | - | 97 | #endregion NC-Errors |
2287 | - | 98 | [FlagsAttribute] |
99 | enum NC_HWError0 : short |
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100 | { |
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101 | None = 0, |
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102 | SPI_RX = 1, |
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103 | COMPASS_RX = 2, |
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104 | FC_INCOMPATIBLE = 4, |
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105 | COMPASS_INCOMPATIBLE = 8, |
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106 | GPS_RX = 16, |
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107 | COMPASS_VALUE = 32 |
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108 | }; |
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109 | [FlagsAttribute] |
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110 | enum FC_HWError0 : short |
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111 | { |
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112 | None = 0, |
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113 | GYRO_NICK = 1, |
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114 | GYRO_ROLL = 2, |
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115 | GYRO_YAW = 4, |
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116 | ACC_NICK = 8, |
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117 | ACC_ROLL = 16, |
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118 | ACC_TOP = 32, |
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119 | PRESSURE = 64, |
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120 | CAREFREE = 128 |
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121 | }; |
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122 | [FlagsAttribute] |
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123 | enum FC_HWError1 : short |
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124 | { |
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125 | None = 0, |
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126 | I2C = 1, |
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127 | BL_MISSING = 2, |
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128 | SPI_RX = 4, |
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129 | PPM = 8, |
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130 | MIXER = 16, |
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131 | RC_VOLTAGE = 32, |
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132 | ACC_NOT_CAL = 64, |
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133 | RES3 = 128 |
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134 | }; |
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135 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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136 | // Various colors for logging info |
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137 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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138 | |||
139 | bool _bCBInit = true; |
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140 | bool _init = true; |
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141 | bool check_HWError = false; |
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142 | |||
143 | string filePath = Directory.GetCurrentDirectory(); |
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144 | bool bReadContinously = false; |
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145 | bool _debugDataAutorefresh = true; |
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146 | bool _navCtrlDataAutorefresh = true; |
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147 | bool _blctrlDataAutorefresh = true; |
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148 | bool _OSDAutorefresh = true; |
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149 | bool _bErrorLog = false; |
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150 | bool _bConnErr = false; |
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151 | bool _bFollowCopter = false; |
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2324 | - | 152 | bool _bGPXLog = false; |
2287 | - | 153 | |
154 | bool _bSaveWinStateNormal = true; |
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155 | bool _bSaveWinStateFull = true; |
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156 | |||
157 | double scaleNormalAll = 1; |
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158 | double scaleNormalTopBar = 1; |
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159 | double scaleNormalMotors = 1; |
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160 | double scaleNormalOSD = 1; |
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161 | double scaleNormalLOG = 1; |
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162 | double scaleNormalHorizon = 1; |
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163 | |||
164 | double scaleFullAll = 1; |
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165 | double scaleFullTopBar = 1; |
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166 | double scaleFullMotors = 1; |
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167 | double scaleFullOSD = 1; |
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168 | double scaleFullLOG = 1; |
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169 | double scaleFullHorizon = 1; |
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170 | |||
171 | int _iCtrlAct = 0; |
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172 | int iOSDPage = 0; |
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173 | int iOSDMax = 0; |
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174 | int _iLifeCounter = 0; |
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175 | int crcError = 0; |
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176 | |||
2291 | - | 177 | bool _bSatFix = false; |
178 | Storyboard stbSatFixLostAnim; |
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179 | bool _bAnimSatFixActive = false; |
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180 | bool _bVoiceSatFixActive = false; |
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181 | bool _bVoiceSatFixPlay = false; |
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182 | int _iSatsLast = 0; |
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183 | int _iSatsJitter = 0; |
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184 | |||
185 | bool _bMagneticFieldOK = false; |
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186 | Storyboard stbMagneticFieldAnim; |
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187 | bool _bAnimMagneticFieldActive = false; |
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188 | bool _bVoiceMagneticFieldActive = false; |
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189 | bool _bVoiceMagneticFieldPlay = false; |
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190 | int _iMagneticFieldLast = 0; |
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191 | int _iMagneticFieldJitter = 0; |
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192 | |||
193 | bool _bRCLevelOK = false; |
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194 | Storyboard stbRCLevelAnim; |
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195 | bool _bAnimRCLevelActive = false; |
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196 | bool _bVoiceRCLevelActive = false; |
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197 | bool _bVoiceRCLevelPlay = false; |
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198 | int _iRCLevelLast = 0; |
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199 | int _iRCLevelJitter = 0; |
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200 | |||
2287 | - | 201 | int _iMotors = 4; |
202 | int _LipoCells = 4; |
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203 | |||
204 | double _dLipoVMax = 16.88; |
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205 | double _dLipoVMin = 12; |
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206 | double _dThresholdVoltageWarn = 0; |
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207 | double _dThresholdVoltageCrit = 0; |
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208 | Storyboard stbVoltageCritAnim; |
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209 | bool _bCritAnimVoltActive = false; |
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210 | bool _bCritVoiceVoltActive = false; |
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2291 | - | 211 | bool _bWarnVoiceVoltActive = false; |
2287 | - | 212 | bool _bVoiceVoltPlay = false; |
213 | double _dVoltLast = 0; |
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214 | int _iVoltJitter = 0; |
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215 | |||
2291 | - | 216 | double _dThresholdDistanceWarn = 100; |
217 | Storyboard stbDistanceWarnAnim; |
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218 | bool _bAnimDistanceActive = false; |
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219 | bool _bVoiceDistanceActive = false; |
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220 | bool _bVoiceDistancePlay = false; |
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221 | double _dDistanceLast = 0; |
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222 | int _iDistanceJitter = 0; |
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223 | |||
224 | double _dThresholdDistanceMax = 1000; |
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225 | int _iThresholdRC = 160; |
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226 | int _iThresholdMagField = 15; |
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227 | |||
2295 | - | 228 | bool _bAutoHome = false; |
229 | bool _bFirstSatFix = false; |
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230 | int _iFirstSatFix = 0; |
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2291 | - | 231 | |
2287 | - | 232 | double _dTopHeight = 36; |
233 | |||
234 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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235 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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236 | string[] serChanTitle = new string[12]; |
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237 | |||
238 | string[] sAnalogLabel = new string[32]; |
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239 | string[] sAnalogData = new string[32]; |
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2324 | - | 240 | int[] iAnalogData = new int[32]; |
2287 | - | 241 | |
242 | 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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243 | int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 }; |
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244 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
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245 | /// <summary> |
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246 | /// interval for sending debugdata (multiplied by 10ms) |
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247 | /// </summary> |
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248 | byte debugInterval = 10; //(=> 100ms) |
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249 | /// <summary> |
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250 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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251 | /// </summary> |
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252 | byte blctrlInterval = 75; |
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253 | /// <summary> |
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254 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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255 | /// </summary> |
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256 | byte navctrlInterval = 80; |
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257 | /// <summary> |
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258 | /// interval for sending OSD page update (multiplied by 10ms) |
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259 | /// </summary> |
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260 | byte OSDInterval = 85; |
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261 | /// <summary> |
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262 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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263 | /// </summary> |
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264 | DataTable dtAnalog = new DataTable(); |
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265 | /// <summary> |
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266 | /// datatable for motordata (current,temp) |
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267 | /// </summary> |
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2315 | - | 268 | DataTable dtMotors = new DataTable(); |
2287 | - | 269 | |
270 | DataTable dtWaypoints = new DataTable(); |
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2313 | - | 271 | static volatile int _iWPCount = -1; |
272 | static volatile int _iWPIndex = -1; |
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273 | int _iWPTimeout = 1000; |
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2287 | - | 274 | bool _bGetWP = false; |
2328 | - | 275 | bool _bShowWPRoute = false; |
2287 | - | 276 | static volatile bool _bGetWPCount = false; |
2324 | - | 277 | DataTable dtGPX = new DataTable(); |
278 | DataRow drGPX; |
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279 | bool _bAirborne = false; |
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2287 | - | 280 | DispatcherTimer timer = new DispatcherTimer(); |
281 | |||
282 | /// <summary> |
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283 | /// stuff for enabeling touch zoom for the map |
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284 | /// </summary> |
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285 | Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0); |
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286 | int iFirstStylusID = -1; |
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287 | public string connectButtonText |
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288 | { |
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289 | get |
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290 | { |
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291 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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292 | } |
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293 | } |
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294 | |||
295 | WinState winState = new WinState(); |
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2304 | - | 296 | #endregion declarations |
2287 | - | 297 | public MainWindow() |
298 | { |
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299 | InitializeComponent(); |
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300 | _initForm(); |
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301 | _dataTablesInit(); |
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302 | _setupMap(); |
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303 | _init = false; |
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304 | timer.Tick += new EventHandler(timerEvent); |
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305 | timer.Interval = new TimeSpan(0, 0, 1); |
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306 | timer.Start(); |
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307 | } |
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308 | |||
309 | #region init |
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310 | void _initForm() |
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311 | { |
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312 | _readIni(); |
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313 | if (_bSaveWinStateNormal) |
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314 | _setScaleSliders(false); |
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315 | cBoxTimingsDebug.ItemsSource = |
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316 | cBoxTimingsNav.ItemsSource = |
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317 | cBoxTimingsBl.ItemsSource = |
