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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 |
2405 | - | 41 | object lockObj = new Object(); |
42 | MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer(); |
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2304 | - | 43 | |
2287 | - | 44 | GMapMarker copter; |
45 | GMapMarker home; |
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46 | PointLatLng start; |
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47 | PointLatLng end; |
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48 | PointLatLng pHome; |
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2328 | - | 49 | GMapRoute mRouteWP; |
2342 | - | 50 | GMapMarker wpActiveMarker; |
2328 | - | 51 | List<PointLatLng> wpList = new List<PointLatLng>(); |
2425 | - | 52 | List<int> wpOffset = new List<int>(); |
2405 | - | 53 | Circle cWPBound = new Circle(); |
54 | double dWPMaxRange = 0; |
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55 | |||
2324 | - | 56 | #region NC-Errors |
2287 | - | 57 | String[] NC_Error = new string[44] |
58 | { |
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59 | "No Error", |
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2381 | - | 60 | "FC not compatible", |
61 | "MK3Mag not compatible", |
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62 | "no FC communication", |
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63 | "no compass communication", |
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64 | "no GPS communication", |
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65 | "bad compass value", |
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66 | "RC Signal lost", |
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67 | "FC spi rx error", |
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68 | "ERR: no NC communication", |
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69 | "ERR: FC Nick Gyro", |
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70 | "ERR: FC Roll Gyro", |
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71 | "ERR: FC Yaw Gyro", |
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72 | "ERR: FC Nick ACC", |
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73 | "ERR: FC Roll ACC", |
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74 | "ERR: FC Z-ACC", |
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75 | "ERR: Pressure sensor", |
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76 | "ERR: FC I2C", |
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77 | "ERR: Bl Missing", |
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78 | "Mixer Error", |
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79 | "FC: Carefree Error", |
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80 | "ERR: GPS lost", |
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81 | "ERR: Magnet Error", |
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82 | "Motor restart", |
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83 | "BL Limitation", |
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84 | "Waypoint range", |
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85 | "ERR:No SD-Card", |
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86 | "ERR:SD Logging aborted", |
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87 | "ERR:Flying range!", |
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88 | "ERR:Max Altitude", |
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89 | "No GPS Fix", |
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90 | "compass not calibrated", |
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91 | "ERR:BL selftest", |
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92 | "no ext. compass", |
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93 | "compass sensor", |
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94 | "FAILSAFE pos.!", |
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95 | "ERR:Redundancy", |
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96 | "Redundancy test", |
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97 | "GPS Update rate", |
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98 | "ERR:Canbus", |
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99 | "ERR: 5V RC-Supply", |
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100 | "ERR:Power-Supply", |
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101 | "ACC not calibr.", |
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102 | "ERR:Parachute!" |
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2287 | - | 103 | }; |
2381 | - | 104 | String[] NC_Error_Link = new string[44] |
105 | { |
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106 | "", |
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107 | "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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108 | "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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109 | "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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110 | "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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111 | "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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112 | "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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113 | "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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114 | "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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115 | "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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116 | "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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117 | "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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118 | "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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119 | "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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120 | "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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121 | "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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122 | "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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123 | "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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124 | "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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125 | "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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126 | "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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127 | "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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128 | "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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129 | "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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130 | "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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131 | "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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132 | "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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133 | "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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134 | "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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135 | "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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136 | "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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137 | "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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138 | "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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139 | "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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140 | "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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141 | "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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142 | "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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143 | "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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144 | "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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145 | "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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146 | "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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147 | "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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148 | "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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149 | "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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150 | }; |
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151 | |||
2324 | - | 152 | #endregion NC-Errors |
2287 | - | 153 | [FlagsAttribute] |
154 | enum NC_HWError0 : short |
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155 | { |
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156 | None = 0, |
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157 | SPI_RX = 1, |
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158 | COMPASS_RX = 2, |
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159 | FC_INCOMPATIBLE = 4, |
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160 | COMPASS_INCOMPATIBLE = 8, |
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161 | GPS_RX = 16, |
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162 | COMPASS_VALUE = 32 |
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163 | }; |
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164 | [FlagsAttribute] |
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165 | enum FC_HWError0 : short |
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166 | { |
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167 | None = 0, |
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168 | GYRO_NICK = 1, |
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169 | GYRO_ROLL = 2, |
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170 | GYRO_YAW = 4, |
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171 | ACC_NICK = 8, |
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172 | ACC_ROLL = 16, |
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173 | ACC_TOP = 32, |
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174 | PRESSURE = 64, |
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175 | CAREFREE = 128 |
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176 | }; |
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177 | [FlagsAttribute] |
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178 | enum FC_HWError1 : short |
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179 | { |
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180 | None = 0, |
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181 | I2C = 1, |
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182 | BL_MISSING = 2, |
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183 | SPI_RX = 4, |
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184 | PPM = 8, |
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185 | MIXER = 16, |
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186 | RC_VOLTAGE = 32, |
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187 | ACC_NOT_CAL = 64, |
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188 | RES3 = 128 |
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189 | }; |
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190 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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191 | // Various colors for logging info |
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192 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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193 | |||
194 | bool _bCBInit = true; |
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195 | bool _init = true; |
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196 | bool check_HWError = false; |
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197 | |||
198 | string filePath = Directory.GetCurrentDirectory(); |
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199 | bool bReadContinously = false; |
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200 | bool _debugDataAutorefresh = true; |
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201 | bool _navCtrlDataAutorefresh = true; |
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202 | bool _blctrlDataAutorefresh = true; |
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203 | bool _OSDAutorefresh = true; |
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204 | bool _bErrorLog = false; |
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205 | bool _bConnErr = false; |
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206 | bool _bFollowCopter = false; |
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2324 | - | 207 | bool _bGPXLog = false; |
2376 | - | 208 | bool _Simulate = false; |
2287 | - | 209 | |
210 | bool _bSaveWinStateNormal = true; |
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211 | bool _bSaveWinStateFull = true; |
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212 | |||
213 | double scaleNormalAll = 1; |
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214 | double scaleNormalTopBar = 1; |
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215 | double scaleNormalMotors = 1; |
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216 | double scaleNormalOSD = 1; |
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217 | double scaleNormalLOG = 1; |
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218 | double scaleNormalHorizon = 1; |
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219 | |||
220 | double scaleFullAll = 1; |
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221 | double scaleFullTopBar = 1; |
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222 | double scaleFullMotors = 1; |
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223 | double scaleFullOSD = 1; |
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224 | double scaleFullLOG = 1; |
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225 | double scaleFullHorizon = 1; |
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226 | |||
227 | int _iCtrlAct = 0; |
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228 | int iOSDPage = 0; |
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229 | int iOSDMax = 0; |
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230 | int _iLifeCounter = 0; |
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231 | int crcError = 0; |
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232 | |||
2291 | - | 233 | bool _bSatFix = false; |
234 | Storyboard stbSatFixLostAnim; |
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235 | bool _bAnimSatFixActive = false; |
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236 | bool _bVoiceSatFixActive = false; |
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237 | bool _bVoiceSatFixPlay = false; |
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238 | int _iSatsLast = 0; |
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239 | int _iSatsJitter = 0; |
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240 | |||
241 | bool _bMagneticFieldOK = false; |
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242 | Storyboard stbMagneticFieldAnim; |
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243 | bool _bAnimMagneticFieldActive = false; |
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244 | bool _bVoiceMagneticFieldActive = false; |
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245 | bool _bVoiceMagneticFieldPlay = false; |
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246 | int _iMagneticFieldLast = 0; |
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247 | int _iMagneticFieldJitter = 0; |
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248 | |||
249 | bool _bRCLevelOK = false; |
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250 | Storyboard stbRCLevelAnim; |
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251 | bool _bAnimRCLevelActive = false; |
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252 | bool _bVoiceRCLevelActive = false; |
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253 | bool _bVoiceRCLevelPlay = false; |
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254 | int _iRCLevelLast = 0; |
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255 | int _iRCLevelJitter = 0; |
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256 | |||
2287 | - | 257 | int _iMotors = 4; |
258 | int _LipoCells = 4; |
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259 | |||
260 | double _dLipoVMax = 16.88; |
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261 | double _dLipoVMin = 12; |
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262 | double _dThresholdVoltageWarn = 0; |
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263 | double _dThresholdVoltageCrit = 0; |
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264 | Storyboard stbVoltageCritAnim; |
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265 | bool _bCritAnimVoltActive = false; |
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266 | bool _bCritVoiceVoltActive = false; |
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2291 | - | 267 | bool _bWarnVoiceVoltActive = false; |
2287 | - | 268 | bool _bVoiceVoltPlay = false; |
269 | double _dVoltLast = 0; |
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270 | int _iVoltJitter = 0; |
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271 | |||
2291 | - | 272 | double _dThresholdDistanceWarn = 100; |
273 | Storyboard stbDistanceWarnAnim; |
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274 | bool _bAnimDistanceActive = false; |
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275 | bool _bVoiceDistanceActive = false; |
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276 | bool _bVoiceDistancePlay = false; |
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277 | double _dDistanceLast = 0; |
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278 | int _iDistanceJitter = 0; |
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279 | |||
280 | double _dThresholdDistanceMax = 1000; |
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281 | int _iThresholdRC = 160; |
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282 | int _iThresholdMagField = 15; |
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283 | |||
2295 | - | 284 | bool _bAutoHome = false; |
285 | bool _bFirstSatFix = false; |
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286 | int _iFirstSatFix = 0; |
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2291 | - | 287 | |
2287 | - | 288 | double _dTopHeight = 36; |
289 | |||
290 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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291 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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292 | string[] serChanTitle = new string[12]; |
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293 | |||
294 | string[] sAnalogLabel = new string[32]; |
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295 | string[] sAnalogData = new string[32]; |
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2324 | - | 296 | int[] iAnalogData = new int[32]; |
2287 | - | 297 | |
2424 | - | 298 | 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 }; |
299 | int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 }; |
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2287 | - | 300 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
301 | /// <summary> |
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302 | /// interval for sending debugdata (multiplied by 10ms) |
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303 | /// </summary> |
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304 | byte debugInterval = 10; //(=> 100ms) |
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305 | /// <summary> |
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306 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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307 | /// </summary> |
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308 | byte blctrlInterval = 75; |
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309 | /// <summary> |
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310 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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311 | /// </summary> |
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312 | byte navctrlInterval = 80; |
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313 | /// <summary> |
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314 | /// interval for sending OSD page update (multiplied by 10ms) |
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315 | /// </summary> |
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316 | byte OSDInterval = 85; |
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317 | /// <summary> |
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318 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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319 | /// </summary> |
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320 | DataTable dtAnalog = new DataTable(); |
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321 | /// <summary> |
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322 | /// datatable for motordata (current,temp) |
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323 | /// </summary> |
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2315 | - | 324 | DataTable dtMotors = new DataTable(); |
2287 | - | 325 | |
326 | DataTable dtWaypoints = new DataTable(); |
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2313 | - | 327 | static volatile int _iWPCount = -1; |
328 | static volatile int _iWPIndex = -1; |
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329 | int _iWPTimeout = 1000; |
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2287 | - | 330 | bool _bGetWP = false; |
2328 | - | 331 | bool _bShowWPRoute = false; |
2287 | - | 332 | static volatile bool _bGetWPCount = false; |
2324 | - | 333 | DataTable dtGPX = new DataTable(); |
334 | DataRow drGPX; |
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335 | bool _bAirborne = false; |
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2355 | - | 336 | int _wpIndex = -1, _wpCount = 0, _wpEdit = -1; |
2340 | - | 337 | |
2287 | - | 338 | DispatcherTimer timer = new DispatcherTimer(); |
339 | |||
340 | /// <summary> |
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341 | /// stuff for enabeling touch zoom for the map |
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342 | /// </summary> |
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2424 | - | 343 | Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0); |
2287 | - | 344 | int iFirstStylusID = -1; |
345 | public string connectButtonText |
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346 | { |
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347 | get |
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348 | { |
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349 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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350 | } |
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351 | } |
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352 | |||
353 | WinState winState = new WinState(); |
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2304 | - | 354 | #endregion declarations |
2287 | - | 355 | public MainWindow() |
356 | { |
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357 | InitializeComponent(); |
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358 | _initForm(); |
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359 | _dataTablesInit(); |
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360 | _setupMap(); |
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361 | _init = false; |
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362 | timer.Tick += new EventHandler(timerEvent); |
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363 | timer.Interval = new TimeSpan(0, 0, 1); |
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364 | timer.Start(); |
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365 | } |
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366 | |||
367 | #region init |
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368 | void _initForm() |
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369 | { |
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370 | _readIni(); |
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371 | if (_bSaveWinStateNormal) |
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372 | _setScaleSliders(false); |
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2424 | - | 373 | cBoxTimingsDebug.ItemsSource = |
374 | cBoxTimingsNav.ItemsSource = |
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375 | cBoxTimingsBl.ItemsSource = |
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376 | cBoxTimingsOSD.ItemsSource = |
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2287 | - | 377 | iTimings; |
378 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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379 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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380 | _LipoMinMax(); |
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381 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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382 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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383 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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2291 | - | 384 | checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
385 | checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
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386 | checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
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387 | sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
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388 | checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
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2287 | - | 389 | |
2291 | - | 390 | sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
391 | |||
2287 | - | 392 | cBoxMotors.ItemsSource = iMotors; |
393 | cBoxMotors.SelectedItem = _iMotors; |
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394 | |||
395 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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396 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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397 | serialPortCtrl.DataReceived += processMessage; |
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398 | |||
399 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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400 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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401 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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402 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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403 | |||
404 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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405 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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406 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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407 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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2295 | - | 408 | checkBoxAutoSetHP.IsChecked = _bAutoHome; |
2287 | - | 409 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
2324 | - | 410 | checkBoxGPXLog.IsChecked = _bGPXLog; |
2328 | - | 411 | checkBoxShowWPRoute.IsChecked = _bShowWPRoute; |
2287 | - | 412 | |
2421 | - | 413 | GridSettings.Visibility = Visibility.Visible; |
414 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
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2349 | - | 415 | _initSerialCtrl(); |
2287 | - | 416 | } |
417 | /// <summary> |
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418 | /// initialize the datatables |
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419 | /// with columnnames etc |