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318 | cBoxTimingsOSD.ItemsSource = |
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319 | iTimings; |
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320 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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321 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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322 | _LipoMinMax(); |
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323 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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324 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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325 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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2291 | - | 326 | checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
327 | checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
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328 | checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
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329 | sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
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330 | checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
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2287 | - | 331 | |
2291 | - | 332 | sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
333 | |||
2287 | - | 334 | cBoxMotors.ItemsSource = iMotors; |
335 | cBoxMotors.SelectedItem = _iMotors; |
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336 | |||
337 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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338 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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339 | serialPortCtrl.DataReceived += processMessage; |
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340 | |||
341 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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342 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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343 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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344 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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345 | |||
346 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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347 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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348 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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349 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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2295 | - | 350 | checkBoxAutoSetHP.IsChecked = _bAutoHome; |
2287 | - | 351 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
2324 | - | 352 | checkBoxGPXLog.IsChecked = _bGPXLog; |
2328 | - | 353 | checkBoxShowWPRoute.IsChecked = _bShowWPRoute; |
2287 | - | 354 | |
355 | } |
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356 | /// <summary> |
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357 | /// initialize the datatables |
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358 | /// with columnnames etc |
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359 | /// </summary> |
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360 | void _dataTablesInit() |
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361 | { |
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2315 | - | 362 | dtMotors.Columns.Add("#"); |
2313 | - | 363 | if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
2315 | - | 364 | dtMotors.Columns.Add("Strom"); |
2313 | - | 365 | else |
2315 | - | 366 | dtMotors.Columns.Add("Current"); |
367 | dtMotors.Columns.Add("Temp"); |
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368 | dgvMotors1.DataContext = dtMotors.DefaultView; |
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2287 | - | 369 | _initDTMotors(); |
370 | |||
371 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0)); |
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372 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
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373 | style.Setters.Add(setter); |
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374 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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375 | style.Setters.Add(setter); |
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376 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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377 | style.Setters.Add(setter); |
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2313 | - | 378 | |
379 | dtWaypoints.Columns.Add("Index",typeof(int)); |
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2315 | - | 380 | dtWaypoints.Columns.Add("Type", typeof(int)); |
2313 | - | 381 | dtWaypoints.Columns.Add("Name",typeof(string)); |
2315 | - | 382 | dtWaypoints.Columns.Add("Latitude",typeof(double)); |
383 | dtWaypoints.Columns.Add("Longitude",typeof(double)); |
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2313 | - | 384 | dtWaypoints.Columns.Add("Altitude",typeof(string)); |
385 | dtWaypoints.Columns.Add("Heading",typeof(string)); |
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386 | dtWaypoints.Columns.Add("Speed",typeof(string)); |
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387 | dtWaypoints.Columns.Add("ClimbRate",typeof(string)); |
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388 | dtWaypoints.Columns.Add("Radius",typeof(string)); |
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389 | dtWaypoints.Columns.Add("HoldTime",typeof(string)); |
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390 | dtWaypoints.Columns.Add("AutoTrigger",typeof(string)); |
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391 | dtWaypoints.Columns.Add("CamAngle",typeof(string)); |
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392 | dtWaypoints.Columns.Add("Event",typeof(string)); |
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393 | dtWaypoints.Columns.Add("Out1Timer",typeof(string)); |
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394 | dtWaypoints.Columns.Add("Status",typeof(string)); |
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395 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
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396 | dgvWP.ItemsSource = dtWaypoints.DefaultView; |
||
2287 | - | 397 | dgvWP.ColumnHeaderStyle = new Style(); |
398 | dgvWP.ColumnHeaderStyle = style; |
||
2313 | - | 399 | |
2324 | - | 400 | dtGPX.Columns.Add("Index",typeof(int)); |
401 | dtGPX.Columns.Add("Latitude",typeof(double)); |
||
402 | dtGPX.Columns.Add("Longitude",typeof(double)); |
||
403 | dtGPX.Columns.Add("Elevation",typeof(int)); |
||
404 | dtGPX.Columns.Add("Time",typeof(string)); |
||
405 | dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] }; |
||
406 | drGPX = dtGPX.NewRow(); |
||
2313 | - | 407 | |
2287 | - | 408 | } |
409 | /// <summary> |
||
2315 | - | 410 | /// initialize the datatable dtMotors for motor values |
2313 | - | 411 | /// DataGridView dgvMotors1 is bound to dtMotors1 |
2287 | - | 412 | /// </summary> |
413 | void _initDTMotors() |
||
414 | { |
||
415 | for (int i = 0; i < 12; i++) |
||
416 | { |
||
2315 | - | 417 | if (dtMotors.Rows.Count < 12) |
418 | dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
2287 | - | 419 | else |
420 | { |
||
2315 | - | 421 | dtMotors.Rows[i].SetField(1, "NA"); |
422 | dtMotors.Rows[i].SetField(2, "NA"); |
||
2287 | - | 423 | } |
424 | } |
||
425 | } |
||
426 | |||
427 | #endregion init |
||
428 | |||
429 | #region events |
||
430 | private void serialPortCtrl_PortOpened() |
||
431 | { |
||
432 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
||
433 | _getVersion(); |
||
434 | Thread.Sleep(100); |
||
435 | //_OSDMenue(0); |
||
436 | //Thread.Sleep(200); |
||
437 | //_sendSerialData(); |
||
438 | _readCont(true); |
||
439 | } |
||
440 | private void serialPortCtrl_PortClosed() |
||
441 | { |
||
442 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
||
443 | _readCont(false); |
||
444 | } |
||
2324 | - | 445 | bool _bToggle = false; |
2287 | - | 446 | void timerEvent(object sender, EventArgs e) |
447 | { |
||
448 | if (bReadContinously) |
||
449 | { |
||
450 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
451 | |||
452 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
453 | |||
454 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
455 | check_HWError = true; |
||
456 | _getVersion(); |
||
457 | Thread.Sleep(10); |
||
458 | if (_OSDAutorefresh) |
||
459 | { |
||
460 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
461 | _initOSDCB(); |
||
462 | _OSDMenueAutoRefresh(); |
||
463 | } |
||
464 | if (_iLifeCounter > 0) |
||
465 | { |
||
466 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
467 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
468 | _iLifeCounter = 0; |
||
469 | _bConnErr = false; |
||
2327 | - | 470 | if(_bAirborne && _bGPXLog) |
2324 | - | 471 | { |
472 | drGPX[0] = dtGPX.Rows.Count; |
||
473 | dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] }); |
||
474 | } |
||
2327 | - | 475 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent))); |
476 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
477 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
2324 | - | 478 | _bToggle = !_bToggle; |
2287 | - | 479 | } |
480 | else |
||
481 | { |
||
482 | if (!_bConnErr) |
||
483 | { |
||
484 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
485 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
486 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
||
487 | _bConnErr = true; |
||
488 | } |
||
489 | } |
||
490 | } |
||
491 | } |
||
492 | |||
493 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
494 | { |
||
495 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
496 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
497 | } |
||
498 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
499 | { |
||
500 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
501 | if (GridMotors.IsVisible) |
||
502 | _setMotorGridSize(); |
||
503 | } |
||
504 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
505 | { |
||
506 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
507 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
508 | } |
||
509 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
510 | { |
||
511 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
512 | } |
||
513 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
514 | { |
||
515 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
516 | } |
||
517 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
518 | { |
||
519 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
520 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
521 | } |
||
522 | |||
523 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
524 | { |
||
525 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
526 | t.Start(); |
||
527 | } |
||
528 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
529 | { |
||
2313 | - | 530 | Thread t = new Thread(new ThreadStart(_sendWPList)); |
531 | t.Start(); |
||
2287 | - | 532 | } |
533 | |||
534 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
535 | { |
||
536 | if (!serialPortCtrl.Port.IsOpen) |
||
537 | serialPortCtrl.Connect(true); |
||
538 | else |
||
539 | _readCont(!bReadContinously); |
||
540 | } |
||
541 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
542 | { |
||
543 | setHomePos(); |
||
544 | } |
||
545 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
546 | { |
||
547 | clearHomePos(); |
||
548 | } |
||
549 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
550 | { |
||
551 | if (home != null && MainMap.Markers.Contains(home)) |
||
552 | MainMap.Position = home.Position; |
||
553 | } |
||
2295 | - | 554 | private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
555 | { |
||
556 | _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
||
557 | } |
||
2287 | - | 558 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
559 | { |
||
560 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
561 | } |
||
562 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
563 | { |
||
564 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
565 | } |
||
566 | |||
2291 | - | 567 | #region thresholds |
2287 | - | 568 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
569 | { |
||
570 | if(!_init) |
||
571 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
||
572 | } |
||
573 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
574 | { |
||
575 | if(!_init) |
||
576 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
||
577 | } |
||
578 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
579 | { |
||
580 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
581 | } |
||
2291 | - | 582 | |
583 | private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
584 | { |
||
585 | if(!_init) |
||
586 | _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
||
587 | } |
||
588 | private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
||
589 | { |
||
590 | _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
||
591 | } |
||
592 | |||
593 | private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
||
594 | { |
||
595 | _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
||
596 | } |
||
597 | private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
||
598 | { |
||
599 | _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
||
600 | } |
||
601 | private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
||
602 | { |
||
603 | _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
||
604 | } |
||
605 | #endregion thresholds |
||
606 | |||
2287 | - | 607 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
608 | { |
||
609 | _switchToNC(); |
||
610 | } |
||
611 | |||
612 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
613 | { |
||
614 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
2291 | - | 615 | stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
616 | stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
||
617 | stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
||
618 | stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
||
2287 | - | 619 | _setMotorGridSize(); |
620 | } |
||
2310 | - | 621 | private void Window_Closing(object sender, CancelEventArgs e) |
622 | { |
||
623 | _writeIni(); |
||
2324 | - | 624 | if(_bGPXLog && dtGPX.Rows.Count > 0) |
625 | _saveGPXLog(); |
||
2310 | - | 626 | } |
2287 | - | 627 | #endregion events |
628 | |||
629 | #region GMap |
||
630 | |||
631 | void _setupMap() |
||
632 | { |
||
633 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
634 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
635 | MainMap.SetPositionByKeywords("Landshut"); |
||
636 | MainMap.MinZoom = 0; |
||
637 | MainMap.MaxZoom = 24; |
||
638 | MainMap.Zoom = 16; |
||
639 | MainMap.ShowCenter = true; |
||
640 | MainMap.ShowTileGridLines = false; |
||
641 | sliderMapZoom.Value = 16; |
||
642 | comboBoxMapType.ItemsSource = providerList; |
||
643 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
644 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
645 | |||
646 | // acccess mode |
||
647 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
648 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
649 | |||
650 | } |
||
651 | |||
652 | /// <summary> |
||
653 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
654 | /// comboBoxMapType.ItemsSource = providerList; |
||
655 | /// to: |
||
656 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
657 | /// in _setupMap() |
||
658 | /// or add items here: |
||
659 | /// </summary> |
||
660 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
661 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
662 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
663 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
664 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
665 | |||
666 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
667 | { |
||
668 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
669 | copter = new GMapMarker(MainMap.Position); |
||
2318 | - | 670 | |
671 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red"); |
||
672 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
673 | { |
||