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420 | /// </summary> |
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421 | void _dataTablesInit() |
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422 | { |
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2315 | - | 423 | dtMotors.Columns.Add("#"); |
2313 | - | 424 | if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
2315 | - | 425 | dtMotors.Columns.Add("Strom"); |
2313 | - | 426 | else |
2315 | - | 427 | dtMotors.Columns.Add("Current"); |
428 | dtMotors.Columns.Add("Temp"); |
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429 | dgvMotors1.DataContext = dtMotors.DefaultView; |
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2287 | - | 430 | _initDTMotors(); |
431 | |||
2424 | - | 432 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0)); |
2287 | - | 433 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
434 | style.Setters.Add(setter); |
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435 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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436 | style.Setters.Add(setter); |
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437 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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438 | style.Setters.Add(setter); |
||
2313 | - | 439 | |
2424 | - | 440 | dtWaypoints.Columns.Add("Index", typeof(int)); |
2315 | - | 441 | dtWaypoints.Columns.Add("Type", typeof(int)); |
2424 | - | 442 | dtWaypoints.Columns.Add("Name", typeof(string)); |
443 | dtWaypoints.Columns.Add("Latitude", typeof(double)); |
||
444 | dtWaypoints.Columns.Add("Longitude", typeof(double)); |
||
445 | dtWaypoints.Columns.Add("Altitude", typeof(string)); |
||
446 | dtWaypoints.Columns.Add("Heading", typeof(string)); |
||
447 | dtWaypoints.Columns.Add("Speed", typeof(string)); |
||
448 | dtWaypoints.Columns.Add("ClimbRate", typeof(string)); |
||
449 | dtWaypoints.Columns.Add("Radius", typeof(string)); |
||
450 | dtWaypoints.Columns.Add("HoldTime", typeof(string)); |
||
451 | dtWaypoints.Columns.Add("AutoTrigger", typeof(string)); |
||
452 | dtWaypoints.Columns.Add("CamAngle", typeof(string)); |
||
453 | dtWaypoints.Columns.Add("Event", typeof(string)); |
||
454 | dtWaypoints.Columns.Add("Out1Timer", typeof(string)); |
||
455 | dtWaypoints.Columns.Add("Status", typeof(string)); |
||
2313 | - | 456 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
457 | dgvWP.ItemsSource = dtWaypoints.DefaultView; |
||
2287 | - | 458 | dgvWP.ColumnHeaderStyle = new Style(); |
459 | dgvWP.ColumnHeaderStyle = style; |
||
2313 | - | 460 | |
2424 | - | 461 | dtGPX.Columns.Add("Index", typeof(int)); |
462 | dtGPX.Columns.Add("Latitude", typeof(double)); |
||
463 | dtGPX.Columns.Add("Longitude", typeof(double)); |
||
464 | dtGPX.Columns.Add("Elevation", typeof(int)); |
||
465 | dtGPX.Columns.Add("Time", typeof(string)); |
||
2324 | - | 466 | dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] }; |
467 | drGPX = dtGPX.NewRow(); |
||
2313 | - | 468 | |
2287 | - | 469 | } |
470 | /// <summary> |
||
2315 | - | 471 | /// initialize the datatable dtMotors for motor values |
2313 | - | 472 | /// DataGridView dgvMotors1 is bound to dtMotors1 |
2287 | - | 473 | /// </summary> |
474 | void _initDTMotors() |
||
475 | { |
||
476 | for (int i = 0; i < 12; i++) |
||
477 | { |
||
2315 | - | 478 | if (dtMotors.Rows.Count < 12) |
479 | dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
2287 | - | 480 | else |
481 | { |
||
2315 | - | 482 | dtMotors.Rows[i].SetField(1, "NA"); |
483 | dtMotors.Rows[i].SetField(2, "NA"); |
||
2287 | - | 484 | } |
485 | } |
||
486 | } |
||
487 | |||
488 | #endregion init |
||
489 | |||
490 | #region events |
||
491 | private void serialPortCtrl_PortOpened() |
||
492 | { |
||
493 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
||
494 | _getVersion(); |
||
495 | Thread.Sleep(100); |
||
2424 | - | 496 | _getLic(); |
2287 | - | 497 | //_OSDMenue(0); |
498 | //Thread.Sleep(200); |
||
499 | //_sendSerialData(); |
||
500 | _readCont(true); |
||
501 | } |
||
502 | private void serialPortCtrl_PortClosed() |
||
503 | { |
||
504 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
||
505 | _readCont(false); |
||
506 | } |
||
2324 | - | 507 | bool _bToggle = false; |
2287 | - | 508 | void timerEvent(object sender, EventArgs e) |
509 | { |
||
510 | if (bReadContinously) |
||
511 | { |
||
512 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
513 | |||
514 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
515 | |||
516 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
517 | check_HWError = true; |
||
518 | _getVersion(); |
||
519 | Thread.Sleep(10); |
||
520 | if (_OSDAutorefresh) |
||
521 | { |
||
522 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
523 | _initOSDCB(); |
||
524 | _OSDMenueAutoRefresh(); |
||
525 | } |
||
526 | if (_iLifeCounter > 0) |
||
527 | { |
||
528 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
2424 | - | 529 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
2287 | - | 530 | _iLifeCounter = 0; |
531 | _bConnErr = false; |
||
2424 | - | 532 | if (_bAirborne && _bGPXLog) |
2324 | - | 533 | { |
534 | drGPX[0] = dtGPX.Rows.Count; |
||
535 | dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] }); |
||
536 | } |
||
2327 | - | 537 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent))); |
538 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
539 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
2324 | - | 540 | _bToggle = !_bToggle; |
2287 | - | 541 | } |
542 | else |
||
543 | { |
||
544 | if (!_bConnErr) |
||
545 | { |
||
546 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
547 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
2424 | - | 548 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
2287 | - | 549 | _bConnErr = true; |
550 | } |
||
551 | } |
||
552 | } |
||
553 | } |
||
554 | |||
555 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
556 | { |
||
557 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
558 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
559 | } |
||
560 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
561 | { |
||
562 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
563 | if (GridMotors.IsVisible) |
||
564 | _setMotorGridSize(); |
||
565 | } |
||
566 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
567 | { |
||
568 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
569 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
570 | } |
||
571 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
572 | { |
||
573 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
574 | } |
||
575 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
576 | { |
||
577 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
578 | } |
||
579 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
580 | { |
||
581 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
582 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
583 | } |
||
584 | |||
585 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
586 | { |
||
587 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
588 | t.Start(); |
||
589 | } |
||
590 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
591 | { |
||
2313 | - | 592 | Thread t = new Thread(new ThreadStart(_sendWPList)); |
593 | t.Start(); |
||
2287 | - | 594 | } |
595 | |||
596 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
597 | { |
||
598 | if (!serialPortCtrl.Port.IsOpen) |
||
599 | serialPortCtrl.Connect(true); |
||
600 | else |
||
601 | _readCont(!bReadContinously); |
||
602 | } |
||
603 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
604 | { |
||
2347 | - | 605 | _setHomePos(); |
2287 | - | 606 | } |
607 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
608 | { |
||
2347 | - | 609 | _clearHomePos(); |
2287 | - | 610 | } |
611 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
612 | { |
||
613 | if (home != null && MainMap.Markers.Contains(home)) |
||
614 | MainMap.Position = home.Position; |
||
615 | } |
||
2295 | - | 616 | private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
617 | { |
||
618 | _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
||
619 | } |
||
2287 | - | 620 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
621 | { |
||
622 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
623 | } |
||
624 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
625 | { |
||
626 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
627 | } |
||
628 | |||
2291 | - | 629 | #region thresholds |
2287 | - | 630 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
631 | { |
||
2424 | - | 632 | if (!_init) |
2287 | - | 633 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
634 | } |
||
635 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
636 | { |
||
2424 | - | 637 | if (!_init) |
2287 | - | 638 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
639 | } |
||
640 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
641 | { |
||
642 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
643 | } |
||
2291 | - | 644 | |
645 | private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
646 | { |
||
2424 | - | 647 | if (!_init) |
2291 | - | 648 | _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
649 | } |
||
650 | private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
||
651 | { |
||
652 | _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
||
653 | } |
||
654 | |||
655 | private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
||
656 | { |
||
657 | _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
||
658 | } |
||
659 | private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
||
660 | { |
||
661 | _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
||
662 | } |
||
663 | private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
||
664 | { |
||
665 | _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
||
666 | } |
||
667 | #endregion thresholds |
||
668 | |||
2287 | - | 669 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
670 | { |
||
671 | _switchToNC(); |
||
672 | } |
||
673 | |||
674 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
675 | { |
||
676 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
2291 | - | 677 | stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
678 | stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
||
679 | stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
||
680 | stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
||
2287 | - | 681 | _setMotorGridSize(); |
682 | } |
||
2310 | - | 683 | private void Window_Closing(object sender, CancelEventArgs e) |
684 | { |
||
685 | _writeIni(); |
||
2424 | - | 686 | if (_bGPXLog && dtGPX.Rows.Count > 0) |
2324 | - | 687 | _saveGPXLog(); |
2310 | - | 688 | } |
2379 | - | 689 | private void Window_Closed(object sender, EventArgs e) |
690 | { |
||
691 | Application.Current.Shutdown(); |
||
692 | } |
||
693 | |||
2287 | - | 694 | #endregion events |
695 | |||
696 | #region GMap |
||
697 | |||
698 | void _setupMap() |
||
699 | { |
||
700 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
701 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
702 | MainMap.SetPositionByKeywords("Landshut"); |
||
703 | MainMap.MinZoom = 0; |
||
704 | MainMap.MaxZoom = 24; |
||
705 | MainMap.Zoom = 16; |
||
706 | MainMap.ShowCenter = true; |
||
707 | MainMap.ShowTileGridLines = false; |
||
708 | sliderMapZoom.Value = 16; |
||
709 | comboBoxMapType.ItemsSource = providerList; |
||
710 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
711 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
712 | |||
713 | // acccess mode |
||
714 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
715 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
716 | |||
717 | } |
||
2424 | - | 718 | |
2287 | - | 719 | /// <summary> |
720 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
721 | /// comboBoxMapType.ItemsSource = providerList; |
||
722 | /// to: |
||
723 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
724 | /// in _setupMap() |
||
725 | /// or add items here: |
||
726 | /// </summary> |
||
727 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
728 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
729 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
730 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
731 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
732 | |||
733 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
734 | { |
||
735 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
736 | copter = new GMapMarker(MainMap.Position); |
||
2318 | - | 737 | |
2424 | - | 738 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red"); |
2318 | - | 739 | if (comboBoxCopterColor.SelectionBoxItem != null) |
740 | { |
||
741 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2385 | - | 742 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
2318 | - | 743 | } |
2385 | - | 744 | Dispatcher.Invoke(() => { |
745 | if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
||
746 | { |
||
747 | string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
||
748 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
||
749 | } |
||
750 | }); |
||
2405 | - | 751 | copter.Offset = new System.Windows.Point(-26, -26); |
2287 | - | 752 | copter.ZIndex = int.MaxValue; |
753 | MainMap.Markers.Add(copter); |
||
754 | copter.Position = MainMap.Position; |
||
755 | } |
||
2347 | - | 756 | void _setHomePos() |
2287 | - | 757 | { |
758 | pHome = MainMap.Position; |
||
759 | if (!MainMap.Markers.Contains(home)) |
||
760 | { |
||
761 | home = new GMapMarker(MainMap.Position); |
||
762 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
2405 | - | 763 | home.Offset = new System.Windows.Point(-16.5, -16.5); |
2287 | - | 764 | // home.ZIndex = int.MaxValue; |
765 | MainMap.Markers.Add(home); |
||
766 | } |
||
767 | home.Position = MainMap.Position; |
||
768 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
2405 | - | 769 | |
770 | if (checkBoxShowWPMaxRange.IsChecked == true) |
||
771 | { |
||
772 | if (cWPBound != null && cWPBound.Tag != null) |
||
773 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
774 | |||
775 | createCircle(home.Position, dWPMaxRange); |
||
2408 | - | 776 | Dispatcher.Invoke(() => |
777 | { |
||
778 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
779 | { |
||
780 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
781 | cWPBound.setColor(s); |
||
782 | } |
||
783 | }); |
||
2405 | - | 784 | } |
785 | |||
2287 | - | 786 | } |
2347 | - | 787 | void _setActiveWP(int iIndex) |
2287 | - | 788 | { |
2347 | - | 789 | if (wpActiveMarker == null || !MainMap.Markers.Contains(wpActiveMarker)) |
790 | { |
||
791 | Dispatcher.Invoke(() => |
||
792 | { |
||
793 | wpActiveMarker = new GMapMarker(wpList[iIndex]); |
||
794 | wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0); |
||
795 | wpActiveMarker.Offset = new Point(-17.5, -17.5); |
||
796 | MainMap.Markers.Add(wpActiveMarker); |
||
797 | }); |
||
798 | } |
||
799 | else |
||
800 | Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]); |
||
801 | |||
2401 | - | 802 | Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m"); |
2347 | - | 803 | } |
804 | void _clearHomePos() |
||
805 | { |
||
2287 | - | 806 | MainMap.Markers.Remove(home); |
2405 | - | 807 | if (cWPBound != null && cWPBound.Tag != null) |
808 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2287 | - | 809 | } |
2335 | - | 810 | void _clearMapMarkers(Type markerType) |
811 | { |
||
812 | for (int k = 0; k < MainMap.Markers.Count;) |
||
813 | { |
||
814 | GMapMarker p = MainMap.Markers[k]; |
||
2340 | - | 815 | if (p.GetType() == markerType | (p.Shape != null && p.Shape.GetType() == markerType)) |
2335 | - | 816 | MainMap.Markers.Remove(p); |
817 | else |
||
818 | k++; |
||
819 | } |
||
2419 | - | 820 | _WPisMouseCaptured = false; |
2335 | - | 821 | } |
2369 | - | 822 | |
823 | GMapMarker _findWPMarker(string name) |
||
2368 | - | 824 | { |
825 | for (int k = 0; k < MainMap.Markers.Count;) |
||
826 | { |
||
827 | GMapMarker p = MainMap.Markers[k]; |
||
828 | if (p.GetType() == typeof(CustomMarkerWP) | (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))) |
||
2369 | - | 829 | if (((CustomMarkerWP)p.Shape).WPText == name) |
830 | return p; |
||
2368 | - | 831 | else |
832 | k++; |
||
833 | else |
||
834 | k++; |
||
835 | } |
||
2369 | - | 836 | return null; |
2368 | - | 837 | } |
2369 | - | 838 | void _clearWPMarker(string name) |
839 | { |
||
840 | GMapMarker p = _findWPMarker(name); |
||
2424 | - | 841 | if (p != null) |
2369 | - | 842 | MainMap.Markers.Remove(p); |
843 | } |
||
2368 | - | 844 | void _renameWPMarker(string s1, string s2) |
845 | { |
||
2369 | - | 846 | GMapMarker p = _findWPMarker(s1); |
847 | if (p != null) |
||
848 | ((CustomMarkerWP)p.Shape).WPText = s2; |
||
2368 | - | 849 | } |
2372 | - | 850 | void _WPMarkerSetType(string text, int type) |
851 | { |
||
852 | GMapMarker p = _findWPMarker(text); |
||
853 | if (p != null) |
||
854 | ((CustomMarkerWP)p.Shape).WPType = type; |
||
855 | } |
||
2369 | - | 856 | void _repositionWPMarker(PointLatLng point, string name) |
857 | { |
||
858 | GMapMarker p = _findWPMarker(name); |
||
859 | if (p != null) |
||
860 | p.Position = point; |
||
861 | } |
||
862 | |||
2405 | - | 863 | void createCircle(PointLatLng center, double distance) |
864 | { |
||
865 | |||
866 | GMapMarker it = new GMapMarker(center); |
||
867 | it.ZIndex = -1; |
||
2424 | - | 868 | |
2405 | - | 869 | cWPBound.Center = center; |
870 | cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance); |
||
871 | cWPBound.Tag = it; |
||
872 | cWPBound.IsHitTestVisible = false; |
||
873 | UpdateCircle(cWPBound); |
||
874 | it.Shape = cWPBound; |
||
875 | MainMap.Markers.Add(it); |
||
876 | } |
||
877 | // calculates circle radius |
||
878 | void UpdateCircle(Circle c) |
||
879 | { |
||
880 | var pxCenter = MainMap.FromLatLngToLocal(c.Center); |
||
881 | var pxBounds = MainMap.FromLatLngToLocal(c.Bound); |
||
882 | |||
883 | double a = (double)(pxBounds.X - pxCenter.X); |
||
884 | double b = (double)(pxBounds.Y - pxCenter.Y); |
||
885 | var pxCircleRadius = Math.Sqrt(a * a + b * b); |
||
886 | |||
887 | c.Width = c.Height = pxCircleRadius * 2; |
||
888 | //c.Width = 55 + pxCircleRadius * 2; |
||
889 | //c.Height = 55 + pxCircleRadius * 2; |
||
890 | (c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2); |
||
891 | } |
||
892 | |||
2287 | - | 893 | // access mode |
894 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
895 | { |
||
896 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
897 | MainMap.ReloadMap(); |
||
898 | } |
||
899 | // zoom up |
||
900 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
901 | { |
||
902 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
903 | } |
||
904 | |||
905 | // zoom down |
||
906 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
907 | { |
||
908 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
909 | } |
||
910 | |||
911 | // prefetch |
||
912 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
913 | { |
||
914 | RectLatLng area = MainMap.SelectedArea; |
||
915 | if (!area.IsEmpty) |
||
916 | { |
||
917 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
918 | { |
||
919 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
920 | |||
921 | if (res == MessageBoxResult.Yes) |
||
922 | { |
||
923 | TilePrefetcher obj = new TilePrefetcher(); |
||
924 | obj.Owner = this; |
||
925 | obj.ShowCompleteMessage = true; |
||
926 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
927 | } |
||
928 | else if (res == MessageBoxResult.No) |
||
929 | { |
||
930 | continue; |
||
931 | } |
||
932 | else if (res == MessageBoxResult.Cancel) |
||
933 | { |
||
934 | break; |
||
935 | } |
||
936 | } |
||
937 | } |
||
938 | else |
||
939 | { |
||
940 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
941 | } |
||
942 | } |
||
943 | |||
944 | // goto by geocoder |
||
945 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
946 | { |
||
947 | _goto_byGeoCoder(); |
||
948 | } |
||
949 | // goto by geocoder |
||
950 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
951 | { |
||
952 | if (e.Key == System.Windows.Input.Key.Enter) |
||
953 | _goto_byGeoCoder(); |
||
954 | } |
||
955 | void _goto_byGeoCoder() |
||
956 | { |
||
957 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
958 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
959 | { |
||
960 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
961 | } |
||
962 | } |
||
963 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
964 | { |
||
965 | try |
||
966 | { |
||
967 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
968 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
969 | |||
970 | MainMap.Position = new PointLatLng(lat, lng); |
||
971 | } |
||
972 | catch (Exception ex) |
||
973 | { |
||
974 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
975 | } |
||
976 | |||
977 | } |
||
978 | |||
979 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
980 | { |
||
981 | MainMap.ReloadMap(); |
||
982 | } |
||
983 | |||
984 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
985 | { |
||
986 | if (_bFollowCopter) |
||
987 | _setCopterData(MainMap.Position); |
||
988 | } |
||
989 | |||
990 | private void MainMap_OnMapZoomChanged() |
||
991 | { |
||
992 | if (_bFollowCopter) |
||
993 | _setCopterData(MainMap.Position); |
||
2424 | - | 994 | if ((int)sliderMapZoom.Value != MainMap.Zoom) |
2287 | - | 995 | sliderMapZoom.Value = MainMap.Zoom; |
2424 | - | 996 | if (cWPBound != null && cWPBound.Tag != null) |
2405 | - | 997 | UpdateCircle(cWPBound); |
2287 | - | 998 | } |
999 | |||
1000 | void _setCopterData(PointLatLng p) |
||
1001 | { |
||
1002 | Dispatcher.Invoke(() => |
||
1003 | { |
||
1004 | copter.Position = p; |
||
1005 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
1006 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
1007 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
1008 | }); |
||
1009 | if (home != null && MainMap.Markers.Contains(home)) |
||
1010 | { |
||
1011 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
1012 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
1013 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
2291 | - | 1014 | |
2424 | - | 1015 | if (d * 1000 < _dThresholdDistanceWarn) |
2291 | - | 1016 | { |
1017 | _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
||
1018 | if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
||
1019 | { |
||
1020 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
||
1021 | _bAnimDistanceActive = false; |
||
1022 | } |
||
1023 | } |
||
1024 | else |
||
1025 | { |
||
1026 | if (_iDistanceJitter < 20) |
||
1027 | { _iDistanceJitter++; } |
||
1028 | if (_iDistanceJitter == 20) |
||
1029 | { |
||
1030 | if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
||
1031 | { |
||
1032 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
||
1033 | _bAnimDistanceActive = true; |
||
1034 | } |
||
1035 | if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
||
1036 | { |
||
2398 | - | 1037 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3"); |
1038 | //Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
||
1039 | //t.Start(); |
||
2291 | - | 1040 | _bVoiceDistanceActive = true; |
1041 | } |
||
1042 | _iDistanceJitter++; |
||
1043 | } |
||
1044 | } |
||
2287 | - | 1045 | } |
1046 | } |
||
1047 | |||
1048 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
1049 | { |
||
1050 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
1051 | } |
||
1052 | |||
1053 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
1054 | { |
||
1055 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
1056 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
1057 | } |
||
1058 | #region Touch zooming hackattack ;) |
||
1059 | /// <summary> |
||
1060 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
1061 | /// </summary> |
||
1062 | bool bFirstAccess = true; |
||
1063 | double dDistance = 0; |
||
1064 | int iZoom; |
||
1065 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
1066 | { |
||
2419 | - | 1067 | if (!_WPisMouseCaptured) |
2287 | - | 1068 | { |
2419 | - | 1069 | var id = e.StylusDevice.Id; |
1070 | e.StylusDevice.Capture(MainMap); |
||
1071 | if (iFirstStylusID == -1) |
||
1072 | { |
||
1073 | iFirstStylusID = id; |
||
1074 | } |
||
1075 | else |
||
1076 | { |
||
2287 | - | 1077 | |
2419 | - | 1078 | MainMap.CanDragMap = false; |
1079 | } |
||
2287 | - | 1080 | } |
1081 | } |
||
1082 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
1083 | { |
||
1084 | MainMap.ReleaseStylusCapture(); |
||
1085 | iFirstStylusID = -1; |
||
1086 | bFirstAccess = true; |
||
1087 | MainMap.CanDragMap = true; |
||
1088 | iZoom = 0; |
||
1089 | } |
||
1090 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
1091 | { |
||
1092 | var id = e.StylusDevice.Id; |
||
1093 | var tp = e.GetPosition(MainMap); |
||
1094 | |||
1095 | // This is the first Stylus point; just record its position. |
||
1096 | if (id == iFirstStylusID) |
||
1097 | { |
||
1098 | pTouch1.X = tp.X; |
||
1099 | pTouch1.Y = tp.Y; |
||
1100 | } |
||
1101 | else |
||
1102 | if (iFirstStylusID > -1) |
||
1103 | { |
||
1104 | pTouch2.X = tp.X; |
||
1105 | pTouch2.Y = tp.Y; |
||
1106 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
1107 | if (!bFirstAccess) |
||
1108 | { |
||
1109 | if (distance > dDistance) |
||
1110 | iZoom++; |
||
1111 | else |
||
1112 | if (distance < dDistance) |
||
1113 | iZoom--; |
||
1114 | } |
||
1115 | if (iZoom > 30) |
||
1116 | { |
||
1117 | iZoom = 0; |
||
1118 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
1119 | } |
||
1120 | if (iZoom < -30) |
||
1121 | { |
||
1122 | iZoom = 0; |
||
1123 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
1124 | } |
||
1125 | dDistance = distance; |
||
1126 | bFirstAccess = false; |
||
1127 | } |
||
1128 | } |
||
1129 | #endregion Touch zooming hackattack ;) |
||
1130 | |||
1131 | #endregion GMap |
||
1132 | |||
1133 | #region settings |
||
1134 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
1135 | { |
||
2424 | - | 1136 | if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
2287 | - | 1137 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
1138 | } |
||
1139 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
1140 | { |
||
2424 | - | 1141 | if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
2287 | - | 1142 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
1143 | } |
||
1144 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
1145 | { |
||
1146 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
1147 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
1148 | } |
||
1149 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
1150 | { |
||
1151 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
1152 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
1153 | } |
||
1154 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
1155 | { |
||
1156 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
1157 | } |
||
1158 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
1159 | { |
||
1160 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
1161 | } |
||
1162 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
1163 | { |
||
1164 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
1165 | } |
||
1166 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
1167 | { |
||
1168 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
1169 | } |
||
1170 | |||
1171 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
1172 | { |
||
1173 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
1174 | { |
||
1175 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
1176 | _LipoMinMax(); |
||
1177 | } |
||
1178 | } |
||
1179 | void _LipoMinMax() |
||
1180 | { |
||
1181 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
1182 | _dLipoVMin = (double)_LipoCells * 3; |
||
1183 | pbTopVoltage.Maximum = _dLipoVMax; |
||
1184 | pbTopVoltage.Minimum = _dLipoVMin; |
||
1185 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
1186 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
1187 | } |
||
1188 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
1189 | { |
||
1190 | if (cBoxMotors.SelectedIndex > -1) |
||
1191 | { |
||
1192 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
1193 | Dispatcher.Invoke(() => |
||
1194 | { |
||
1195 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
1196 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1197 | }); |
||
1198 | } |
||
1199 | } |
||
1200 | void _setMotorGridSize() |
||
1201 | { |
||
1202 | if (dgvMotors1.Columns.Count > 2) |
||
1203 | { |
||
1204 | dgvMotors1.Columns[0].Width = 24; |
||
1205 | dgvMotors1.Columns[1].Width = 50; |
||
1206 | dgvMotors1.Columns[2].Width = 50; |
||
1207 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
1208 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1209 | } |
||
1210 | |||
1211 | } |
||
1212 | #endregion settings |
||
1213 | |||
1214 | #region functions |
||
1215 | |||
1216 | #region logging |
||
1217 | /// <summary> Log data to the terminal window. </summary> |
||
1218 | /// <param name="msgtype"> The type of message to be written. </param> |
||
1219 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
1220 | private void Log(LogMsgType msgtype, string msg) |
||
1221 | { |
||
1222 | Dispatcher.Invoke(() => |
||
1223 | { |
||
2424 | - | 1224 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
1225 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1226 | // rtfTerminal.AppendText(msg + "\r"); |
||
1227 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd); |
||
2287 | - | 1228 | tr.Text = msg; |
1229 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1230 | rtfTerminal.AppendText("\r"); |