674 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
675 | ((CustomMarkerCopter)(copter.Shape)).setColor(s); |
||
676 | } |
||
2287 | - | 677 | copter.Offset = new System.Windows.Point(-18, -18); |
678 | copter.ZIndex = int.MaxValue; |
||
679 | MainMap.Markers.Add(copter); |
||
680 | copter.Position = MainMap.Position; |
||
681 | } |
||
682 | void setHomePos() |
||
683 | { |
||
684 | pHome = MainMap.Position; |
||
685 | if (!MainMap.Markers.Contains(home)) |
||
686 | { |
||
687 | home = new GMapMarker(MainMap.Position); |
||
688 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
689 | home.Offset = new System.Windows.Point(-18, -18); |
||
690 | // home.ZIndex = int.MaxValue; |
||
691 | MainMap.Markers.Add(home); |
||
692 | } |
||
693 | home.Position = MainMap.Position; |
||
694 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
695 | } |
||
696 | void clearHomePos() |
||
697 | { |
||
698 | MainMap.Markers.Remove(home); |
||
699 | } |
||
2335 | - | 700 | void _clearMapMarkers(Type markerType) |
701 | { |
||
702 | for (int k = 0; k < MainMap.Markers.Count;) |
||
703 | { |
||
704 | GMapMarker p = MainMap.Markers[k]; |
||
705 | if (p.GetType() == markerType | p.Shape.GetType() == markerType) |
||
706 | MainMap.Markers.Remove(p); |
||
707 | else |
||
708 | k++; |
||
709 | } |
||
2287 | - | 710 | |
2335 | - | 711 | } |
712 | |||
2287 | - | 713 | // access mode |
714 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
715 | { |
||
716 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
717 | MainMap.ReloadMap(); |
||
718 | } |
||
719 | // zoom up |
||
720 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
721 | { |
||
722 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
723 | } |
||
724 | |||
725 | // zoom down |
||
726 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
727 | { |
||
728 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
729 | } |
||
730 | |||
731 | // prefetch |
||
732 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
733 | { |
||
734 | RectLatLng area = MainMap.SelectedArea; |
||
735 | if (!area.IsEmpty) |
||
736 | { |
||
737 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
738 | { |
||
739 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
740 | |||
741 | if (res == MessageBoxResult.Yes) |
||
742 | { |
||
743 | TilePrefetcher obj = new TilePrefetcher(); |
||
744 | obj.Owner = this; |
||
745 | obj.ShowCompleteMessage = true; |
||
746 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
747 | } |
||
748 | else if (res == MessageBoxResult.No) |
||
749 | { |
||
750 | continue; |
||
751 | } |
||
752 | else if (res == MessageBoxResult.Cancel) |
||
753 | { |
||
754 | break; |
||
755 | } |
||
756 | } |
||
757 | } |
||
758 | else |
||
759 | { |
||
760 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
761 | } |
||
762 | } |
||
763 | |||
764 | // goto by geocoder |
||
765 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
766 | { |
||
767 | _goto_byGeoCoder(); |
||
768 | } |
||
769 | // goto by geocoder |
||
770 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
771 | { |
||
772 | if (e.Key == System.Windows.Input.Key.Enter) |
||
773 | _goto_byGeoCoder(); |
||
774 | } |
||
775 | void _goto_byGeoCoder() |
||
776 | { |
||
777 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
778 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
779 | { |
||
780 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
781 | } |
||
782 | } |
||
783 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
784 | { |
||
785 | try |
||
786 | { |
||
787 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
788 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
789 | |||
790 | MainMap.Position = new PointLatLng(lat, lng); |
||
791 | } |
||
792 | catch (Exception ex) |
||
793 | { |
||
794 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
795 | } |
||
796 | |||
797 | } |
||
798 | |||
799 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
800 | { |
||
801 | MainMap.ReloadMap(); |
||
802 | } |
||
803 | |||
804 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
805 | { |
||
806 | if (_bFollowCopter) |
||
807 | _setCopterData(MainMap.Position); |
||
808 | } |
||
809 | |||
810 | private void MainMap_OnMapZoomChanged() |
||
811 | { |
||
812 | if (_bFollowCopter) |
||
813 | _setCopterData(MainMap.Position); |
||
814 | if((int)sliderMapZoom.Value != MainMap.Zoom) |
||
815 | sliderMapZoom.Value = MainMap.Zoom; |
||
816 | } |
||
817 | |||
818 | void _setCopterData(PointLatLng p) |
||
819 | { |
||
820 | Dispatcher.Invoke(() => |
||
821 | { |
||
822 | copter.Position = p; |
||
823 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
824 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
825 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
826 | }); |
||
827 | if (home != null && MainMap.Markers.Contains(home)) |
||
828 | { |
||
829 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
830 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
831 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
2291 | - | 832 | |
833 | if(d*1000 < _dThresholdDistanceWarn) |
||
834 | { |
||
835 | _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
||
836 | if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
||
837 | { |
||
838 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
||
839 | _bAnimDistanceActive = false; |
||
840 | } |
||
841 | } |
||
842 | else |
||
843 | { |
||
844 | if (_iDistanceJitter < 20) |
||
845 | { _iDistanceJitter++; } |
||
846 | if (_iDistanceJitter == 20) |
||
847 | { |
||
848 | if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
||
849 | { |
||
850 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
||
851 | _bAnimDistanceActive = true; |
||
852 | } |
||
853 | if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
||
854 | { |
||
2295 | - | 855 | Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
856 | t.Start(); |
||
2291 | - | 857 | _bVoiceDistanceActive = true; |
858 | } |
||
859 | _iDistanceJitter++; |
||
860 | } |
||
861 | } |
||
2287 | - | 862 | } |
863 | } |
||
864 | |||
865 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
866 | { |
||
867 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
868 | } |
||
869 | |||
870 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
871 | { |
||
872 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
873 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
874 | } |
||
875 | #region Touch zooming hackattack ;) |
||
876 | /// <summary> |
||
877 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
878 | /// </summary> |
||
879 | bool bFirstAccess = true; |
||
880 | double dDistance = 0; |
||
881 | int iZoom; |
||
882 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
883 | { |
||
884 | var id = e.StylusDevice.Id; |
||
885 | e.StylusDevice.Capture(MainMap); |
||
886 | if (iFirstStylusID == -1) |
||
887 | { |
||
888 | iFirstStylusID = id; |
||
889 | } |
||
890 | else |
||
891 | { |
||
892 | |||
893 | MainMap.CanDragMap = false; |
||
894 | } |
||
895 | } |
||
896 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
897 | { |
||
898 | MainMap.ReleaseStylusCapture(); |
||
899 | iFirstStylusID = -1; |
||
900 | bFirstAccess = true; |
||
901 | MainMap.CanDragMap = true; |
||
902 | iZoom = 0; |
||
903 | } |
||
904 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
905 | { |
||
906 | var id = e.StylusDevice.Id; |
||
907 | var tp = e.GetPosition(MainMap); |
||
908 | |||
909 | // This is the first Stylus point; just record its position. |
||
910 | if (id == iFirstStylusID) |
||
911 | { |
||
912 | pTouch1.X = tp.X; |
||
913 | pTouch1.Y = tp.Y; |
||
914 | } |
||
915 | else |
||
916 | if (iFirstStylusID > -1) |
||
917 | { |
||
918 | pTouch2.X = tp.X; |
||
919 | pTouch2.Y = tp.Y; |
||
920 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
921 | if (!bFirstAccess) |
||
922 | { |
||
923 | if (distance > dDistance) |
||
924 | iZoom++; |
||
925 | else |
||
926 | if (distance < dDistance) |
||
927 | iZoom--; |
||
928 | } |
||
929 | if (iZoom > 30) |
||
930 | { |
||
931 | iZoom = 0; |
||
932 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
933 | } |
||
934 | if (iZoom < -30) |
||
935 | { |
||
936 | iZoom = 0; |
||
937 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
938 | } |
||
939 | dDistance = distance; |
||
940 | bFirstAccess = false; |
||
941 | } |
||
942 | } |
||
943 | #endregion Touch zooming hackattack ;) |
||
944 | |||
945 | #endregion GMap |
||
946 | |||
947 | #region settings |
||
948 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
949 | { |
||
950 | if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
||
951 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
||
952 | } |
||
953 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
954 | { |
||
955 | if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
||
956 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
||
957 | } |
||
958 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
959 | { |
||
960 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
961 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
962 | } |
||
963 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
964 | { |
||
965 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
966 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
967 | } |
||
968 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
969 | { |
||
970 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
971 | } |
||
972 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
973 | { |
||
974 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
975 | } |
||
976 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
977 | { |
||
978 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
979 | } |
||
980 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
981 | { |
||
982 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
983 | } |
||
984 | |||
985 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
986 | { |
||
987 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
988 | { |
||
989 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
990 | _LipoMinMax(); |
||
991 | } |
||
992 | } |
||
993 | void _LipoMinMax() |
||
994 | { |
||
995 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
996 | _dLipoVMin = (double)_LipoCells * 3; |
||
997 | pbTopVoltage.Maximum = _dLipoVMax; |
||
998 | pbTopVoltage.Minimum = _dLipoVMin; |
||
999 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
1000 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
1001 | } |
||
1002 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
1003 | { |
||
1004 | if (cBoxMotors.SelectedIndex > -1) |
||
1005 | { |
||
1006 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
1007 | Dispatcher.Invoke(() => |
||
1008 | { |
||
1009 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
1010 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1011 | }); |
||
1012 | } |
||
1013 | } |
||
1014 | void _setMotorGridSize() |
||
1015 | { |
||
1016 | if (dgvMotors1.Columns.Count > 2) |
||
1017 | { |
||
1018 | dgvMotors1.Columns[0].Width = 24; |
||
1019 | dgvMotors1.Columns[1].Width = 50; |
||
1020 | dgvMotors1.Columns[2].Width = 50; |
||
1021 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
1022 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1023 | } |
||
1024 | |||
1025 | } |
||
1026 | #endregion settings |
||
1027 | |||
1028 | #region functions |
||
1029 | |||
1030 | #region logging |
||
1031 | /// <summary> Log data to the terminal window. </summary> |
||
1032 | /// <param name="msgtype"> The type of message to be written. </param> |
||
1033 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
1034 | private void Log(LogMsgType msgtype, string msg) |
||
1035 | { |
||
1036 | Dispatcher.Invoke(() => |
||
1037 | { |
||
1038 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
||
1039 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1040 | // rtfTerminal.AppendText(msg + "\r"); |
||
1041 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd); |
||
1042 | tr.Text = msg; |
||
1043 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1044 | rtfTerminal.AppendText("\r"); |
||
1045 | rtfTerminal.ScrollToEnd(); |
||
1046 | }); |
||
1047 | } |
||
1048 | private void ErrorLog(LogMsgType msgtype, string msg) |
||
1049 | { |
||
1050 | Dispatcher.Invoke(() => |
||
1051 | { |
||
1052 | TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
1053 | tr.Text = msg; |
||
1054 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1055 | rtfError.AppendText("\r"); |
||
1056 | rtfError.ScrollToEnd(); |
||
1057 | |||
1058 | _bErrorLog = true; |
||
1059 | }); |
||
1060 | } |
||
1061 | /// <summary> |
||
1062 | /// Clear the line in the errorlog window |
||
1063 | /// containing the error string when error has ceased |
||
1064 | /// </summary> |
||
1065 | /// <param name="s">substring of errrormessage</param> |
||
1066 | void _clearErrorLog(string s) |
||
1067 | { |
||
1068 | Dispatcher.Invoke((Action)(() => |
||
1069 | { |
||
1070 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
1071 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
1072 | |||
1073 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
1074 | |||
1075 | |||
1076 | if (iStart > -1) |
||
1077 | { |
||
1078 | int iLength = 0; |
||
1079 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
1080 | if (iEnd > 0) |
||
1081 | { |
||
1082 | iLength = iEnd + 1; |
||
1083 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
||
1084 | if (iHttp == iLength) |
||
1085 | { |
||
1086 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
1087 | if (iEnd2 > iLength) |
||
1088 | { |
||
1089 | iLength = iEnd2 + 1; |
||
1090 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1091 | |||
1092 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1093 | rtfError.Selection.Text = string.Empty; |
||
1094 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1095 | } |
||
1096 | |||
1097 | } |
||
1098 | else |
||
1099 | { |
||
1100 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1101 | rtfError.Selection.Text = string.Empty; |
||
1102 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1103 | } |
||
1104 | } |
||
1105 | } |
||
1106 | })); |
||
1107 | |||
1108 | } |
||
1109 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
1110 | { |
||
1111 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
1112 | if (offset < 0) |
||
1113 | return null; // Not found |
||
1114 | |||
1115 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
1116 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
1117 | |||
1118 | return result; |
||
1119 | } |
||
1120 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
1121 | { |
||
1122 | while (position != null) |
||
1123 | { |
||
1124 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
1125 | { |
||
1126 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
1127 | if (characterCount <= count) |
||
1128 | { |
||
1129 | return position.GetPositionAtOffset(characterCount); |
||
1130 | } |
||
1131 | |||
1132 | characterCount -= count; |
||
1133 | } |
||
1134 | |||
1135 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
1136 | if (nextContextPosition == null) |
||
1137 | return position; |
||
1138 | |||
1139 | position = nextContextPosition; |
||
1140 | } |
||
1141 | |||
1142 | return position; |
||
1143 | } |
||
1144 | #endregion logging |
||
1145 | |||
1146 | #region processing received data |
||
1147 | |||
1148 | private void processMessage(byte[] message) |
||
1149 | { |
||
1150 | if (message.Length > 0) |
||
1151 | { |
||
1152 | _iLifeCounter++; |
||
1153 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1154 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1155 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1156 | char cmdID; |
||
1157 | byte adr; |
||
1158 | byte[] data; |
||
1159 | byte[] tmp = null; |
||
1160 | if (message[0] != '#') |
||
1161 | { |
||
1162 | int iFound = -1; |
||
1163 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1164 | { //so this is a workaround to not spam the log box |
||
1165 | if (message[i] == 35) |
||
1166 | { |
||
1167 | iFound = i; |
||
1168 | break; |
||
1169 | } |
||
1170 | } |
||
1171 | if (iFound > 0) |
||
1172 | { |
||
1173 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1174 | tmp = new byte[message.Length - iFound]; |
||
1175 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1176 | } |
||
1177 | s = s.Trim('\0', '\n', '\r'); |
||
1178 | if (s.Length > 0) |
||
1179 | Log(LogMsgType.Normal, s); |
||
1180 | if (tmp != null) |
||
1181 | { |
||
1182 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1183 | processMessage(tmp); |
||
1184 | } |
||
1185 | } |