||
1231 | rtfTerminal.ScrollToEnd(); |
||
1232 | }); |
||
1233 | } |
||
2424 | - | 1234 | private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName) |
2287 | - | 1235 | { |
2381 | - | 1236 | |
2287 | - | 1237 | Dispatcher.Invoke(() => |
1238 | { |
||
2381 | - | 1239 | Paragraph para = new Paragraph(); |
1240 | para.Margin = new Thickness(0); // remove indent between paragraphs |
||
1241 | |||
1242 | Hyperlink link = new Hyperlink(); |
||
1243 | if (linkURL != "" && linkName != "") |
||
1244 | { |
||
1245 | link.IsEnabled = true; |
||
1246 | link.Inlines.Add(linkName); |
||
1247 | link.NavigateUri = new Uri(linkURL); |
||
1248 | link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString()); |
||
1249 | } |
||
1250 | //msg = DateTime.Now.ToLongTimeString() + msg; |
||
1251 | para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1252 | Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: "); |
||
1253 | r.Foreground = new SolidColorBrush(Colors.Black); |
||
1254 | para.Inlines.Add(r); |
||
1255 | para.Inlines.Add(msg); |
||
1256 | para.Inlines.Add(link); |
||
1257 | rtfError.Document.Blocks.Add(para); |
||
1258 | //TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
1259 | //tr.Text = msg + link; |
||
1260 | //tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1261 | //rtfError.AppendText("\r"); |
||
2287 | - | 1262 | rtfError.ScrollToEnd(); |
1263 | |||
2381 | - | 1264 | //_bErrorLog = true; |
2287 | - | 1265 | }); |
1266 | } |
||
1267 | /// <summary> |
||
1268 | /// Clear the line in the errorlog window |
||
1269 | /// containing the error string when error has ceased |
||
1270 | /// </summary> |
||
1271 | /// <param name="s">substring of errrormessage</param> |
||
1272 | void _clearErrorLog(string s) |
||
1273 | { |
||
1274 | Dispatcher.Invoke((Action)(() => |
||
1275 | { |
||
1276 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
1277 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
1278 | |||
1279 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
1280 | |||
1281 | |||
1282 | if (iStart > -1) |
||
1283 | { |
||
1284 | int iLength = 0; |
||
1285 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
1286 | if (iEnd > 0) |
||
1287 | { |
||
1288 | iLength = iEnd + 1; |
||
2424 | - | 1289 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
2287 | - | 1290 | if (iHttp == iLength) |
1291 | { |
||
1292 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
1293 | if (iEnd2 > iLength) |
||
1294 | { |
||
1295 | iLength = iEnd2 + 1; |
||
2424 | - | 1296 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
2287 | - | 1297 | |
1298 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1299 | rtfError.Selection.Text = string.Empty; |
||
1300 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1301 | } |
||
1302 | |||
1303 | } |
||
1304 | else |
||
1305 | { |
||
1306 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1307 | rtfError.Selection.Text = string.Empty; |
||
1308 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1309 | } |
||
1310 | } |
||
1311 | } |
||
1312 | })); |
||
1313 | |||
1314 | } |
||
1315 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
1316 | { |
||
1317 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
1318 | if (offset < 0) |
||
1319 | return null; // Not found |
||
1320 | |||
1321 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
1322 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
1323 | |||
1324 | return result; |
||
1325 | } |
||
1326 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
1327 | { |
||
1328 | while (position != null) |
||
1329 | { |
||
1330 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
1331 | { |
||
1332 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
1333 | if (characterCount <= count) |
||
1334 | { |
||
1335 | return position.GetPositionAtOffset(characterCount); |
||
1336 | } |
||
1337 | |||
1338 | characterCount -= count; |
||
1339 | } |
||
1340 | |||
1341 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
1342 | if (nextContextPosition == null) |
||
1343 | return position; |
||
1344 | |||
1345 | position = nextContextPosition; |
||
1346 | } |
||
1347 | |||
1348 | return position; |
||
1349 | } |
||
1350 | #endregion logging |
||
1351 | |||
1352 | #region processing received data |
||
1353 | |||
1354 | private void processMessage(byte[] message) |
||
1355 | { |
||
1356 | if (message.Length > 0) |
||
1357 | { |
||
1358 | _iLifeCounter++; |
||
1359 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1360 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1361 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1362 | char cmdID; |
||
1363 | byte adr; |
||
1364 | byte[] data; |
||
1365 | byte[] tmp = null; |
||
1366 | if (message[0] != '#') |
||
1367 | { |
||
1368 | int iFound = -1; |
||
1369 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1370 | { //so this is a workaround to not spam the log box |
||
1371 | if (message[i] == 35) |
||
1372 | { |
||
1373 | iFound = i; |
||
1374 | break; |
||
1375 | } |
||
1376 | } |
||
1377 | if (iFound > 0) |
||
1378 | { |
||
1379 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1380 | tmp = new byte[message.Length - iFound]; |
||
1381 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1382 | } |
||
1383 | s = s.Trim('\0', '\n', '\r'); |
||
1384 | if (s.Length > 0) |
||
1385 | Log(LogMsgType.Normal, s); |
||
1386 | if (tmp != null) |
||
1387 | { |
||
1388 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1389 | processMessage(tmp); |
||
1390 | } |
||
1391 | } |
||
1392 | //Debug.Print(s); |
||
1393 | else |
||
1394 | { |
||
1395 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1396 | |||
1397 | if (adr == 255) { crcError++; } |
||
1398 | else crcError = 0; |
||
1399 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1400 | //display the active controller (FC / NC) |
||
1401 | 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...??? |
||
1402 | { |
||
1403 | _iCtrlAct = adr; |
||
1404 | switch (adr) |
||
1405 | { |
||
1406 | case 1: |
||
1407 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
2424 | - | 1408 | // Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
1409 | // Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
||
1410 | // _setFieldsNA(); //display fields NA for FC |
||
2287 | - | 1411 | break; |
1412 | case 2: |
||
1413 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1414 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1415 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1416 | break; |
||
1417 | //case 3: |
||
1418 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1419 | // break; |
||
1420 | //case 4: |
||
1421 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1422 | // break; |
||
1423 | default: |
||
1424 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1425 | break; |
||
1426 | } |
||
2424 | - | 1427 | // _loadLabelNames(); |
2287 | - | 1428 | } |
1429 | // else |
||
1430 | // Debug.Print("Address == 0?"); |
||
1431 | |||
1432 | if (data != null && data.Length > 0) |
||
1433 | { |
||
1434 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1435 | s = s.Trim('\0', '\n'); |
||
1436 | |||
1437 | switch (cmdID) |
||
1438 | { |
||
1439 | //case 'A': //Label names |
||
1440 | // _processLabelNames(s); |
||
1441 | // break; |
||
1442 | |||
1443 | case 'D': //Debug data |
||
1444 | _processDebugVals(adr, data); |
||
1445 | break; |
||
1446 | |||
1447 | case 'V': //Version |
||
1448 | _processVersion(adr, data); |
||
1449 | break; |
||
1450 | |||
1451 | case 'K'://BL-CTRL data |
||
1452 | _processBLCtrl(data); |
||
1453 | break; |
||
1454 | |||
2424 | - | 1455 | case 'M'://License info |
1456 | _processLicense(data); |
||
1457 | break; |
||
1458 | |||
2287 | - | 1459 | case 'O': //NC Data |
2428 | - | 1460 | if (data[0] < 10) |
1461 | _processNCData(data); |
||
1462 | else |
||
1463 | _processNCDataV2(data); |
||
2287 | - | 1464 | break; |
1465 | |||
2381 | - | 1466 | //case 'E': //NC error-string |
1467 | // ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1468 | // break; |
||
2287 | - | 1469 | |
1470 | case 'L': //OSD Menue (called by pagenumber) |
||
1471 | _processOSDSingle(data); |
||
1472 | break; |
||
1473 | |||
1474 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1475 | _processOSDAuto(data); |
||
1476 | break; |
||
1477 | |||
1478 | case 'X': //Waypoint data |
||
1479 | _processWPData(data); |
||
1480 | break; |
||
1481 | |||
2313 | - | 1482 | case 'W': //return new Waypoint items count after sending waypoint to copter |
1483 | _iWPCount = data[0]; |
||
1484 | break; |
||
2287 | - | 1485 | //default: |
1486 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1487 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1488 | // break; |
||
1489 | } |
||
1490 | } |
||
1491 | //else |
||
1492 | //{ |
||
1493 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1494 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1495 | //} |
||
1496 | } |
||
1497 | } |
||
1498 | } |
||
1499 | /// <summary> |
||
1500 | /// Analog label names 'A' |
||
1501 | /// each label name is returned as a single string |
||
1502 | /// and added to string array sAnalogLabel[] |
||
1503 | /// and the datatable dtAnalog |
||
1504 | /// </summary> |
||
1505 | /// <param name="s">the label name</param> |
||
1506 | void _processLabelNames(string s) |
||
1507 | { |
||
1508 | //if (iLableIndex < 32) |
||
1509 | //{ |
||
1510 | // sAnalogLabel[iLableIndex] = s; |
||
1511 | // if (dtAnalog.Rows.Count < 32) |
||
1512 | // dtAnalog.Rows.Add(s, ""); |
||
1513 | // else |
||
1514 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1515 | |||
1516 | // // _getAnalogLabels(iLableIndex + 1); |
||
1517 | //} |
||
1518 | //Debug.Print(s); |
||
1519 | } |
||
1520 | /// <summary> |
||
1521 | /// Debug values 'D' |
||
1522 | /// </summary> |
||
1523 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1524 | /// <param name="data">the received byte array to process</param> |
||
1525 | void _processDebugVals(byte adr, byte[] data) |
||
1526 | { |
||
1527 | if (data.Length == 66) |
||
1528 | { |
||
2424 | - | 1529 | |
2287 | - | 1530 | double v; |
1531 | int index = 0; |
||
1532 | Int16 i16 = 0; |
||
1533 | double dTemp = 0; |
||
1534 | for (int i = 2; i < 66; i += 2) |
||
1535 | { |
||
1536 | i16 = data[i + 1]; |
||
1537 | i16 = (Int16)(i16 << 8); |
||
1538 | iAnalogData[index] = data[i] + i16; |
||
1539 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
2424 | - | 1540 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
2287 | - | 1541 | |
1542 | if (adr == 2) //NC |
||
1543 | { |
||
1544 | switch (index) |
||
1545 | { |
||
1546 | case 0: //pitch (German: nick) |
||
1547 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1548 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1549 | break; |
||
1550 | case 1: //roll |
||
1551 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1552 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1553 | break; |
||
1554 | case 4: //altitude |
||
1555 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1556 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
2424 | - | 1557 | Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; }); |
2287 | - | 1558 | break; |
1559 | case 7: //Voltage |
||
1560 | v = (double)iAnalogData[index] / (double)10; |
||
1561 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1562 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1563 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1564 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1565 | { |
||
1566 | if (v == _dVoltLast) |
||
2424 | - | 1567 | if (_iVoltJitter < 20) _iVoltJitter++; |
1568 | else |
||
1569 | { |
||
1570 | _iVoltJitter = 0; |
||
1571 | _dVoltLast = v; |
||
1572 | } |
||
2287 | - | 1573 | if (_iVoltJitter == 20) |
1574 | { |
||
1575 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1576 | |||
1577 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1578 | { |
||
1579 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1580 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1581 | { |
||
1582 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1583 | _bCritAnimVoltActive = true; |
||
1584 | } |
||
1585 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1586 | { |
||
2398 | - | 1587 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3"); |
1588 | //Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
||
1589 | //t.Start(); |
||
2287 | - | 1590 | _bCritVoiceVoltActive = true; |
1591 | } |
||
1592 | } |
||
1593 | else |
||
1594 | { |
||
1595 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1596 | { |
||
1597 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1598 | _bCritAnimVoltActive = false; |
||
1599 | } |
||
1600 | _bCritVoiceVoltActive = false; |
||
1601 | |||
2291 | - | 1602 | if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
2287 | - | 1603 | { |
2398 | - | 1604 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3"); |
1605 | //Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
||
1606 | //t.Start(); |
||
2291 | - | 1607 | _bWarnVoiceVoltActive = true; |
2287 | - | 1608 | } |
1609 | } |
||
1610 | } |
||
1611 | } |
||
1612 | else |
||
1613 | { |
||
1614 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1615 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1616 | { |
||
1617 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1618 | _bCritAnimVoltActive = false; |
||
1619 | } |
||
1620 | _bCritVoiceVoltActive = false; |
||
2291 | - | 1621 | _bWarnVoiceVoltActive = false; |
2287 | - | 1622 | _iVoltJitter = 0; |
1623 | } |
||
1624 | break; |
||
1625 | case 8: // Current |
||
1626 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1627 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1628 | break; |
||
1629 | case 10: //heading |
||
2291 | - | 1630 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
2399 | - | 1631 | if (!_Simulate) //use NavData for simulation |
1632 | { |
||
1633 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
||
1634 | Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]); |
||
1635 | } |
||
2287 | - | 1636 | break; |
1637 | case 12: // SPI error |
||
2291 | - | 1638 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
2287 | - | 1639 | break; |
1640 | case 14: //i2c error |
||
2291 | - | 1641 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
2287 | - | 1642 | break; |
1643 | case 20: //Earthmagnet field |
||
2291 | - | 1644 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
1645 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
2424 | - | 1646 | |
2291 | - | 1647 | if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
1648 | { |
||
1649 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1650 | _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
||
1651 | if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
||
1652 | { |
||
1653 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
||
1654 | _bAnimMagneticFieldActive = false; |
||
1655 | } |
||
1656 | } |
||
1657 | else |
||
1658 | { |
||
1659 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
2424 | - | 1660 | if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
2291 | - | 1661 | { |
1662 | if (_iMagneticFieldJitter < 20) |
||
1663 | _iMagneticFieldJitter++; |
||
1664 | } |
||
1665 | else |
||
1666 | { |
||
1667 | _iMagneticFieldJitter = 0; |
||
1668 | _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
||
1669 | } |
||
2424 | - | 1670 | if (_iMagneticFieldJitter == 20) |
2291 | - | 1671 | { |
1672 | if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
||
1673 | { |
||
1674 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
||
1675 | _bAnimMagneticFieldActive = true; |
||
1676 | } |
||
1677 | if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
||
1678 | { |
||
2398 | - | 1679 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3"); |
1680 | //Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
||
1681 | //t.Start(); |
||
2291 | - | 1682 | _bVoiceMagneticFieldActive = true; |
1683 | } |
||
1684 | } |
||
1685 | } |
||
2287 | - | 1686 | break; |
1687 | case 21: //GroundSpeed |
||
2424 | - | 1688 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
1689 | if (!_Simulate) |
||
1690 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
2287 | - | 1691 | break; |
2291 | - | 1692 | |
1693 | ///********** needs testing --> not sure what position this is *************** |
||
2287 | - | 1694 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
2424 | - | 1695 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
1696 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1697 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1698 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1699 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1700 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1701 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
2287 | - | 1702 | break; |
2291 | - | 1703 | |
2287 | - | 1704 | case 31: //Sats used |
2424 | - | 1705 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
1706 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
2287 | - | 1707 | break; |
1708 | } |
||
1709 | } |
||
1710 | index++; |
||
1711 | } |
||
1712 | } |
||
1713 | else |
||
1714 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1715 | } |
||
1716 | /// <summary> |
||
1717 | /// Version string 'V' |
||
1718 | /// </summary> |
||
1719 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1720 | /// <param name="data">the received byte array to process</param> |
||
1721 | void _processVersion(byte adr, byte[] data) |
||
1722 | { |
||
1723 | if (data.Length == 12) |
||
1724 | { |
||
1725 | if (!check_HWError) |
||
1726 | { |
||
1727 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1728 | string sVersion = ""; |
||
1729 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1730 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1731 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1732 | Log(LogMsgType.Incoming, sVersion); |
||
1733 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1734 | Log(LogMsgType.Incoming, sVersion); |
||
1735 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1736 | } |
||
1737 | if (data[5] > 0) //error0 |
||
1738 | { |
||
1739 | if (adr == 1) |
||
2424 | - | 1740 | ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", ""); |
2287 | - | 1741 | if (adr == 2) |
2424 | - | 1742 | ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", ""); |
2287 | - | 1743 | } |
1744 | if (data[6] > 0) //error1 |
||
1745 | { |
||
1746 | if (adr == 1) |
||
2424 | - | 1747 | ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", ""); |
2287 | - | 1748 | if (adr == 2) |
2424 | - | 1749 | ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field |
2287 | - | 1750 | } |
2381 | - | 1751 | //if ((data[5] + data[6] == 0) && _bErrorLog) |
1752 | // _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
2287 | - | 1753 | |
1754 | } |
||
1755 | check_HWError = false; |
||
1756 | } |
||
2424 | - | 1757 | |
1758 | void _processLicense(byte[] data) |
||
1759 | { |
||
1760 | if (data.Length > 480) |
||
1761 | { |
||
1762 | Dispatcher.Invoke(() => { |
||
1763 | tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127)); |
||
1764 | tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127)); |
||
1765 | tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127)); |
||
1766 | tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11)); |
||
1767 | tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16)); |
||
1768 | }); |
||
1769 | } |
||
1770 | } |
||
2287 | - | 1771 | /// <summary> |
1772 | /// BL-Ctrl data 'K' |
||
1773 | /// for FC you have to use a customized firmware |
||
1774 | /// </summary> |
||
1775 | /// <param name="data">the received byte array to process</param> |
||
1776 | void _processBLCtrl(byte[] data) |
||
1777 | { |
||
1778 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1779 | { |
||
1780 | bool bAvailable = false; |
||
1781 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1782 | { |
||
1783 | |||
1784 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1785 | bAvailable = true; |
||
1786 | else |
||
1787 | bAvailable = false; |
||
1788 | |||
1789 | if (data[i] < _iMotors) |
||
1790 | { |
||
1791 | if (bAvailable) |
||
1792 | { |
||
2315 | - | 1793 | dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
1794 | dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
2287 | - | 1795 | } |
1796 | else |
||
1797 | { |
||
2315 | - | 1798 | dtMotors.Rows[data[i]].SetField(1, "NA"); |
1799 | dtMotors.Rows[data[i]].SetField(2, "NA"); |
||
2287 | - | 1800 | } |
1801 | } |
||
1802 | //if (data[i] > 3 && data[i] < 8) |
||
1803 | //{ |
||
1804 | // if (bAvailable) |
||
1805 | // { |
||
1806 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1807 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1808 | // } |
||
1809 | // else |
||
1810 | // { |
||
1811 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1812 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1813 | // } |
||
1814 | //} |
||
1815 | } |
||
1816 | } |
||
1817 | } |
||
1818 | /// <summary> |
||
1819 | /// Navi-Ctrl data 'O' |
||
1820 | /// GPS-Position, capacatiy, flying time... |
||
1821 | /// </summary> |
||
1822 | /// <param name="data">the received byte array to process</param> |
||
2428 | - | 1823 | |
1824 | |||
1825 | byte OSD_FLAG_MASK1 = 0x04 + 0x20 + 0x40 + 0x80; |
||
1826 | byte OSD_FLAG_MASK2 = 0x01 + 0x02 + 0x08 + 0x10; |
||
1827 | int FCSTATUSFLAGS1 = 0; |
||
1828 | int FCSTATUSFLAGS2 = 0; |
||
1829 | byte OSDSTATUSFLAGS1 = 0; |
||
1830 | byte OSDSTATUSFLAGS2 = 0; |
||
1831 | void _processNCDataV2(byte[] data) |
||
1832 | { |
||
1833 | int i_32, i_16, iVal; |
||
1834 | double d; |
||
1835 | OSD_Base_Data_t osd = new OSD_Base_Data_t(data); |
||
1836 | OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1(); |
||
1837 | FCSTATUSFLAGS1 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK1) | (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK1); |
||
1838 | FCSTATUSFLAGS2 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK2) | (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK2); |
||
1839 | Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; }); |
||
1840 | Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; }); |
||
1841 | Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
||
1842 | Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s"))); |
||
1843 | if (_Simulate) |
||
1844 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s"))); |
||
1845 | |||
1846 | switch ((int)data[0]) |
||
1847 | { |
||
1848 | case 10: |
||
1849 | break; |
||
1850 | case 11: |
||
1851 | //---------------NC-Flags-------------------------- |
||
1852 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
1853 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
1854 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
1855 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
1856 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
1857 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
1858 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
1859 | |||
1860 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
1861 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
1862 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
1863 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
1864 | |||
1865 | //--------------- NC Error ------------------------ |
||
1866 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber |
||
1867 | if (data[16] > 0) |
||
1868 | _readNCError(); |
||
1869 | if (data[16] > 0 & data[16] < 44) |
||
1870 | ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]); |
||
1871 | |||
1872 | break; |
||
1873 | case 12: |
||
1874 | //--------------- RC quality ------------------------ |
||
1875 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString())); |
||
1876 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString())); |
||
1877 | |||
1878 | if (data[23] > _iThresholdRC) |
||
1879 | { |
||
1880 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
1881 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
1882 | { |
||
1883 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
1884 | _bAnimRCLevelActive = false; |
||
1885 | } |
||
1886 | } |
||
1887 | else |
||
1888 | { |
||
1889 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
1890 | if (_iRCLevelJitter == 20) |
||
1891 | { |
||
1892 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
1893 | { |
||
1894 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
1895 | _bAnimRCLevelActive = true; |
||
1896 | } |
||
1897 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
1898 | { |
||
1899 | _bVoiceRCLevelActive = true; |
||
1900 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3"); |
||
1901 | //Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
||
1902 | //th.Start(); |
||
1903 | } |
||
1904 | _iRCLevelJitter++; |
||
1905 | } |
||
1906 | } |
||
1907 | break; |
||
1908 | case 13: |
||
1909 | //-------------------------Waypoint max range (by license)------------------------------ |
||
1910 | i_32 = data[24]; |
||
1911 | iVal = i_32 << 8; |
||
1912 | iVal += data[23]; |
||
1913 | |||
1914 | if (dWPMaxRange != iVal) |
||
1915 | { |
||
1916 | dWPMaxRange = iVal; |
||
1917 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true) |
||
1918 | { |
||
1919 | if (cWPBound != null && cWPBound.Tag != null) |
||
1920 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
1921 | |||
1922 | createCircle(home.Position, dWPMaxRange); |
||
1923 | Dispatcher.Invoke(() => |
||
1924 | { |
||
1925 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
1926 | { |
||
1927 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
1928 | cWPBound.setColor(s); |
||
1929 | } |
||
1930 | }); |
||
1931 | } |
||
1932 | Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m")); |
||
1933 | } |
||
1934 | |||
1935 | OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2(); |
||
1936 | FCSTATUSFLAGS1 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK1) | (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK1); |
||
1937 | FCSTATUSFLAGS2 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK2) | (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK2); |
||
1938 | break; |
||
1939 | |||
1940 | case 14: |
||
1941 | //--------------- Flying time ------------------------ |
||
1942 | i_16 = data[14]; |
||
1943 | i_16 = (Int16)(i_16 << 8); |
||
1944 | iVal = data[13] + i_16; |
||
1945 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
1946 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
1947 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
1948 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
1949 | |||
1950 | //--------------------------------Distance HP------------------------------------ |
||
1951 | i_16 = data[16]; |
||
1952 | i_16 = (Int16)(i_16 << 8); |
||
1953 | iVal = data[15] + i_16; |
||
1954 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
1955 | |||
1956 | //--------------------------Distance to next WP-------------------------------- |
||
1957 | i_16 = data[19]; |
||
1958 | i_16 = (Int16)(i_16 << 8); |
||
1959 | iVal = data[18] + i_16; |
||
1960 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
1961 | Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
1962 | Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
1963 | |||
1964 | //-------------------Satellites---------------------------------- |
||
1965 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString())); |
||
1966 | |||
1967 | if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
||
1968 | { |
||
1969 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
1970 | if (_bAutoHome && !_bFirstSatFix) |
||
1971 | { |
||
1972 | if (_iFirstSatFix < 3) |
||
1973 | _iFirstSatFix++; |
||
1974 | else |
||
1975 | { |
||
1976 | _bFirstSatFix = true; |
||
1977 | Dispatcher.Invoke(() => _setHomePos()); |
||
1978 | } |
||
1979 | } |
||
1980 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
||
1981 | { |
||
1982 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
1983 | _bAnimSatFixActive = false; |
||
1984 | } |
||
1985 | if (!_bFollowCopter) |
||
1986 | { |
||
1987 | _setCopterData(osd.Pos()); |
||
1988 | if (!MainMap.ViewArea.Contains(osd.Pos())) |
||
1989 | Dispatcher.Invoke(() => MainMap.Position = osd.Pos()); |
||
1990 | |||
1991 | } |
||
1992 | else |
||
1993 | Dispatcher.Invoke(() => MainMap.Position = osd.Pos()); |
||
1994 | } |
||
1995 | else |
||
1996 | { |
||
1997 | if (_bSatFix) |
||
1998 | { |
||
1999 | if (data[23] == _iSatsLast) |
||
2000 | { |
||
2001 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
2002 | } |
||
2003 | else |
||
2004 | { |
||
2005 | _iSatsJitter = 0; |
||
2006 | _iSatsLast = data[23]; |
||
2007 | } |
||
2008 | |||
2009 | if (_iSatsJitter == 20) |
||
2010 | { |
||
2011 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
2012 | { |
||
2013 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
2014 | _bAnimSatFixActive = true; |
||
2015 | } |
||
2016 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
2017 | { |
||
2018 | _bVoiceSatFixActive = true; |
||
2019 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3"); |
||
2020 | //Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
||
2021 | //th.Start(); |
||
2022 | } |
||
2023 | |||
2024 | _bSatFix = false; |
||
2025 | } |
||
2026 | } |
||
2027 | } |
||
2028 | |||
2029 | break; |
||
2030 | |||
2031 | case 15: |
||
2032 | //--------------------------------Waypoint index------------------------------------ |
||
2033 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString())); |
||
2034 | Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString())); |
||
2035 | Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString())); |
||