||
1186 | //Debug.Print(s); |
||
1187 | else |
||
1188 | { |
||
1189 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1190 | |||
1191 | if (adr == 255) { crcError++; } |
||
1192 | else crcError = 0; |
||
1193 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1194 | //display the active controller (FC / NC) |
||
1195 | 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...??? |
||
1196 | { |
||
1197 | _iCtrlAct = adr; |
||
1198 | switch (adr) |
||
1199 | { |
||
1200 | case 1: |
||
1201 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
2298 | - | 1202 | Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
2287 | - | 1203 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
1204 | // _setFieldsNA(); //display fields NA for FC |
||
1205 | break; |
||
1206 | case 2: |
||
1207 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1208 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1209 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1210 | break; |
||
1211 | //case 3: |
||
1212 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1213 | // break; |
||
1214 | //case 4: |
||
1215 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1216 | // break; |
||
1217 | default: |
||
1218 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1219 | break; |
||
1220 | } |
||
1221 | // _loadLabelNames(); |
||
1222 | } |
||
1223 | // else |
||
1224 | // Debug.Print("Address == 0?"); |
||
1225 | |||
1226 | if (data != null && data.Length > 0) |
||
1227 | { |
||
1228 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1229 | s = s.Trim('\0', '\n'); |
||
1230 | |||
1231 | switch (cmdID) |
||
1232 | { |
||
1233 | //case 'A': //Label names |
||
1234 | // _processLabelNames(s); |
||
1235 | // break; |
||
1236 | |||
1237 | case 'D': //Debug data |
||
1238 | _processDebugVals(adr, data); |
||
1239 | break; |
||
1240 | |||
1241 | case 'V': //Version |
||
1242 | _processVersion(adr, data); |
||
1243 | break; |
||
1244 | |||
1245 | case 'K'://BL-CTRL data |
||
1246 | _processBLCtrl(data); |
||
1247 | break; |
||
1248 | |||
1249 | case 'O': //NC Data |
||
1250 | _processNCData(data); |
||
1251 | break; |
||
1252 | |||
1253 | case 'E': //NC error-string |
||
1254 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1255 | break; |
||
1256 | |||
1257 | case 'L': //OSD Menue (called by pagenumber) |
||
1258 | _processOSDSingle(data); |
||
1259 | break; |
||
1260 | |||
1261 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1262 | _processOSDAuto(data); |
||
1263 | break; |
||
1264 | |||
1265 | case 'X': //Waypoint data |
||
1266 | _processWPData(data); |
||
1267 | break; |
||
1268 | |||
2313 | - | 1269 | case 'W': //return new Waypoint items count after sending waypoint to copter |
1270 | _iWPCount = data[0]; |
||
1271 | break; |
||
2287 | - | 1272 | //default: |
1273 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1274 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1275 | // break; |
||
1276 | } |
||
1277 | } |
||
1278 | //else |
||
1279 | //{ |
||
1280 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1281 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1282 | //} |
||
1283 | } |
||
1284 | } |
||
1285 | } |
||
1286 | /// <summary> |
||
1287 | /// Analog label names 'A' |
||
1288 | /// each label name is returned as a single string |
||
1289 | /// and added to string array sAnalogLabel[] |
||
1290 | /// and the datatable dtAnalog |
||
1291 | /// </summary> |
||
1292 | /// <param name="s">the label name</param> |
||
1293 | void _processLabelNames(string s) |
||
1294 | { |
||
1295 | //if (iLableIndex < 32) |
||
1296 | //{ |
||
1297 | // sAnalogLabel[iLableIndex] = s; |
||
1298 | // if (dtAnalog.Rows.Count < 32) |
||
1299 | // dtAnalog.Rows.Add(s, ""); |
||
1300 | // else |
||
1301 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1302 | |||
1303 | // // _getAnalogLabels(iLableIndex + 1); |
||
1304 | //} |
||
1305 | //Debug.Print(s); |
||
1306 | } |
||
1307 | /// <summary> |
||
1308 | /// Debug values 'D' |
||
1309 | /// </summary> |
||
1310 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1311 | /// <param name="data">the received byte array to process</param> |
||
1312 | void _processDebugVals(byte adr, byte[] data) |
||
1313 | { |
||
1314 | if (data.Length == 66) |
||
1315 | { |
||
2324 | - | 1316 | |
2287 | - | 1317 | double v; |
1318 | int index = 0; |
||
1319 | Int16 i16 = 0; |
||
1320 | double dTemp = 0; |
||
1321 | for (int i = 2; i < 66; i += 2) |
||
1322 | { |
||
1323 | i16 = data[i + 1]; |
||
1324 | i16 = (Int16)(i16 << 8); |
||
1325 | iAnalogData[index] = data[i] + i16; |
||
1326 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
1327 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
1328 | |||
1329 | if (adr == 2) //NC |
||
1330 | { |
||
1331 | switch (index) |
||
1332 | { |
||
1333 | case 0: //pitch (German: nick) |
||
1334 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1335 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1336 | break; |
||
1337 | case 1: //roll |
||
1338 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1339 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1340 | break; |
||
1341 | case 4: //altitude |
||
1342 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1343 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
2324 | - | 1344 | Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; }); |
2287 | - | 1345 | break; |
1346 | case 7: //Voltage |
||
1347 | v = (double)iAnalogData[index] / (double)10; |
||
1348 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1349 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1350 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1351 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1352 | { |
||
1353 | if (v == _dVoltLast) |
||
1354 | if(_iVoltJitter < 20) _iVoltJitter++; |
||
1355 | else |
||
1356 | { |
||
1357 | _iVoltJitter = 0; |
||
1358 | _dVoltLast = v; |
||
1359 | } |
||
1360 | if (_iVoltJitter == 20) |
||
1361 | { |
||
1362 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1363 | |||
1364 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1365 | { |
||
1366 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1367 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1368 | { |
||
1369 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1370 | _bCritAnimVoltActive = true; |
||
1371 | } |
||
1372 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1373 | { |
||
2295 | - | 1374 | Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1375 | t.Start(); |
||
2287 | - | 1376 | _bCritVoiceVoltActive = true; |
1377 | } |
||
1378 | } |
||
1379 | else |
||
1380 | { |
||
1381 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1382 | { |
||
1383 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1384 | _bCritAnimVoltActive = false; |
||
1385 | } |
||
1386 | _bCritVoiceVoltActive = false; |
||
1387 | |||
2291 | - | 1388 | if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
2287 | - | 1389 | { |
2295 | - | 1390 | Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
1391 | t.Start(); |
||
2291 | - | 1392 | _bWarnVoiceVoltActive = true; |
2287 | - | 1393 | } |
1394 | } |
||
1395 | } |
||
1396 | } |
||
1397 | else |
||
1398 | { |
||
1399 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1400 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1401 | { |
||
1402 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1403 | _bCritAnimVoltActive = false; |
||
1404 | } |
||
1405 | _bCritVoiceVoltActive = false; |
||
2291 | - | 1406 | _bWarnVoiceVoltActive = false; |
2287 | - | 1407 | _iVoltJitter = 0; |
1408 | } |
||
1409 | break; |
||
1410 | case 8: // Current |
||
1411 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1412 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1413 | break; |
||
1414 | case 10: //heading |
||
2291 | - | 1415 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
2287 | - | 1416 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
1417 | break; |
||
1418 | case 12: // SPI error |
||
2291 | - | 1419 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
2287 | - | 1420 | break; |
1421 | case 14: //i2c error |
||
2291 | - | 1422 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
2287 | - | 1423 | break; |
1424 | case 20: //Earthmagnet field |
||
2291 | - | 1425 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
1426 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
1427 | |||
1428 | if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
||
1429 | { |
||
1430 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1431 | _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
||
1432 | if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
||
1433 | { |
||
1434 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
||
1435 | _bAnimMagneticFieldActive = false; |
||
1436 | } |
||
1437 | } |
||
1438 | else |
||
1439 | { |
||
1440 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
1441 | if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
||
1442 | { |
||
1443 | if (_iMagneticFieldJitter < 20) |
||
1444 | _iMagneticFieldJitter++; |
||
1445 | } |
||
1446 | else |
||
1447 | { |
||
1448 | _iMagneticFieldJitter = 0; |
||
1449 | _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
||
1450 | } |
||
1451 | if(_iMagneticFieldJitter == 20) |
||
1452 | { |
||
1453 | if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
||
1454 | { |
||
1455 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
||
1456 | _bAnimMagneticFieldActive = true; |
||
1457 | } |
||
1458 | if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
||
1459 | { |
||
2295 | - | 1460 | Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
1461 | t.Start(); |
||
2291 | - | 1462 | _bVoiceMagneticFieldActive = true; |
1463 | } |
||
1464 | } |
||
1465 | } |
||
2287 | - | 1466 | break; |
1467 | case 21: //GroundSpeed |
||
1468 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1469 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1470 | break; |
||
2291 | - | 1471 | |
1472 | ///********** needs testing --> not sure what position this is *************** |
||
2287 | - | 1473 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
1474 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
1475 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1476 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1477 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1478 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1479 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1480 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
1481 | break; |
||
2291 | - | 1482 | |
2287 | - | 1483 | case 31: //Sats used |
1484 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
||
1485 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
1486 | break; |
||
1487 | } |
||
1488 | } |
||
1489 | index++; |
||
1490 | } |
||
1491 | } |
||
1492 | else |
||
1493 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1494 | } |
||
1495 | /// <summary> |
||
1496 | /// Version string 'V' |
||
1497 | /// </summary> |
||
1498 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1499 | /// <param name="data">the received byte array to process</param> |
||
1500 | void _processVersion(byte adr, byte[] data) |
||
1501 | { |
||
1502 | if (data.Length == 12) |
||
1503 | { |
||
1504 | if (!check_HWError) |
||
1505 | { |
||
1506 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1507 | string sVersion = ""; |
||
1508 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1509 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1510 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1511 | Log(LogMsgType.Incoming, sVersion); |
||
1512 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1513 | Log(LogMsgType.Incoming, sVersion); |
||
1514 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1515 | } |
||
1516 | if (data[5] > 0) //error0 |
||
1517 | { |
||
1518 | if (adr == 1) |
||
1519 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
1520 | if (adr == 2) |
||
1521 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
1522 | } |
||
1523 | if (data[6] > 0) //error1 |
||
1524 | { |
||
1525 | if (adr == 1) |
||
1526 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
1527 | if (adr == 2) |
||
1528 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
1529 | } |
||
1530 | if ((data[5] + data[6] == 0) && _bErrorLog) |
||
1531 | _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
1532 | |||
1533 | } |
||
1534 | check_HWError = false; |
||
1535 | } |
||
1536 | /// <summary> |
||
1537 | /// BL-Ctrl data 'K' |
||
1538 | /// for FC you have to use a customized firmware |
||
1539 | /// </summary> |
||
1540 | /// <param name="data">the received byte array to process</param> |
||
1541 | void _processBLCtrl(byte[] data) |
||
1542 | { |
||
1543 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1544 | { |
||
1545 | bool bAvailable = false; |
||
1546 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1547 | { |
||
1548 | |||
1549 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1550 | bAvailable = true; |
||
1551 | else |
||
1552 | bAvailable = false; |
||
1553 | |||
1554 | if (data[i] < _iMotors) |
||
1555 | { |
||
1556 | if (bAvailable) |
||
1557 | { |
||
2315 | - | 1558 | dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
1559 | dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
2287 | - | 1560 | } |
1561 | else |
||
1562 | { |
||
2315 | - | 1563 | dtMotors.Rows[data[i]].SetField(1, "NA"); |
1564 | dtMotors.Rows[data[i]].SetField(2, "NA"); |
||
2287 | - | 1565 | } |
1566 | } |
||
1567 | //if (data[i] > 3 && data[i] < 8) |
||
1568 | //{ |
||
1569 | // if (bAvailable) |
||
1570 | // { |
||
1571 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1572 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1573 | // } |
||
1574 | // else |
||
1575 | // { |
||
1576 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1577 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1578 | // } |
||
1579 | //} |
||
1580 | } |
||
1581 | } |
||
1582 | } |
||
1583 | /// <summary> |
||
1584 | /// Navi-Ctrl data 'O' |
||
1585 | /// GPS-Position, capacatiy, flying time... |
||
1586 | /// </summary> |
||
1587 | /// <param name="data">the received byte array to process</param> |
||
1588 | void _processNCData(byte[] data) |
||
1589 | { |
||
1590 | int i_32, i_16, iVal; |
||
1591 | double d; |
||
1592 | i_32 = data[4]; |
||
1593 | iVal = i_32 << 24; |
||
1594 | i_32 = data[3]; |
||
1595 | iVal += i_32 << 16; |
||
1596 | i_32 = data[2]; |
||
1597 | iVal += i_32 << 8; |
||
1598 | iVal += data[1]; |
||
1599 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 1600 | Dispatcher.Invoke(() => { drGPX[2] = d; }); |
1601 | |||
2287 | - | 1602 | PointLatLng p = new PointLatLng(); |
1603 | |||
1604 | p.Lng = d; |
||
1605 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
1606 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
1607 | |||
1608 | i_32 = data[8]; |
||
1609 | iVal = i_32 << 24; |
||
1610 | i_32 = data[7]; |
||
1611 | iVal += i_32 << 16; |
||
1612 | i_32 = data[6]; |
||
1613 | iVal += i_32 << 8; |
||
1614 | iVal += data[5]; |
||
1615 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 1616 | Dispatcher.Invoke(() => { drGPX[1] = d; }); |
1617 | Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
||
2287 | - | 1618 | p.Lat = d; |
2291 | - | 1619 | if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
1620 | { |
||
1621 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
2295 | - | 1622 | if(_bAutoHome && !_bFirstSatFix) |
1623 | { |
||
1624 | if (_iFirstSatFix < 3) |
||
1625 | _iFirstSatFix++; |
||
1626 | else |
||
1627 | { |
||
1628 | _bFirstSatFix = true; |
||
1629 | Dispatcher.Invoke(() => setHomePos()); |
||
1630 | } |
||
1631 | } |
||
2291 | - | 1632 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
1633 | { |
||
1634 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
1635 | _bAnimSatFixActive = false; |
||
1636 | } |
||
1637 | if (!_bFollowCopter) |
||
1638 | { |
||
1639 | _setCopterData(p); |
||
1640 | if (!MainMap.ViewArea.Contains(p)) |
||
1641 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
2287 | - | 1642 | |
2291 | - | 1643 | } |
1644 | else |
||
2287 | - | 1645 | Dispatcher.Invoke(() => MainMap.Position = p); |
1646 | } |
||
1647 | else |
||
2291 | - | 1648 | { |
1649 | if(_bSatFix) |
||
1650 | { |
||
1651 | if (data[50] == _iSatsLast) |
||
1652 | { |
||
1653 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
1654 | } |
||
1655 | else |
||
1656 | { |
||
1657 | _iSatsJitter = 0; |
||
1658 | _iSatsLast = data[50]; |
||
1659 | } |
||
2287 | - | 1660 | |
2291 | - | 1661 | if (_iSatsJitter == 20) |
1662 | { |
||
1663 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
1664 | { |
||
1665 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
1666 | _bAnimSatFixActive = true; |
||
1667 | } |
||
1668 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
1669 | { |
||
2335 | - | 1670 | Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
2295 | - | 1671 | th.Start(); |
2291 | - | 1672 | _bVoiceSatFixActive = true; |
1673 | } |
||
1674 | |||
1675 | _bSatFix = false; |
||
1676 | } |
||
1677 | } |
||
1678 | } |
||
1679 | |||
2287 | - | 1680 | // lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
1681 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
||
1682 | |||
1683 | i_16 = data[28]; |
||
1684 | i_16 = (Int16)(i_16 << 8); |
||
1685 | iVal = data[27] + i_16; |
||
1686 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP |
||
1687 | |||
1688 | i_16 = data[45]; |
||
1689 | i_16 = (Int16)(i_16 << 8); |
||
1690 | iVal = data[44] + i_16; |
||
1691 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1692 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1693 | |||
1694 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index |
||
1695 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
||
1696 | |||
1697 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites |
||
1698 | |||
1699 | |||
1700 | //--------------- Capacity used ------------------------ |
||
1701 | i_16 = data[81]; |
||
1702 | i_16 = (Int16)(i_16 << 8); |
||
1703 | iVal = data[80] + i_16; |
||
1704 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
1705 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
1706 | |||
1707 | //--------------- Flying time ------------------------ |
||
1708 | i_16 = data[56]; |
||
1709 | i_16 = (Int16)(i_16 << 8); |
||
1710 | iVal = data[55] + i_16; |
||
1711 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
1712 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
1713 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
1714 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
1715 | |||
1716 | //--------------- RC quality ------------------------ |
||
1717 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
1718 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
1719 | |||
2291 | - | 1720 | if(data[66] > _iThresholdRC) |
1721 | { |
||
1722 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
1723 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
1724 | { |
||
1725 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
1726 | _bAnimRCLevelActive = false; |
||
1727 | } |
||
1728 | } |
||
1729 | else |
||
1730 | { |
||
1731 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
1732 | if (_iRCLevelJitter == 20) |
||
1733 | { |
||
1734 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
1735 | { |
||
1736 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
1737 | _bAnimRCLevelActive = true; |
||
1738 | } |
||
1739 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
1740 | { |
||
2295 | - | 1741 | Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
1742 | th.Start(); |
||
2291 | - | 1743 | _bVoiceRCLevelActive = true; |
1744 | } |
||
1745 | _iRCLevelJitter++; |
||
1746 | } |
||
1747 | } |
||
1748 | |||
2287 | - | 1749 | //--------------- NC Error ------------------------ |
1750 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
1751 | if (data[69] > 0) |
||
1752 | _readNCError(); |
||
1753 | if (data[69] > 0 & data[69] < 44) |
||
1754 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
1755 | else |
||
1756 | if (_bErrorLog) _clearErrorLog("NC Error"); |
||
1757 | |||
2298 | - | 1758 | //-------------FC / NC Status Flags |
1759 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1760 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
1761 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
1762 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
1763 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
1764 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
1765 | |||
1766 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1767 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1768 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
1769 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
1770 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
1771 | 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 |
||
1772 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
1773 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
1774 | |||
1775 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
1776 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
1777 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
1778 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
1779 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
1780 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
1781 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
2299 | - | 1782 | |
1783 | //Sidebar StatusSymbols |
||
1784 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1785 | 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 |
||
1786 | 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 |
||
1787 | |||
1788 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1789 | 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 |
||
1790 | 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 |
||
1791 | |||
1792 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2304 | - | 1793 | 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 |
1794 | 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 | - | 1795 | |
1796 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1797 | 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 |
||
1798 | 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 |
||
1799 | |||
1800 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2304 | - | 1801 | 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 |
1802 | 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 |
||
1803 | 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 | - | 1804 | |
2324 | - | 1805 | _bAirborne = (data[67] & 2) == 2 ? true : false; |
2287 | - | 1806 | } |
1807 | /// <summary> |
||
1808 | /// Navi-Ctrl WP data struct 'X' |
||
1809 | /// called by index |
||
1810 | /// </summary> |
||
1811 | /// <param name="data">the received byte array to process</param> |
||
1812 | void _processWPData(byte[] data) |
||
1813 | { |
||
2313 | - | 1814 | _iWPCount = data[0]; |
2287 | - | 1815 | _bGetWPCount = false; |
1816 | if (data.Length >= 28) |
||
1817 | { |
||
1818 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
1819 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
1820 | if (_bGetWP) |
||
1821 | { |
||
1822 | if (data[1] == 1) |
||
2315 | - | 1823 | { |
2333 | - | 1824 | if(mRouteWP != null) |
1825 | Dispatcher.Invoke(() => MainMap.Markers.Remove(mRouteWP)); |
||
2328 | - | 1826 | wpList.Clear(); |
1827 | |||
1828 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
||
2287 | - | 1829 | dtWaypoints.Rows.Clear(); |
2333 | - | 1830 | Dispatcher.Invoke(() => |
1831 | { |
||
2318 | - | 1832 | for (int k = 0; k < MainMap.Markers.Count;) |
1833 | { |
||
1834 | GMapMarker p = MainMap.Markers[k]; |
||
1835 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
1836 | MainMap.Markers.Remove(p); |
||
1837 | else |
||
1838 | k++; |
||
1839 | } |
||
1840 | }); |
||
2315 | - | 1841 | } |
2287 | - | 1842 | DataRow dr = dtWaypoints.NewRow(); |
1843 | dr = Waypoints.toDataRow(data, dr); |
||
2313 | - | 1844 | dtWaypoints.Rows.Add(dr); |
2318 | - | 1845 | Dispatcher.Invoke(() => { |
1846 | GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4])); |
||
1847 | wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]); |
||
2333 | - | 1848 | wp.Offset = new System.Windows.Point(-11.5, -11.5); |
2318 | - | 1849 | _setMarkerColor(wp, (int)dr[1]); |
1850 | MainMap.Markers.Add(wp); |
||
1851 | }); |
||
2313 | - | 1852 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1853 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
||
2335 | - | 1854 | if ((int)dr[1] == 0) |
1855 | wpList.Add(new PointLatLng((double)dr[3], (double)dr[4])); |
||
2287 | - | 1856 | if (data[1] == data[0]) |
1857 | { |
||
1858 | _bGetWP = false; |
||
1859 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2328 | - | 1860 | |
1861 | Dispatcher.Invoke(() => |
||
1862 | { |
||
1863 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
1864 | { |
||
1865 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
1866 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
1867 | } |
||
1868 | else |
||
1869 | mRouteWP = new GMapRoute(wpList, null); |
||
1870 | |||
1871 | if (_bShowWPRoute) |
||
1872 | MainMap.Markers.Add(mRouteWP); |
||
1873 | }); |
||
1874 | MapRoute mr = new MapRoute(wpList, "WPList"); |
||
2333 | - | 1875 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
2287 | - | 1876 | } |
1877 | |||
1878 | } |
||
1879 | } |
||
1880 | else |
||
1881 | { |
||
1882 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
1883 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
1884 | } |
||
1885 | } |
||
1886 | /// <summary> |
||
1887 | /// OSD Menue 'L' |
||
1888 | /// single page called by pagenumber |
||
1889 | /// no autoupdate |
||
1890 | /// </summary> |
||
1891 | /// <param name="data">the received byte array to process</param> |
||
1892 | void _processOSDSingle(byte[] data) |
||
1893 | { |
||
1894 | if (data.Length == 84) |
||
1895 | { |
||
1896 | string sMessage = ""; |
||
1897 | iOSDPage = data[0]; |
||
1898 | iOSDMax = data[1]; |
||
1899 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
1900 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
1901 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1902 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1903 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1904 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1905 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
1906 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
1907 | |||
1908 | } |
||
1909 | //else |
||
1910 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
1911 | |||
1912 | } |
||
1913 | /// <summary> |
||
1914 | /// OSD Menue 'H' |
||
1915 | /// called by keys (0x01,0x02,0x03,0x04) |
||
1916 | /// autoupdate |
||
1917 | /// </summary> |
||
1918 | /// <param name="data">the received byte array to process</param> |
||
1919 | void _processOSDAuto(byte[] data) |
||
1920 | { |
||
1921 | if (data.Length == 81) |
||
1922 | { |
||
1923 | string sMessage = ""; |
||
1924 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
1925 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1926 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1927 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1928 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1929 | |||
1930 | } |
||
1931 | //else |
||
1932 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
1933 | } |
||
1934 | |||
1935 | #endregion processing received data |
||
1936 | |||
1937 | #region controller messages |
||
1938 | /// <summary> send message to controller to request data |
||
1939 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1940 | /// </summary> |
||
1941 | /// <param name="CMDID"> the command ID </param> |
||
1942 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1943 | private void _sendControllerMessage(char CMDID, byte address) |
||
1944 | { |
||
1945 | if (serialPortCtrl.Port.IsOpen) |
||
1946 | { |
||
1947 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1948 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
1949 | serialStream.Write(bytes, 0, bytes.Length); |
||
1950 | |||
1951 | } |
||
1952 | else |
||
1953 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1954 | } |
||
1955 | /// <summary> send message to controller to request data |
||
1956 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1957 | /// </summary> |
||
1958 | /// <param name="CMDID"> the command ID </param> |
||
1959 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1960 | /// <param name="data"> additional data for the request</param> |
||
1961 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
1962 | { |
||
1963 | if (serialPortCtrl.Port.IsOpen) |
||
1964 | { |
||
1965 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1966 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
1967 | serialStream.Write(bytes, 0, bytes.Length); |
||
1968 | |||
1969 | } |
||
1970 | else |
||
1971 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1972 | } |
||
1973 | |||
1974 | /// <summary> |
||
1975 | /// start/stop continous polling of controller values |
||
1976 | /// </summary> |
||
1977 | /// <param name="b">start/stop switch</param> |
||
1978 | void _readCont(bool b) |
||
1979 | { |
||
1980 | bReadContinously = b; |
||
1981 | if (bReadContinously) |
||
1982 | { |
||
1983 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
1984 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1985 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1986 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
1987 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
1988 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
1989 | } |
||
1990 | else |
||
1991 | { |
||
1992 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
1993 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
1994 | _bConnErr = false; |
||
1995 | } |
||
1996 | _iLifeCounter = 0; |
||
1997 | } |
||
1998 | |||
1999 | private void _getVersion() |
||
2000 | { |
||
2001 | _sendControllerMessage('v', 0); |
||
2002 | } |
||
2003 | /// <summary> |
||
2004 | /// get FC version struct via NC |
||
2005 | /// by sending '1' as data (not documented in wiki...) |
||
2006 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
2007 | /// </summary> |
||
2008 | /// <param name="ctrl">controller number 1=FC</param> |
||
2009 | private void _getVersion(byte ctrl) |
||
2010 | { |
||
2011 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
2012 | } |
||
2013 | /// <summary> |
||
2014 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
2015 | /// </summary> |
||
2016 | private void _switchToNC() |
||
2017 | { |
||
2018 | if (serialPortCtrl.Port.IsOpen) |
||
2019 | { |
||
2020 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2021 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
2022 | serialStream.Write(bytes, 0, bytes.Length); |
||
2023 | |||
2024 | Thread.Sleep(100); |
||
2025 | _getVersion(); |
||
2026 | Thread.Sleep(100); |
||
2027 | // _OSDMenue(0); |
||
2028 | } |
||
2029 | else |
||
2030 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2031 | } |
||
2032 | /// <summary> |
||
2033 | /// switch to FC |
||
2034 | /// </summary> |
||
2035 | private void _switchToFC() |
||
2036 | { |
||
2037 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
2038 | Thread.Sleep(100); |
||
2039 | _getVersion(); |
||
2040 | Thread.Sleep(100); |
||
2041 | // _OSDMenue(0); |
||
2042 | } |
||
2043 | /// <summary> |
||
2044 | /// send RESET signal to FC |
||
2045 | /// </summary> |
||
2046 | private void _resetCtrl() |
||
2047 | { |
||
2048 | _sendControllerMessage('R', 1); |
||
2049 | } |
||
2050 | /// <summary> |
||
2051 | /// poll the debug data (4sec subscription) |
||
2052 | /// </summary> |
||
2053 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2054 | private void _readDebugData(bool auto) |
||
2055 | { |
||
2056 | byte interval = auto ? debugInterval : (byte)0; |
||
2057 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
2058 | } |
||
2059 | /// <summary> |
||
2060 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
2061 | /// </summary> |
||
2062 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2063 | private void _readBLCtrl(bool auto) |
||
2064 | { |
||
2065 | byte interval = auto ? blctrlInterval : (byte)0; |
||
2066 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
2067 | } |
||
2068 | /// <summary> |
||
2069 | /// poll the NC data struct (4sec subscription) |
||
2070 | /// </summary> |
||
2071 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2072 | private void _readNavData(bool auto) |
||
2073 | { |
||
2074 | byte interval = auto ? navctrlInterval : (byte)0; |
||
2075 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
2076 | } |
||
2077 | /// <summary> |
||
2078 | /// get the errortext for pending NC error |
||
2079 | /// </summary> |
||
2080 | private void _readNCError() |
||
2081 | { |
||
2082 | _sendControllerMessage('e', 2); |
||
2083 | } |
||
2084 | /// <summary> |
||
2085 | /// request the Waypoint at index |
||
2086 | /// </summary> |
||
2087 | /// <param name="index"></param> |
||