2036 | if (data[13] > 0 && _wpIndex != data[13]-1 && wpList.Count >= data[13]-1) |
||
2037 | { |
||
2038 | _setActiveWP(data[13]-1); |
||
2039 | if ((FCSTATUSFLAGS1 & 2) == 2) |
||
2040 | Dispatcher.Invoke(() => { |
||
2041 | DataGridRow row; |
||
2042 | if (_wpIndex > -1) |
||
2043 | { |
||
2044 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
||
2045 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
2046 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
2047 | row.BorderThickness = new Thickness(0); |
||
2048 | } |
||
2049 | |||
2050 | _wpIndex = data[13]-1; |
||
2051 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
||
2052 | row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
||
2053 | row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
||
2054 | row.BorderThickness = new Thickness(2); |
||
2055 | dgvWP.UpdateLayout(); |
||
2056 | }); |
||
2057 | _wpIndex = data[13]-1; |
||
2058 | } |
||
2059 | else |
||
2060 | { |
||
2061 | if ((data[13] == 0 || wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker)) |
||
2062 | { |
||
2063 | Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker)); |
||
2064 | Dispatcher.Invoke(() => |
||
2065 | { |
||
2066 | DataGridRow row; |
||
2067 | if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex) |
||
2068 | { |
||
2069 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
||
2070 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
2071 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
2072 | row.BorderThickness = new Thickness(0); |
||
2073 | _wpIndex = -1; |
||
2074 | } |
||
2075 | }); |
||
2076 | |||
2077 | } |
||
2078 | } |
||
2079 | //----------------Waypoints count---------------------- |
||
2080 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count |
||
2081 | Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count |
||
2082 | Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count |
||
2083 | _wpCount = data[14]; |
||
2084 | |||
2085 | //---------------------------------Target hold time------------------------------ |
||
2086 | Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s")); |
||
2087 | Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s")); |
||
2088 | |||
2089 | break; |
||
2090 | |||
2091 | case 16: |
||
2092 | //--------------- Capacity used ------------------------ |
||
2093 | i_16 = data[18]; |
||
2094 | i_16 = (Int16)(i_16 << 8); |
||
2095 | iVal = data[17] + i_16; |
||
2096 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
2097 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
2098 | |||
2099 | //--------------- Heading compass ------------------------ |
||
2100 | i_16 = data[21]; |
||
2101 | iVal = 2 * i_16; |
||
2102 | Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °")); |
||
2103 | if (_Simulate) |
||
2104 | { |
||
2105 | Dispatcher.Invoke(() => ArtHor.rotate = iVal); |
||
2106 | Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal); |
||
2107 | } |
||
2108 | |||
2109 | break; |
||
2110 | case 17: |
||
2111 | |||
2112 | break; |
||
2113 | case 18: |
||
2114 | |||
2115 | break; |
||
2116 | default: |
||
2117 | break; |
||
2118 | } |
||
2119 | //-------------------------------------------------------------------------------- |
||
2120 | //-----------------------------FC Status Flags------------------------------- |
||
2121 | //-------------------------------------------------------------------------------- |
||
2122 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
2123 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((FCSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
2124 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((FCSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
2125 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((FCSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
2126 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2127 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((FCSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
2128 | |||
2129 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2130 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2131 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((FCSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
2132 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((FCSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
2133 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((FCSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
2134 | Dispatcher.Invoke((Action)(() => FC2_6.Background = ((FCSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
||
2135 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((FCSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
2136 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((FCSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
2137 | |||
2138 | //Sidebar StatusSymbols |
||
2139 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
2140 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01 |
||
2141 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01 |
||
2142 | |||
2143 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2144 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
||
2145 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
||
2146 | |||
2147 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2148 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2149 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2150 | |||
2151 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2152 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2153 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2154 | |||
2155 | _bAirborne = (FCSTATUSFLAGS1 & 2) == 2 ? true : false; |
||
2156 | |||
2157 | |||
2158 | } |
||
2159 | public class OSD_Base_Data_t |
||
2160 | { |
||
2161 | byte[] data; |
||
2162 | |||
2163 | public OSD_Base_Data_t(byte [] _data) |
||
2164 | { |
||
2165 | data = _data; |
||
2166 | } |
||
2167 | |||
2168 | public PointLatLng Pos() |
||
2169 | { |
||
2170 | PointLatLng p = new PointLatLng(); |
||
2171 | int i_32, iVal; |
||
2172 | double d; |
||
2173 | |||
2174 | i_32 = data[4]; |
||
2175 | iVal = i_32 << 24; |
||
2176 | i_32 = data[3]; |
||
2177 | iVal += i_32 << 16; |
||
2178 | i_32 = data[2]; |
||
2179 | iVal += i_32 << 8; |
||
2180 | iVal += data[1]; |
||
2181 | d = (double)iVal / Math.Pow(10, 7); |
||
2182 | p.Lng = d; |
||
2183 | |||
2184 | i_32 = data[8]; |
||
2185 | iVal = i_32 << 24; |
||
2186 | i_32 = data[7]; |
||
2187 | iVal += i_32 << 16; |
||
2188 | i_32 = data[6]; |
||
2189 | iVal += i_32 << 8; |
||
2190 | iVal += data[5]; |
||
2191 | d = (double)iVal / Math.Pow(10, 7); |
||
2192 | p.Lat = d; |
||
2193 | |||
2194 | return p; |
||
2195 | |||
2196 | } |
||
2197 | |||
2198 | public int Height() |
||
2199 | { |
||
2200 | int i_32, iVal; |
||
2201 | i_32 = data[10]; |
||
2202 | iVal = i_32 << 8; |
||
2203 | iVal += data[9]; |
||
2204 | |||
2205 | return iVal; |
||
2206 | } |
||
2207 | |||
2208 | public double Speed() |
||
2209 | { |
||
2210 | return (double)data[11]/10; |
||
2211 | } |
||
2212 | |||
2213 | public byte OSDSTATUSFLAGS1() |
||
2214 | { |
||
2215 | return data[12]; |
||
2216 | } |
||
2217 | public byte OSDSTATUSFLAGS2() |
||
2218 | { |
||
2219 | return data[13]; |
||
2220 | } |
||
2221 | } |
||
2287 | - | 2222 | void _processNCData(byte[] data) |
2223 | { |
||
2224 | int i_32, i_16, iVal; |
||
2225 | double d; |
||
2428 | - | 2226 | |
2227 | //----------------------------POSITION------------------------------------ |
||
2287 | - | 2228 | i_32 = data[4]; |
2229 | iVal = i_32 << 24; |
||
2230 | i_32 = data[3]; |
||
2231 | iVal += i_32 << 16; |
||
2232 | i_32 = data[2]; |
||
2233 | iVal += i_32 << 8; |
||
2234 | iVal += data[1]; |
||
2235 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 2236 | Dispatcher.Invoke(() => { drGPX[2] = d; }); |
2237 | |||
2287 | - | 2238 | PointLatLng p = new PointLatLng(); |
2239 | |||
2240 | p.Lng = d; |
||
2241 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
2242 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
2243 | |||
2244 | i_32 = data[8]; |
||
2245 | iVal = i_32 << 24; |
||
2246 | i_32 = data[7]; |
||
2247 | iVal += i_32 << 16; |
||
2248 | i_32 = data[6]; |
||
2249 | iVal += i_32 << 8; |
||
2250 | iVal += data[5]; |
||
2251 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 2252 | Dispatcher.Invoke(() => { drGPX[1] = d; }); |
2253 | Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
||
2287 | - | 2254 | p.Lat = d; |
2399 | - | 2255 | |
2428 | - | 2256 | //---------------------------SATS------------------------------------------------- |
2291 | - | 2257 | if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
2258 | { |
||
2259 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
2295 | - | 2260 | if(_bAutoHome && !_bFirstSatFix) |
2261 | { |
||
2262 | if (_iFirstSatFix < 3) |
||
2263 | _iFirstSatFix++; |
||
2264 | else |
||
2265 | { |
||
2266 | _bFirstSatFix = true; |
||
2347 | - | 2267 | Dispatcher.Invoke(() => _setHomePos()); |
2295 | - | 2268 | } |
2269 | } |
||
2291 | - | 2270 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
2271 | { |
||
2272 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
2273 | _bAnimSatFixActive = false; |
||
2274 | } |
||
2275 | if (!_bFollowCopter) |
||
2276 | { |
||
2277 | _setCopterData(p); |
||
2278 | if (!MainMap.ViewArea.Contains(p)) |
||
2279 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
2287 | - | 2280 | |
2291 | - | 2281 | } |
2282 | else |
||
2287 | - | 2283 | Dispatcher.Invoke(() => MainMap.Position = p); |
2284 | } |
||
2285 | else |
||
2291 | - | 2286 | { |
2287 | if(_bSatFix) |
||
2288 | { |
||
2289 | if (data[50] == _iSatsLast) |
||
2290 | { |
||
2291 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
2292 | } |
||
2293 | else |
||
2294 | { |
||
2295 | _iSatsJitter = 0; |
||
2296 | _iSatsLast = data[50]; |
||
2297 | } |
||
2287 | - | 2298 | |
2291 | - | 2299 | if (_iSatsJitter == 20) |
2300 | { |
||
2301 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
2302 | { |
||
2303 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
2304 | _bAnimSatFixActive = true; |
||
2305 | } |
||
2306 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
2307 | { |
||
2405 | - | 2308 | _bVoiceSatFixActive = true; |
2398 | - | 2309 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3"); |
2310 | //Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
||
2311 | //th.Start(); |
||
2291 | - | 2312 | } |
2313 | |||
2314 | _bSatFix = false; |
||
2315 | } |
||
2316 | } |
||
2317 | } |
||
2318 | |||
2428 | - | 2319 | //--------------------------Distance to next WP-------------------------------- |
2287 | - | 2320 | i_16 = data[28]; |
2321 | i_16 = (Int16)(i_16 << 8); |
||
2322 | iVal = data[27] + i_16; |
||
2399 | - | 2323 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
2324 | Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
2401 | - | 2325 | Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
2287 | - | 2326 | |
2428 | - | 2327 | //-------------------------Distance to HP set by GPS on---------------------------------- |
2287 | - | 2328 | i_16 = data[45]; |
2329 | i_16 = (Int16)(i_16 << 8); |
||
2330 | iVal = data[44] + i_16; |
||
2428 | - | 2331 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
2287 | - | 2332 | |
2428 | - | 2333 | //--------------------------------Waypoint index------------------------------------ |
2334 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); |
||
2355 | - | 2335 | Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString())); |
2401 | - | 2336 | Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString())); |
2399 | - | 2337 | if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1) |
2342 | - | 2338 | { |
2425 | - | 2339 | _setActiveWP(data[48]- 1); |
2355 | - | 2340 | if((data[67] & 2) == 2) |
2341 | Dispatcher.Invoke(() => { |
||
2342 | DataGridRow row; |
||
2343 | if (_wpIndex > -1) |
||
2344 | { |
||
2425 | - | 2345 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
2355 | - | 2346 | row.Background = new SolidColorBrush(Colors.Transparent); |
2347 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
2348 | row.BorderThickness = new Thickness(0); |
||
2349 | } |
||
2425 | - | 2350 | |
2355 | - | 2351 | _wpIndex = data[48] - 1; |
2425 | - | 2352 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
2366 | - | 2353 | row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
2354 | row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
||
2355 | - | 2355 | row.BorderThickness = new Thickness(2); |
2356 | dgvWP.UpdateLayout(); |
||
2357 | }); |
||
2425 | - | 2358 | _wpIndex = data[48]- 1; |
2342 | - | 2359 | } |
2347 | - | 2360 | else |
2361 | { |
||
2362 | if ((data[48] == 0 || wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker)) |
||
2355 | - | 2363 | { |
2347 | - | 2364 | Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker)); |
2355 | - | 2365 | Dispatcher.Invoke(() => |
2366 | { |
||
2367 | DataGridRow row; |
||
2368 | - | 2368 | if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex) |
2355 | - | 2369 | { |
2425 | - | 2370 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
2355 | - | 2371 | row.Background = new SolidColorBrush(Colors.Transparent); |
2372 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
2373 | row.BorderThickness = new Thickness(0); |
||
2374 | _wpIndex = -1; |
||
2375 | } |
||
2376 | }); |
||
2377 | |||
2378 | } |
||
2347 | - | 2379 | } |
2428 | - | 2380 | //----------------Waypoints count---------------------- |
2287 | - | 2381 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
2355 | - | 2382 | Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count |
2401 | - | 2383 | Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count |
2340 | - | 2384 | _wpCount = data[49]; |
2428 | - | 2385 | //-------------------Satellites---------------------------------- |
2386 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); |
||
2287 | - | 2387 | |
2388 | //--------------- Capacity used ------------------------ |
||
2389 | i_16 = data[81]; |
||
2390 | i_16 = (Int16)(i_16 << 8); |
||
2391 | iVal = data[80] + i_16; |
||
2392 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
2393 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
2394 | |||
2398 | - | 2395 | //--------------- Ground speed ------------------------ |
2396 | i_16 = data[59]; |
||
2397 | i_16 = (Int16)(i_16 << 8); |
||
2398 | iVal = data[58] + i_16; |
||
2399 | - | 2399 | Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
2400 | if(_Simulate) |
||
2401 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
||
2398 | - | 2402 | |
2403 | //--------------- Heading north ------------------------ |
||
2404 | i_16 = data[61]; |
||
2405 | i_16 = (Int16)(i_16 << 8); |
||
2406 | iVal = data[60] + i_16; |
||
2407 | Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °")); |
||
2408 | |||
2409 | //--------------- Heading compass ------------------------ |