2088 | void _getpWP(int index) |
||
2089 | { |
||
2090 | if (serialPortCtrl.Port.IsOpen) |
||
2091 | { |
||
2092 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2093 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
2094 | serialStream.Write(bytes, 0, bytes.Length); |
||
2095 | } |
||
2096 | else |
||
2097 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2098 | |||
2099 | } |
||
2100 | void _getWP() |
||
2101 | { |
||
2335 | - | 2102 | int iTimeout = 0; |
2287 | - | 2103 | _bGetWPCount = true; |
2315 | - | 2104 | _getpWP(1); //get the itemscount of wp |
2335 | - | 2105 | while (_bGetWPCount & iTimeout < _iWPTimeout * 5) |
2106 | { |
||
2107 | Thread.Sleep(10); |
||
2108 | iTimeout++; |
||
2109 | } |
||
2110 | if (_iWPCount > 0 & !_bGetWPCount) |
||
2287 | - | 2111 | _getWPList(); |
2112 | } |
||
2113 | void _getWPList() |
||
2114 | { |
||
2115 | _bGetWP = true; |
||
2313 | - | 2116 | int iTimeout=0; |
2117 | for (int j = 0; j < _iWPCount; j++) |
||
2287 | - | 2118 | { |
2119 | _getpWP(j + 1); |
||
2313 | - | 2120 | iTimeout = 0; |
2121 | while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
||
2122 | { |
||
2123 | Thread.Sleep(1); |
||
2124 | iTimeout++; |
||
2125 | } |
||
2287 | - | 2126 | } |
2127 | } |
||
2313 | - | 2128 | void _sendWPList() |
2129 | { |
||
2335 | - | 2130 | int iTimeout = 0; |
2313 | - | 2131 | if (serialPortCtrl.Port.IsOpen) |
2132 | { |
||
2133 | byte[] bData = new byte[30]; |
||
2134 | for (int i = 0; i < 30; i++) |
||
2135 | bData[i] = 0; |
||
2136 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2137 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
||
2138 | serialStream.Write(bytes, 0, bytes.Length); |
||
2287 | - | 2139 | |
2313 | - | 2140 | _iWPCount = -1; |
2335 | - | 2141 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
2142 | { |
||
2313 | - | 2143 | Thread.Sleep(10); |
2335 | - | 2144 | iTimeout++; |
2145 | } |
||
2313 | - | 2146 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
2335 | - | 2147 | if (_iWPCount > -1) |
2313 | - | 2148 | { |
2149 | |||
2335 | - | 2150 | int iVal; |
2151 | double dVal; |
||
2152 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
2153 | nfi.NumberDecimalSeparator = ","; |
||
2154 | for (int i = 0; i < dtWaypoints.Rows.Count; i++) |
||
2155 | { |
||
2156 | //longitude |
||
2157 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi); |
||
2158 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2159 | bData[0] = (byte)(iVal & 0xff); |
||
2160 | bData[1] = (byte)((iVal >> 8) & 0xff); |
||
2161 | bData[2] = (byte)((iVal >> 16) & 0xff); |
||
2162 | bData[3] = (byte)(iVal >> 24); |
||
2163 | //latitude |
||
2164 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi); |
||
2165 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2166 | bData[4] = (byte)(iVal & 0xff); |
||
2167 | bData[5] = (byte)((iVal >> 8) & 0xff); |
||
2168 | bData[6] = (byte)((iVal >> 16) & 0xff); |
||
2169 | bData[7] = (byte)(iVal >> 24); |
||
2170 | //altitude |
||
2171 | dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi); |
||
2172 | iVal = (int)(dVal * 10); |
||
2173 | bData[8] = (byte)(iVal & 0xff); |
||
2174 | bData[9] = (byte)((iVal >> 8) & 0xff); |
||
2175 | bData[10] = (byte)((iVal >> 16) & 0xff); |
||
2176 | bData[11] = (byte)(iVal >> 24); |
||
2177 | //Status 'NEWDATA' |
||
2178 | bData[12] = 1; |
||
2179 | //heading |
||
2180 | iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]); |
||
2181 | bData[13] = (byte)(iVal & 0xff); |
||
2182 | bData[14] = (byte)((iVal >> 8) & 0xff); |
||
2183 | //ToleranceRadius |
||
2184 | bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]); |
||
2185 | //HoldTime |
||
2186 | bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]); |
||
2187 | //Event_Flag |
||
2188 | bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]); |
||
2189 | //Index |
||
2190 | bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]); |
||
2191 | //Type |
||
2192 | bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]); |
||
2193 | //WP_EventChannelValue |
||
2194 | bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]); |
||
2195 | //AltitudeRate |
||
2196 | bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]); |
||
2197 | //Speed |
||
2198 | bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]); |
||
2199 | //CamAngle |
||
2200 | bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]); |
||
2201 | //Name |
||
2202 | byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]); |
||
2203 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
||
2204 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
||
2205 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
||
2206 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
||
2207 | //Autotrigger |
||
2208 | bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]); |
||
2313 | - | 2209 | |
2335 | - | 2210 | bytes = FlightControllerMessage.CreateMessage('w', 2, bData); |
2211 | serialStream.Write(bytes, 0, bytes.Length); |
||
2212 | |||
2213 | _iWPCount = -1; |
||
2214 | iTimeout = 0; |
||
2215 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
||
2216 | { |
||
2217 | Thread.Sleep(10); |
||
2218 | iTimeout++; |
||
2219 | } |
||
2220 | if (_iWPCount == -1) |
||
2221 | { |
||
2222 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2223 | break; |
||
2224 | } |
||
2225 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
||
2226 | } |
||
2313 | - | 2227 | } |
2335 | - | 2228 | else |
2229 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2313 | - | 2230 | } |
2231 | else |
||
2232 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2233 | |||
2234 | } |
||
2235 | |||
2287 | - | 2236 | #region OSD-Menue |
2237 | |||
2238 | /// <summary> |
||
2239 | /// one time query of the OSD Menue with pagenumber |
||
2240 | /// </summary> |
||
2241 | /// <param name="iMenue">Menue page</param> |
||
2242 | void _OSDMenue(int iMenue) |
||
2243 | { |
||
2244 | if (serialPortCtrl.Port.IsOpen) |
||
2245 | { |
||
2246 | if (iMenue > iOSDMax) |
||
2247 | iMenue = 0; |
||
2248 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2249 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
2250 | serialStream.Write(bytes, 0, bytes.Length); |
||
2251 | } |
||
2252 | else |
||
2253 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2254 | |||
2255 | } |
||
2256 | /// <summary> |
||
2257 | /// call the OSDMenue and start autorefresh |
||
2258 | /// usually by sending a menuekey |
||
2259 | /// 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) |
||
2260 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
2261 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
2262 | /// </summary> |
||
2263 | void _OSDMenueAutoRefresh() |
||
2264 | { |
||
2265 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
2266 | } |
||
2267 | void _OSDMenueAutoRefresh(byte key) |
||
2268 | { |
||
2269 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
2270 | } |
||
2271 | /// <summary> |
||
2272 | /// initialize the OSD menue combobox |
||
2273 | /// combox is filled by numbers from 0 to max pagenumber |
||
2274 | /// </summary> |
||
2275 | void _initOSDCB() |
||
2276 | { |
||
2277 | _bCBInit = true; |
||
2278 | if (iOSDMax == 0) |
||
2279 | { |
||
2280 | _OSDMenue(0); |
||
2281 | Thread.Sleep(10); |
||
2282 | } |
||
2283 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
2284 | for (int i = 0; i <= iOSDMax; i++) |
||
2285 | { |
||
2286 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
2287 | } |
||
2288 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
2289 | _bCBInit = false; |
||
2290 | } |
||
2291 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
2292 | { |
||
2293 | iOSDPage++; |
||
2294 | if (iOSDPage > iOSDMax) |
||
2295 | iOSDPage = 0; |
||
2296 | |||
2297 | _OSDMenue(iOSDPage); |
||
2298 | } |
||
2299 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
2300 | { |
||
2301 | iOSDPage--; |
||
2302 | if (iOSDPage < 0) |
||
2303 | iOSDPage = iOSDMax; |
||
2304 | |||
2305 | _OSDMenue(iOSDPage); |
||
2306 | } |
||
2307 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
2308 | { |
||
2309 | _OSDMenueAutoRefresh(8); |
||
2310 | } |
||
2311 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
2312 | { |
||
2313 | _OSDMenueAutoRefresh(4); |
||
2314 | } |
||
2315 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
2316 | { |
||
2317 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
2318 | _OSDMenue(cbOSD.SelectedIndex); |
||
2319 | } |
||
2320 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
2321 | { |
||
2322 | Dispatcher.Invoke(() => |
||
2323 | { |
||
2324 | TextRange tr; |
||
2325 | if (bNew) |
||
2326 | { |
||
2327 | rtfOSD.SelectAll(); |
||
2328 | rtfOSD.Selection.Text = string.Empty; |
||
2329 | } |
||
2330 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
2331 | tr.Text = msg; |
||
2332 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
2333 | // rtfOSD.AppendText("\r"); |
||
2334 | rtfOSD.ScrollToEnd(); |
||
2335 | |||
2336 | }); |
||
2337 | } |
||
2338 | |||
2339 | #endregion OSD-Menue |
||
2340 | |||
2341 | #endregion controller messages |
||
2342 | |||
2295 | - | 2343 | void _mediaPlayer(string file) |
2344 | { |
||
2345 | if (File.Exists(file)) |
||
2346 | { |
||
2347 | MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer(); |
||
2348 | mp.Open(file); |
||
2349 | mp.Play(); |
||
2350 | } |
||
2351 | } |
||
2310 | - | 2352 | |
2353 | /// <summary> |
||
2354 | /// Switch between fullscreen and normal window mode |
||
2355 | /// save & restore scaling settings |
||
2356 | /// </summary> |
||
2357 | /// <param name="sender"></param> |
||
2358 | /// <param name="e"></param> |
||
2287 | - | 2359 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
2360 | { |
||
2361 | if (winState.isMaximized) |
||
2362 | { |
||
2363 | winState.Restore(this); |
||
2364 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
2365 | if(_bSaveWinStateFull) |
||
2366 | _saveScaleSliders(true); |
||
2367 | if(_bSaveWinStateNormal) |
||
2368 | _setScaleSliders(false); |
||
2369 | } |
||
2370 | else |
||
2371 | { |
||
2372 | winState.Maximize(this); |
||
2373 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
2374 | if(_bSaveWinStateNormal) |
||
2375 | _saveScaleSliders(false); |
||
2376 | if(_bSaveWinStateFull) |
||
2377 | _setScaleSliders(true); |
||
2378 | } |
||
2379 | } |
||
2380 | |||
2381 | /// <summary> |
||
2382 | /// reset the scaling of all UI elements to default |
||
2383 | /// </summary> |
||
2384 | /// <param name="sender"></param> |
||
2385 | /// <param name="e"></param> |
||
2386 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
2387 | { |
||
2388 | UIScaleHorizonSlider.Value = |
||
2389 | UIScaleLOGSlider.Value = |
||
2390 | UIScaleMotorsSlider.Value = |
||
2391 | UIScaleOSDSlider.Value = |
||
2392 | UIScaleSlider.Value = |
||
2393 | UIScaleTopSlider.Value = 1; |
||
2394 | } |
||
2395 | /// <summary> |
||
2396 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
2397 | /// </summary> |
||
2398 | /// <param name="sender"></param> |
||
2399 | /// <param name="e"></param> |
||
2400 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
2401 | { |
||
2402 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
2403 | if (GridMotors != null) |
||
2404 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
2405 | if (GridSideBar != null) |
||
2406 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
2407 | if (GridOSD != null) |
||
2408 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2409 | if (GridData != null) |
||
2410 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
2411 | if (GridWP != null) |
||
2412 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
2413 | } |
||
2310 | - | 2414 | /// <summary> |
2415 | /// restore the saved scalings for the fullscreen/normal window mode |
||
2416 | /// </summary> |
||
2417 | /// <param name="bFull">the mode the window is set to</param> |
||
2287 | - | 2418 | void _setScaleSliders(bool bFull) |
2419 | { |
||
2420 | if(bFull) |
||
2421 | { |
||
2422 | UIScaleSlider.Value = scaleFullAll; |
||
2423 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
2424 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
2425 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
2426 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
2427 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
2428 | } |
||
2429 | else |
||
2430 | { |
||
2431 | UIScaleSlider.Value = scaleNormalAll; |
||
2432 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
2433 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
2434 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
2435 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
2436 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
2437 | } |
||
2438 | } |
||
2439 | |||
2310 | - | 2440 | /// <summary> |
2441 | /// save the scalings for the actual window mode |
||
2442 | /// </summary> |
||
2443 | /// <param name="bFull">the actual window mode</param> |
||
2287 | - | 2444 | void _saveScaleSliders(bool bFull) |
2445 | { |
||
2446 | |||
2447 | if (bFull) |
||
2448 | { |
||
2449 | scaleFullAll = UIScaleSlider.Value; |
||
2450 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
2451 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
2452 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
2453 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
2454 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
2455 | } |
||
2456 | else |
||
2457 | { |
||
2458 | scaleNormalAll = UIScaleSlider.Value; |
||
2459 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
2460 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
2461 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
2462 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
2463 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
2464 | } |
||
2465 | } |
||
2466 | |||
2467 | /// <summary> |
||
2468 | /// read settings from ini-file |
||
2469 | /// </summary> |
||
2470 | void _readIni() |
||
2471 | { |
||
2472 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
2473 | _writeIni(); |
||
2474 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2475 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2312 | - | 2476 | try |
2477 | { |
||
2287 | - | 2478 | |
2312 | - | 2479 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
2480 | if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
2481 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
2482 | if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2483 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
2484 | if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2485 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
2486 | if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2287 | - | 2487 | |
2312 | - | 2488 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
2489 | if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
||
2490 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
2491 | if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2492 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
2493 | if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2494 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
2495 | if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2287 | - | 2496 | |
2312 | - | 2497 | sVal = ini.IniReadValue("topBar", "voltage"); |
2498 | if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
2499 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
2500 | if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
2501 | sVal = ini.IniReadValue("topBar", "current"); |
||
2502 | if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
2503 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
2504 | if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
2505 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
2506 | if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
2507 | sVal = ini.IniReadValue("topBar", "height"); |
||
2508 | if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
2509 | sVal = ini.IniReadValue("topBar", "speed"); |
||
2510 | if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
2511 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
2512 | if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
2513 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
2514 | if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
2515 | sVal = ini.IniReadValue("topBar", "rc"); |
||
2516 | if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2517 | |
2312 | - | 2518 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
2519 | if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
2520 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
2521 | if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2522 | |
2312 | - | 2523 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
2524 | if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
||
2525 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
2526 | if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
||
2527 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
2528 | if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
||
2529 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
2530 | if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
||
2531 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
2532 | if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
||
2533 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
2534 | if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2535 | |
2312 | - | 2536 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
2537 | if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
||
2538 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
2539 | if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
||
2540 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
2541 | if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
||
2542 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
2543 | if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
||
2544 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
2545 | if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
||
2546 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
2547 | if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2548 | |
2312 | - | 2549 | sVal = ini.IniReadValue("general", "LiPoCells"); |
2550 | _LipoCells = Convert.ToInt16(sVal); |
||
2551 | sVal = ini.IniReadValue("general", "Motors"); |
||
2552 | if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
||
2287 | - | 2553 | |
2312 | - | 2554 | sVal = ini.IniReadValue("map", "followMe"); |
2555 | if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
||
2556 | sVal = ini.IniReadValue("map", "AutoSetHome"); |
||
2557 | if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
||
2324 | - | 2558 | sVal = ini.IniReadValue("map", "GPXLog"); |
2559 | if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal); |
||
2287 | - | 2560 | |
2312 | - | 2561 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
2562 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
2563 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
2564 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
2565 | sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
||
2566 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
2567 | sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
||
2568 | if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
||
2569 | sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
||
2570 | if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
||
2571 | sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
||
2572 | if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
||
2573 | sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
||
2574 | if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
||
2575 | sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
||
2576 | if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
||
2577 | sVal = ini.IniReadValue("threshold", "MaxDistance"); |
||
2578 | if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
||
2579 | sVal = ini.IniReadValue("threshold", "RCThreshold"); |
||
2580 | if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
||
2581 | sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
||
2582 | if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
||
2321 | - | 2583 | |
2584 | sVal = ini.IniReadValue("waypoints", "wpcolor"); |
||
2585 | if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2586 | sVal = ini.IniReadValue("waypoints", "poicolor"); |
||
2587 | if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2588 | sVal = ini.IniReadValue("waypoints", "fscolor"); |
||
2589 | if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2590 | sVal = ini.IniReadValue("waypoints", "coptercolor"); |
||
2591 | if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2328 | - | 2592 | sVal = ini.IniReadValue("waypoints", "routecolor"); |
2593 | if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2594 | sVal = ini.IniReadValue("waypoints", "showWPRoute"); |
||
2595 | if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal); |
||
2312 | - | 2596 | } |
2597 | catch (Exception e) |
||
2598 | { |
||
2287 | - | 2599 | |
2312 | - | 2600 | MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
2601 | } |
||
2602 | |||
2287 | - | 2603 | } |
2604 | |||
2605 | /// <summary> |
||
2606 | /// save settings to ini-file |
||
2607 | /// </summary> |
||
2608 | void _writeIni() |
||
2609 | { |
||
2610 | |||
2611 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2612 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2613 | |||
2312 | - | 2614 | try |
2615 | { |
||
2287 | - | 2616 | |
2312 | - | 2617 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
2618 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
2619 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
2620 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2287 | - | 2621 | |
2312 | - | 2622 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
2623 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
2624 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
2625 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2287 | - | 2626 | |
2312 | - | 2627 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
2628 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2287 | - | 2629 | |
2312 | - | 2630 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
2631 | ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
||
2324 | - | 2632 | ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString()); |
2287 | - | 2633 | |
2312 | - | 2634 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
2635 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
2636 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
2637 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
2638 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
2639 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
2640 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
2641 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
2642 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
2643 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2287 | - | 2644 | |
2312 | - | 2645 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
2646 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2287 | - | 2647 | |
2312 | - | 2648 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
2649 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
2650 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
2651 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
2652 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
2653 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2287 | - | 2654 | |
2312 | - | 2655 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
2656 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
2657 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
2658 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
2659 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
2660 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2287 | - | 2661 | |
2312 | - | 2662 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
2663 | |||
2664 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
2665 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
2666 | ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
||
2667 | ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
||
2668 | ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
||
2669 | ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
||
2670 | ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
||
2671 | ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
||
2672 | ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
||
2673 | ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
||
2674 | ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
||
2321 | - | 2675 | |
2676 | ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString()); |
||
2677 | ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString()); |
||
2678 | ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString()); |
||
2679 | ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString()); |
||
2328 | - | 2680 | ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString()); |
2681 | ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString()); |
||
2312 | - | 2682 | } |
2683 | catch (Exception e) |
||
2684 | { |
||
2685 | |||
2686 | 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); |
||
2687 | } |
||
2287 | - | 2688 | } |
2312 | - | 2689 | |
2315 | - | 2690 | #region WP |
2312 | - | 2691 | void _readWPLFile() |
2692 | { |
||
2693 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
2694 | fd.Filter = "Waypointlists | *.wpl"; |
||
2695 | fd.Multiselect = false; |
||
2696 | if (fd.ShowDialog().Value) |
||
2697 | { |
||
2698 | string file = fd.SafeFileName; |
||
2699 | IniFile ini = new IniFile(fd.SafeFileName); |
||
2700 | ini.path = fd.FileName; |
||
2701 | |||
2702 | try |
||
2703 | { |
||
2704 | string sVal = ini.IniReadValue("General", "FileVersion"); |
||
2705 | if (sVal == "") |
||
2706 | MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2707 | else |
||
2708 | { |
||
2709 | if (Convert.ToInt16(sVal) < 3) |
||
2710 | MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2711 | else |
||
2712 | { |
||
2713 | sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
||
2714 | if (sVal == "") |
||
2715 | MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2716 | else |
||
2717 | { |
||
2718 | int wpnum = Convert.ToInt16(sVal); |
||
2719 | string wp; |
||
2720 | int i; |
||
2313 | - | 2721 | NumberFormatInfo nfi = new NumberFormatInfo(); |
2722 | nfi.NumberDecimalSeparator = "."; |
||
2312 | - | 2723 | dtWaypoints.Rows.Clear(); |
2327 | - | 2724 | //for(int k = 0; k < MainMap.Markers.Count;) |
2725 | //{ |
||
2726 | // GMapMarker p = MainMap.Markers[k]; |
||
2727 | // if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2728 | // MainMap.Markers.Remove(p); |
||
2729 | // else |
||
2730 | // k++; |
||
2731 | //} |
||
2732 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
2328 | - | 2733 | wpList.Clear(); |
2734 | if (mRouteWP != null) |
||
2735 | MainMap.Markers.Remove(mRouteWP); |
||
2736 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
||
2737 | |||
2312 | - | 2738 | for (int k = 1; k <= wpnum; k++) |
2739 | { |
||
2740 | DataRow dr = dtWaypoints.NewRow(); |
||
2741 | dr.ItemArray = new object[16]; |
||
2742 | object[] o = new object[16]; |
||
2743 | i = 0; |
||
2744 | wp = "Point" + k.ToString(); |
||
2745 | o[i] = k; |
||
2746 | i++; |
||
2747 | sVal = ini.IniReadValue(wp, "Type"); |
||
2748 | if (sVal != "") |
||
2315 | - | 2749 | o[i] = Convert.ToInt16(sVal) - 1; |
2312 | - | 2750 | i++; |
2751 | sVal = ini.IniReadValue(wp, "Prefix"); |
||
2752 | if (sVal != "") |
||
2753 | o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString(); |
||
2754 | i++; |
||
2313 | - | 2755 | sVal = ini.IniReadValue(wp, "Latitude"); |
2312 | - | 2756 | if (sVal != "") |
2313 | - | 2757 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2758 | i++; |
2313 | - | 2759 | sVal = ini.IniReadValue(wp, "Longitude"); |
2312 | - | 2760 | if (sVal != "") |
2313 | - | 2761 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2762 | i++; |
2763 | sVal = ini.IniReadValue(wp, "Altitude"); |
||
2764 | if (sVal != "") |
||
2313 | - | 2765 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 2766 | i++; |
2767 | sVal = ini.IniReadValue(wp, "Heading"); |
||
2768 | if (sVal != "") |
||
2769 | o[i] = Convert.ToInt16(sVal); |
||
2770 | i++; |
||
2771 | sVal = ini.IniReadValue(wp, "Speed"); |
||
2772 | if (sVal != "") |
||
2315 | - | 2773 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 2774 | i++; |
2775 | sVal = ini.IniReadValue(wp, "ClimbRate"); |
||
2776 | if (sVal != "") |
||
2777 | o[i] = Convert.ToInt16(sVal); |
||
2778 | i++; |
||
2779 | sVal = ini.IniReadValue(wp, "Radius"); |
||
2780 | if (sVal != "") |
||
2781 | o[i] = Convert.ToInt16(sVal); |
||
2782 | i++; |
||
2783 | sVal = ini.IniReadValue(wp, "DelayTime"); |
||
2784 | if (sVal != "") |
||
2785 | o[i] = Convert.ToInt16(sVal); |
||
2786 | i++; |
||
2787 | sVal = ini.IniReadValue(wp, "AutoTrigger"); |
||
2788 | if (sVal != "") |
||
2789 | o[i] = Convert.ToInt16(sVal); ; |
||
2790 | i++; |
||
2791 | sVal = ini.IniReadValue(wp, "CAM-Nick"); |
||
2792 | if (sVal != "") |
||
2313 | - | 2793 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 2794 | i++; |
2795 | o[i] = 0; |
||
2796 | i++; |
||
2797 | sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
||
2798 | if (sVal != "") |
||
2799 | o[i] = Convert.ToInt16(sVal); |
||
2800 | i++; |
||
2801 | o[i] = "New"; |
||
2802 | |||
2803 | dr.ItemArray = o; |
||
2804 | dtWaypoints.Rows.Add(dr); |
||
2315 | - | 2805 | GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4])); |
2806 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]); |
||
2328 | - | 2807 | wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
2808 | wpMarker.ZIndex = 100; |
||
2315 | - | 2809 | _setMarkerColor(wpMarker, (int)o[1]); |
2810 | MainMap.Markers.Add(wpMarker); |
||
2328 | - | 2811 | if((int)o[1] == 0) |
2812 | wpList.Add(new PointLatLng((double)o[3], (double)o[4])); |
||
2315 | - | 2813 | |
2312 | - | 2814 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
2815 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
||
2816 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2817 | Thread.Sleep(10); |
||
2818 | } |
||
2328 | - | 2819 | Dispatcher.Invoke(() => |
2820 | { |
||
2821 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
2822 | { |
||
2823 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
2824 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
2825 | } |
||
2826 | else |
||
2827 | mRouteWP = new GMapRoute(wpList, null); |
||
2828 | |||
2829 | if (_bShowWPRoute) |
||
2830 | MainMap.Markers.Add(mRouteWP); |
||
2831 | }); |
||
2832 | |||
2833 | MapRoute mr = new MapRoute(wpList, "WPList"); |
||
2834 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
||
2835 | |||
2312 | - | 2836 | } |
2837 | } |
||
2838 | } |
||
2839 | |||
2840 | } |
||
2841 | catch (Exception e) |
||
2842 | { |
||
2843 | |||
2844 | MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
2845 | } |
||
2846 | |||
2847 | } |
||
2848 | } |
||
2328 | - | 2849 | Brush _getBrush(string color) |
2850 | { |
||
2851 | switch (color) |
||
2852 | { |
||
2853 | case "red": |
||
2854 | return Brushes.Red; |
||
2855 | case "green": |
||
2856 | return Brushes.Lime; |
||
2857 | case "blue": |
||
2858 | return Brushes.Aqua; |
||
2859 | case "pink": |
||
2860 | return Brushes.Magenta; |
||
2861 | case "yellow": |
||
2862 | return Brushes.Yellow; |
||
2863 | default: |
||
2864 | return Brushes.Magenta; |
||
2865 | } |
||
2866 | } |
||
2315 | - | 2867 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
2868 | { |
||
2869 | Dispatcher.Invoke(() => |
||
2870 | { |
||
2871 | switch (iType) |
||
2872 | { |
||
2873 | case 0: |
||
2874 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
2875 | { |
||
2876 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
2877 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2878 | } |
||
2879 | else |
||
2880 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2881 | break; |
||
2882 | case 1: |
||
2883 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
2884 | { |
||
2885 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
2886 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2887 | } |
||
2888 | else |
||
2889 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2890 | break; |
||
2891 | case 2: |
||
2892 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
2893 | { |
||
2894 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
2895 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
2896 | } |
||
2897 | else |
||
2898 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2899 | break; |
||
2900 | default: |
||
2901 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
2902 | break; |
||
2903 | } |
||
2904 | }); |
||
2312 | - | 2905 | |
2315 | - | 2906 | } |
2907 | private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e) |
||
2312 | - | 2908 | { |
2315 | - | 2909 | Dispatcher.Invoke(() => |
2910 | { |
||
2911 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
2912 | { |
||
2913 | for (int k = 0; k < MainMap.Markers.Count;k++) |
||
2914 | { |
||
2915 | GMapMarker p = MainMap.Markers[k]; |
||
2916 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2917 | { |
||
2918 | if (((CustomMarkerWP)p.Shape).WPType == 0) |
||
2919 | { |
||
2920 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
2921 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2922 | } |
||
2923 | } |
||
2924 | } |
||
2925 | } |
||
2926 | }); |
||
2312 | - | 2927 | } |
2315 | - | 2928 | private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e) |
2929 | { |
||
2930 | Dispatcher.Invoke(() => |
||
2931 | { |
||
2932 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
2933 | { |
||
2934 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
2935 | { |
||
2936 | GMapMarker p = MainMap.Markers[k]; |
||
2937 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2938 | { |
||
2939 | if (((CustomMarkerWP)p.Shape).WPType == 1) |
||
2940 | { |
||
2941 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
2942 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2943 | } |
||
2944 | } |
||
2945 | } |
||
2946 | } |
||
2947 | }); |
||
2287 | - | 2948 | |
2315 | - | 2949 | } |
2950 | private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e) |
||
2287 | - | 2951 | { |
2315 | - | 2952 | Dispatcher.Invoke(() => |
2953 | { |
||
2954 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
2955 | { |
||
2956 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
2957 | { |
||
2958 | GMapMarker p = MainMap.Markers[k]; |
||
2959 | if (p.Shape.GetType() == typeof(CustomMarkerWP)) |
||
2960 | { |
||
2961 | if (((CustomMarkerWP)p.Shape).WPType == 2) |
||
2962 | { |
||
2963 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
2964 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
||
2965 | } |
||
2966 | } |
||
2967 | } |
||
2968 | } |
||
2969 | }); |
||
2287 | - | 2970 | } |
2318 | - | 2971 | private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e) |
2972 | { |
||
2973 | Dispatcher.Invoke(() => { |
||
2974 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
2975 | { |
||
2976 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2977 | ((CustomMarkerCopter)(copter.Shape)).setColor(s); |
||
2978 | } |
||
2979 | else |
||
2980 | ((CustomMarkerCopter)(copter.Shape)).setColor("red"); |
||
2981 | }); |
||
2982 | } |
||
2328 | - | 2983 | private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e) |
2984 | { |
||
2985 | Dispatcher.Invoke(() => |
||
2986 | { |
||
2987 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
2988 | { |
||
2989 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
2990 | MainMap.Markers.Remove(mRouteWP); |
||
2991 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
2992 | if (_bShowWPRoute) |
||
2993 | MainMap.Markers.Add(mRouteWP); |
||
2994 | } |
||
2995 | }); |
||
2996 | } |
||
2997 | private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e) |
||
2998 | { |
||
2999 | _bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked; |
||
3000 | if (_bShowWPRoute) |
||
3001 | { |
||
3002 | if (mRouteWP != null) |
||
3003 | MainMap.Markers.Add(mRouteWP); |
||
3004 | } |
||
3005 | else |
||
3006 | { |
||
3007 | if (mRouteWP != null) |
||
3008 | MainMap.Markers.Remove(mRouteWP); |
||
3009 | } |
||
3010 | } |
||
2315 | - | 3011 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
2287 | - | 3012 | { |
2315 | - | 3013 | _readWPLFile(); |
2287 | - | 3014 | } |
2335 | - | 3015 | private void btnClearWPList_Click(object sender, RoutedEventArgs e) |
3016 | { |
||
3017 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
3018 | wpList.Clear(); |
||
3019 | if (mRouteWP != null) |
||
3020 | MainMap.Markers.Remove(mRouteWP); |
||
3021 | dtWaypoints.Rows.Clear(); |
||
3022 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
3023 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
3024 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
3025 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
||
3026 | } |
||
2315 | - | 3027 | #endregion WP |
2335 | - | 3028 | |
2324 | - | 3029 | #region GPX |
3030 | private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
||
3031 | { |
||
3032 | _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
||
3033 | } |
||
3034 | void _gpxAdd(double lat,double lon, int elevation) |
||
3035 | { |
||
3036 | DataRow dr = dtGPX.NewRow(); |
||
3037 | dr[0] = dtGPX.Rows.Count - 1; |
||
3038 | dr[1] = lat; |
||
3039 | dr[2] = lon; |
||
3040 | dr[3] = elevation; |
||
3041 | dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z |
||
3042 | dtGPX.Rows.Add(dr); |
||
3043 | } |
||
3044 | void _saveGPXLog() |
||
3045 | { |
||
3046 | if (!Directory.Exists("GPXLog")) |
||
3047 | Directory.CreateDirectory("GPXLog"); |
||
3048 | string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx"; |
||
3049 | XmlTextWriter myXmlTextWriter = null; |
||
3050 | myXmlTextWriter = new XmlTextWriter(SaveFileName, null); |
||
3051 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
3052 | nfi.NumberDecimalSeparator = "."; |
||
2315 | - | 3053 | |
2324 | - | 3054 | try |
3055 | { |
||
3056 | myXmlTextWriter.Formatting = Formatting.Indented; |
||
3057 | |||
3058 | myXmlTextWriter.WriteStartDocument(); |
||
3059 | |||
3060 | myXmlTextWriter.WriteStartElement("gpx"); |
||
3061 | |||
3062 | myXmlTextWriter.WriteAttributeString("version", "1.0"); |
||
3063 | myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0"); |
||
3064 | myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance"); |
||
3065 | myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1"); |
||
3066 | myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd"); |
||
3067 | |||
3068 | myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture)); |
||
3069 | |||
3070 | myXmlTextWriter.WriteStartElement("trk"); |
||
3071 | myXmlTextWriter.WriteStartElement("trkseg"); |
||
3072 | for(int i = 0; i< dtGPX.Rows.Count;i++) |
||
3073 | { |
||
3074 | myXmlTextWriter.WriteStartElement("trkpt"); |
||
3075 | myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : ""); |
||
3076 | myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : ""); |
||
3077 | myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString()); |
||
3078 | myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString()); |
||
3079 | myXmlTextWriter.WriteEndElement(); |
||
3080 | } |
||
3081 | myXmlTextWriter.WriteEndElement(); |
||
3082 | myXmlTextWriter.WriteEndElement(); |
||
3083 | myXmlTextWriter.WriteEndElement(); |
||
3084 | } |
||
3085 | catch (Exception e) |
||
3086 | { |
||
3087 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
3088 | } |
||
3089 | finally |
||
3090 | { |
||
3091 | if (myXmlTextWriter != null) |
||
3092 | { |
||
3093 | myXmlTextWriter.Close(); |
||
3094 | } |
||
3095 | } |
||
3096 | } |
||
3097 | |||
3098 | private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e) |
||
3099 | { |
||
3100 | _loadGPXLog(); |
||
3101 | } |
||
3102 | |||
2327 | - | 3103 | private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
3104 | { |
||
3105 | _clearMapMarkers(typeof(GMapRoute)); |
||
3106 | } |
||
3107 | |||
2324 | - | 3108 | void _loadGPXLog() |
3109 | { |
||
3110 | |||
3111 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
3112 | fd.Filter = "GPX-Logfile | *.gpx"; |
||
3113 | fd.Multiselect = false; |
||
3114 | if (fd.ShowDialog().Value) |
||
3115 | { |
||
3116 | string file = fd.FileName; |
||
3117 | try |
||
3118 | { |
||
3119 | XDocument gpxDoc = XDocument.Load(file); |
||
3120 | XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1"); |
||
3121 | |||
3122 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
3123 | nfi.NumberDecimalSeparator = "."; |
||
3124 | |||
3125 | var tracks = from track in gpxDoc.Descendants(gpx + "trk") |
||
3126 | select new |
||
3127 | { |
||
3128 | Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null, |
||
3129 | Segs = ( |
||
3130 | from trackpoint in track.Descendants(gpx + "trkpt") |
||
3131 | select new |
||
3132 | { |
||
3133 | Latitude = trackpoint.Attribute("lat").Value, |
||
3134 | Longitude = trackpoint.Attribute("lon").Value, |
||
3135 | Elevation = trackpoint.Element(gpx + "ele") != null ? |
||
3136 | trackpoint.Element(gpx + "ele").Value : null, |
||
3137 | Time = trackpoint.Element(gpx + "time") != null ? |
||
3138 | trackpoint.Element(gpx + "time").Value : null |
||
3139 | } |
||
3140 | ) |
||
3141 | }; |
||
3142 | |||
3143 | List<PointLatLng> wpl = new List<PointLatLng>(); |
||
3144 | foreach(var trk in tracks) |
||
3145 | { |
||
3146 | foreach(var trkseg in trk.Segs) |
||
3147 | { |
||
3148 | if(trkseg.Latitude != "" && trkseg.Longitude !="") |
||
3149 | wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi))); |
||
3150 | } |
||
3151 | |||
3152 | } |
||
3153 | if(wpl.Count() > 0) |
||
3154 | { |
||
2327 | - | 3155 | _clearMapMarkers(typeof(GMapRoute)); |
3156 | //for (int k = 0; k < MainMap.Markers.Count;) |
||
3157 | //{ |
||
3158 | // GMapMarker p = MainMap.Markers[k]; |
||
3159 | // if (p.Shape.GetType() == typeof(GMapRoute)) |
||
3160 | // MainMap.Markers.Remove(p); |
||
3161 | // else |
||
3162 | // k++; |
||
3163 | //} |
||
2324 | - | 3164 | MapRoute mr = new MapRoute(wpl, "flying"); |
2328 | - | 3165 | Dispatcher.Invoke(() => |
3166 | { |
||
3167 | GMapRoute mRoute; |
||
3168 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
3169 | { |
||
3170 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
3171 | mRoute = new GMapRoute(wpList, _getBrush(s)); |
||
3172 | } |
||
3173 | else |
||
3174 | mRoute = new GMapRoute(wpList, null); |
||
2324 | - | 3175 | |
2328 | - | 3176 | MainMap.Markers.Add(mRoute); |
3177 | }); |
||
2324 | - | 3178 | } |
3179 | |||
3180 | } |
||
3181 | catch (Exception e) |
||
3182 | { |
||
3183 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
3184 | } |
||
3185 | } |
||
3186 | } |
||
3187 | #endregion GPX |
||
2315 | - | 3188 | #endregion functions |
2287 | - | 3189 | } |
2315 | - | 3190 | /// <summary> |
3191 | /// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter |
||
3192 | /// </summary> |
||
2313 | - | 3193 | public class waypointsConverter : IValueConverter |
3194 | { |
||
3195 | public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
||
3196 | { |
||
3197 | if (value != null) |
||
3198 | { |
||
3199 | switch ((string)parameter) |
||
3200 | { |
||
3201 | case "Latitude": |
||
3202 | return value.ToString() + " °"; |
||
3203 | case "Longitude": |
||
3204 | return value.ToString() + " °"; |
||
3205 | case "Radius": |
||
3206 | return value.ToString() + " m"; |
||
3207 | case "Altitude": |
||
3208 | return value.ToString() + " m"; |
||
3209 | case "ClimbRate": |
||
3210 | return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
||
3211 | case "DelayTime": |
||
3212 | return value.ToString() + " s"; |
||
3213 | case "Heading": |
||
3214 | return Waypoints.Heading(System.Convert.ToInt32(value)); |
||
3215 | case "Speed": |
||
3216 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
3217 | case "CamAngle": |
||
3218 | return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
||
3219 | case "Type": |
||
3220 | return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
||
3221 | case "AutoTrigger": |
||
3222 | return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
||
3223 | case "Status": |
||
3224 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
3225 | } |
||
3226 | |||
3227 | return value.ToString(); |
||
3228 | } |
||
3229 | else return value; |
||
3230 | } |
||
3231 | |||
3232 | public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
||
3233 | { |
||
3234 | throw new NotImplementedException(); |
||
3235 | } |
||
3236 | } |
||
3237 | |||
2287 | - | 3238 | public class IniFile |
3239 | { |
||
3240 | public string path; |
||
3241 | |||
3242 | [DllImport("kernel32")] |
||
3243 | private static extern long WritePrivateProfileString(string section, |
||
3244 | string key, string val, string filePath); |
||
3245 | |||
3246 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
3247 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
3248 | uint nSize, string lpFileName); |
||
3249 | |||
3250 | [DllImport("kernel32")] |
||
3251 | private static extern int GetPrivateProfileString(string section, |
||
3252 | string key, string def, StringBuilder retVal, |
||
3253 | int size, string filePath); |
||
3254 | |||
3255 | public IniFile(string INIPath) |
||
3256 | { |
||
3257 | path = INIPath; |
||
3258 | } |
||
3259 | |||
3260 | public void IniWriteValue(string Section, string Key, string Value) |
||
3261 | { |
||
3262 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
3263 | } |
||
3264 | |||
3265 | public string IniReadValue(string Section, string Key) |
||
3266 | { |
||
3267 | StringBuilder temp = new StringBuilder(255); |
||
3268 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
3269 | return temp.ToString(); |
||
3270 | } |
||
3271 | //Ini_sections auslesen in String-Array |
||
3272 | public string[] IniSectionNames() |
||
3273 | { |
||
3274 | |||
3275 | // uint MAX_BUFFER = 32767; |
||
3276 | uint MAX_BUFFER = 8388608; |
||
3277 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
3278 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
3279 | if (bytesReturned == 0) |
||
3280 | { |
||
3281 | Marshal.FreeCoTaskMem(pReturnedString); |
||
3282 | return null; |
||
3283 | } |
||
3284 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
3285 | Marshal.FreeCoTaskMem(pReturnedString); |
||
3286 | //use of Substring below removes terminating null for split |
||
3287 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
3288 | |||
3289 | |||
3290 | } |
||
3291 | } |
||
3292 | |||
3293 | /// <summary> |
||
3294 | /// Selected Win AI Function Calls |
||
3295 | /// </summary> |
||
3296 | public class WinApi |
||
3297 | { |
||
3298 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
3299 | public static extern int GetSystemMetrics(int which); |
||
3300 | [DllImport("user32.dll")] |
||
3301 | public static extern void |
||
3302 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
3303 | int X, int Y, int width, int height, uint flags); |
||
3304 | |||
3305 | private const int SM_CXSCREEN = 0; |
||
3306 | private const int SM_CYSCREEN = 1; |
||
3307 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
3308 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
3309 | |||
3310 | public static int ScreenX |
||
3311 | { |
||
3312 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
3313 | } |
||
3314 | |||
3315 | public static int ScreenY |
||
3316 | { |
||
3317 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
3318 | } |
||
3319 | |||
3320 | public static void SetWinFullScreen(IntPtr hwnd) |
||
3321 | { |
||
3322 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
3323 | } |
||
3324 | } |
||
3325 | /// <summary> |
||
3326 | /// Class used to preserve / restore state of the window |
||
3327 | /// </summary> |
||
3328 | public class WinState |
||
3329 | { |
||
3330 | private WindowState winState; |
||
3331 | private WindowStyle brdStyle; |
||
3332 | private bool topMost; |
||
3333 | private Rect restore; |
||
3334 | private bool IsMaximized = false; |
||
3335 | |||
3336 | public bool isMaximized |
||
3337 | { |
||
3338 | get { return IsMaximized; } |
||
3339 | } |
||
3340 | public void Maximize(Window targetForm) |
||
3341 | { |
||
3342 | if (!IsMaximized) |
||
3343 | { |
||
3344 | IsMaximized = true; |
||
3345 | Save(targetForm); |
||
3346 | targetForm.WindowState = WindowState.Maximized; |
||
3347 | targetForm.WindowStyle = WindowStyle.None; |
||
3348 | targetForm.Topmost = true; |
||
3349 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
3350 | } |
||
3351 | } |
||
3352 | |||
3353 | public void Save(Window targetForm) |
||
3354 | { |
||
3355 | winState = targetForm.WindowState; |
||
3356 | brdStyle = targetForm.WindowStyle; |
||
3357 | topMost = targetForm.Topmost; |
||
3358 | restore = targetForm.RestoreBounds; |
||
3359 | } |
||
3360 | public void Restore(Window targetForm) |
||
3361 | { |
||
3362 | targetForm.WindowState = winState; |
||
3363 | targetForm.WindowStyle = brdStyle; |
||
3364 | targetForm.Topmost = topMost; |
||
3365 | |||
3366 | targetForm.Left = restore.Left; |
||
3367 | targetForm.Top = restore.Top; |
||
3368 | targetForm.Height = restore.Height; |
||
3369 | targetForm.Width = restore.Width; |
||
3370 | IsMaximized = false; |
||
3371 | } |
||
3372 | } |
||
3373 | |||
3374 | } |