||
2410 | i_16 = data[63]; |
||
2411 | i_16 = (Int16)(i_16 << 8); |
||
2412 | iVal = data[62] + i_16; |
||
2413 | Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °")); |
||
2399 | - | 2414 | if (_Simulate) |
2415 | { |
||
2416 | Dispatcher.Invoke(() => ArtHor.rotate = iVal); |
||
2417 | Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal); |
||
2418 | } |
||
2287 | - | 2419 | //--------------- Flying time ------------------------ |
2420 | i_16 = data[56]; |
||
2421 | i_16 = (Int16)(i_16 << 8); |
||
2422 | iVal = data[55] + i_16; |
||
2423 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
2424 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
2425 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
2426 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
2427 | |||
2428 | //--------------- RC quality ------------------------ |
||
2429 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
2430 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
2431 | |||
2291 | - | 2432 | if(data[66] > _iThresholdRC) |
2433 | { |
||
2434 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
2435 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
2436 | { |
||
2437 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
2438 | _bAnimRCLevelActive = false; |
||
2439 | } |
||
2440 | } |
||
2441 | else |
||
2442 | { |
||
2443 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
2444 | if (_iRCLevelJitter == 20) |
||
2445 | { |
||
2446 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
2447 | { |
||
2448 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
2449 | _bAnimRCLevelActive = true; |
||
2450 | } |
||
2451 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
2452 | { |
||
2405 | - | 2453 | _bVoiceRCLevelActive = true; |
2398 | - | 2454 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3"); |
2455 | //Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
||
2456 | //th.Start(); |
||
2291 | - | 2457 | } |
2458 | _iRCLevelJitter++; |
||
2459 | } |
||
2460 | } |
||
2461 | |||
2428 | - | 2462 | //-------------------------Waypoint max range (by license)------------------------------ |
2405 | - | 2463 | if(dWPMaxRange != (double)data[70]) |
2464 | { |
||
2465 | dWPMaxRange = (double)data[70]; |
||
2466 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true) |
||
2467 | { |
||
2468 | if (cWPBound != null && cWPBound.Tag != null) |
||
2469 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2470 | |||
2471 | createCircle(home.Position, dWPMaxRange); |
||
2408 | - | 2472 | Dispatcher.Invoke(() => |
2473 | { |
||
2474 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
2475 | { |
||
2476 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
2477 | cWPBound.setColor(s); |
||
2478 | } |
||
2479 | }); |
||
2405 | - | 2480 | } |
2481 | Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m")); |
||
2482 | } |
||
2428 | - | 2483 | //---------------------------------Target hold time------------------------------ |
2399 | - | 2484 | Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s")); |
2401 | - | 2485 | Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s")); |
2399 | - | 2486 | |
2287 | - | 2487 | //--------------- NC Error ------------------------ |
2488 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
2489 | if (data[69] > 0) |
||
2490 | _readNCError(); |
||
2491 | if (data[69] > 0 & data[69] < 44) |
||
2381 | - | 2492 | ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]); |
2493 | //else |
||
2494 | // if (_bErrorLog) _clearErrorLog("NC Error"); |
||
2287 | - | 2495 | |
2428 | - | 2496 | //-------------------------------------------------------------------------------- |
2497 | //-----------------------------FC / NC Status Flags------------------------------- |
||
2498 | //-------------------------------------------------------------------------------- |
||
2298 | - | 2499 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
2500 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
2501 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
2502 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
2503 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2504 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
2505 | |||
2506 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2507 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2508 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
2509 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
2510 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
2511 | 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 |
||
2512 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
2513 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
2514 | |||
2515 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
2516 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
2517 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
2518 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
2519 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
2520 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
2521 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
2299 | - | 2522 | |
2523 | //Sidebar StatusSymbols |
||
2524 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
2525 | 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 |
||
2526 | 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 |
||
2527 | |||
2528 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2529 | 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 |
||
2530 | 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 |
||
2531 | |||
2532 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2304 | - | 2533 | 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 |
2534 | 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 | - | 2535 | |
2536 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2537 | 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 |
||
2538 | 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 |
||
2539 | |||
2540 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2304 | - | 2541 | 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 |
2542 | 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 |
||
2543 | 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 | - | 2544 | |
2324 | - | 2545 | _bAirborne = (data[67] & 2) == 2 ? true : false; |
2287 | - | 2546 | } |
2547 | /// <summary> |
||
2548 | /// Navi-Ctrl WP data struct 'X' |
||
2549 | /// called by index |
||
2550 | /// </summary> |
||
2551 | /// <param name="data">the received byte array to process</param> |
||
2552 | void _processWPData(byte[] data) |
||
2553 | { |
||
2313 | - | 2554 | _iWPCount = data[0]; |
2287 | - | 2555 | _bGetWPCount = false; |
2556 | if (data.Length >= 28) |
||
2557 | { |
||
2558 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
2559 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
2560 | if (_bGetWP) |
||
2561 | { |
||
2562 | if (data[1] == 1) |
||
2315 | - | 2563 | { |
2333 | - | 2564 | Dispatcher.Invoke(() => |
2565 | { |
||
2356 | - | 2566 | wpList.Clear(); |
2567 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
2568 | if (mRouteWP != null) |
||
2569 | MainMap.Markers.Remove(mRouteWP); |
||
2570 | if (wpActiveMarker != null) |
||
2571 | MainMap.Markers.Remove(wpActiveMarker); |
||
2572 | lblWPRouteDistance.Content = "0 m"; |
||
2573 | dtWaypoints.Rows.Clear(); |
||
2368 | - | 2574 | _wpEdit = -1;_wpIndex = -1; |
2425 | - | 2575 | wpOffset.Clear(); |
2318 | - | 2576 | }); |
2315 | - | 2577 | } |
2287 | - | 2578 | DataRow dr = dtWaypoints.NewRow(); |
2579 | dr = Waypoints.toDataRow(data, dr); |
||
2313 | - | 2580 | dtWaypoints.Rows.Add(dr); |
2425 | - | 2581 | _createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1); |
2313 | - | 2582 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
2583 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
||
2287 | - | 2584 | if (data[1] == data[0]) |
2585 | { |
||
2586 | _bGetWP = false; |
||
2368 | - | 2587 | _routeUpdate(); |
2287 | - | 2588 | } |
2589 | |||
2590 | } |
||
2591 | } |
||
2592 | else |
||
2593 | { |
||
2594 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
2595 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
2596 | } |
||
2597 | } |
||
2598 | /// <summary> |
||
2599 | /// OSD Menue 'L' |
||
2600 | /// single page called by pagenumber |
||
2601 | /// no autoupdate |
||
2602 | /// </summary> |
||
2603 | /// <param name="data">the received byte array to process</param> |
||
2604 | void _processOSDSingle(byte[] data) |
||
2605 | { |
||
2606 | if (data.Length == 84) |
||
2607 | { |
||
2608 | string sMessage = ""; |
||
2609 | iOSDPage = data[0]; |
||
2610 | iOSDMax = data[1]; |
||
2611 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
2612 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
2613 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
2614 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
2615 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
2616 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
2617 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
2618 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
2619 | |||
2620 | } |
||
2621 | //else |
||
2622 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
2623 | |||
2624 | } |
||
2625 | /// <summary> |
||
2626 | /// OSD Menue 'H' |
||
2627 | /// called by keys (0x01,0x02,0x03,0x04) |
||
2628 | /// autoupdate |
||
2629 | /// </summary> |
||
2630 | /// <param name="data">the received byte array to process</param> |
||
2631 | void _processOSDAuto(byte[] data) |
||
2632 | { |
||
2633 | if (data.Length == 81) |
||
2634 | { |
||
2635 | string sMessage = ""; |
||
2636 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
2637 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
2638 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
2639 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
2640 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
2641 | |||
2642 | } |
||
2643 | //else |
||
2644 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
2645 | } |
||
2646 | |||
2647 | #endregion processing received data |
||
2648 | |||
2649 | #region controller messages |
||
2650 | /// <summary> send message to controller to request data |
||
2651 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
2652 | /// </summary> |
||
2653 | /// <param name="CMDID"> the command ID </param> |
||
2654 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
2655 | private void _sendControllerMessage(char CMDID, byte address) |
||
2656 | { |
||
2657 | if (serialPortCtrl.Port.IsOpen) |
||
2658 | { |
||
2659 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2660 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
2661 | serialStream.Write(bytes, 0, bytes.Length); |
||
2662 | |||
2663 | } |
||
2664 | else |
||
2665 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2666 | } |
||
2667 | /// <summary> send message to controller to request data |
||
2668 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
2669 | /// </summary> |
||
2670 | /// <param name="CMDID"> the command ID </param> |
||
2671 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
2672 | /// <param name="data"> additional data for the request</param> |
||
2673 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
2674 | { |
||
2675 | if (serialPortCtrl.Port.IsOpen) |
||
2676 | { |
||
2677 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2678 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
2679 | serialStream.Write(bytes, 0, bytes.Length); |
||
2680 | |||
2681 | } |
||
2682 | else |
||
2683 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2684 | } |
||
2685 | |||
2686 | /// <summary> |
||
2687 | /// start/stop continous polling of controller values |
||
2688 | /// </summary> |
||
2689 | /// <param name="b">start/stop switch</param> |
||
2690 | void _readCont(bool b) |
||
2691 | { |
||
2692 | bReadContinously = b; |
||
2693 | if (bReadContinously) |
||
2694 | { |
||
2695 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
2696 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
2697 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
2698 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
2699 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
2700 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
2701 | } |
||
2702 | else |
||
2703 | { |
||
2704 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
2705 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
2706 | _bConnErr = false; |
||
2707 | } |
||
2708 | _iLifeCounter = 0; |
||
2709 | } |
||
2710 | |||
2711 | private void _getVersion() |
||
2712 | { |
||
2713 | _sendControllerMessage('v', 0); |
||
2714 | } |
||
2715 | /// <summary> |
||
2716 | /// get FC version struct via NC |
||
2717 | /// by sending '1' as data (not documented in wiki...) |
||
2718 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
2719 | /// </summary> |
||
2720 | /// <param name="ctrl">controller number 1=FC</param> |
||
2721 | private void _getVersion(byte ctrl) |
||
2722 | { |
||
2723 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
2724 | } |
||
2725 | /// <summary> |
||
2726 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
2727 | /// </summary> |
||
2728 | private void _switchToNC() |
||
2729 | { |
||
2730 | if (serialPortCtrl.Port.IsOpen) |
||
2731 | { |
||
2732 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2733 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
2734 | serialStream.Write(bytes, 0, bytes.Length); |
||
2735 | |||
2736 | Thread.Sleep(100); |
||
2737 | _getVersion(); |
||
2738 | Thread.Sleep(100); |
||
2424 | - | 2739 | _getLic(); |
2287 | - | 2740 | // _OSDMenue(0); |
2741 | } |
||
2742 | else |
||
2743 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2744 | } |
||
2745 | /// <summary> |
||
2746 | /// switch to FC |
||
2747 | /// </summary> |
||
2748 | private void _switchToFC() |
||
2749 | { |
||
2750 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
2751 | Thread.Sleep(100); |
||
2752 | _getVersion(); |
||
2753 | Thread.Sleep(100); |
||
2754 | // _OSDMenue(0); |
||
2755 | } |
||
2756 | /// <summary> |
||
2757 | /// send RESET signal to FC |
||
2758 | /// </summary> |
||
2759 | private void _resetCtrl() |
||
2760 | { |
||
2761 | _sendControllerMessage('R', 1); |
||
2762 | } |
||
2763 | /// <summary> |
||
2764 | /// poll the debug data (4sec subscription) |
||
2765 | /// </summary> |
||
2766 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2767 | private void _readDebugData(bool auto) |
||
2768 | { |
||
2769 | byte interval = auto ? debugInterval : (byte)0; |
||
2770 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
2771 | } |
||
2772 | /// <summary> |
||
2773 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
2774 | /// </summary> |
||
2775 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2776 | private void _readBLCtrl(bool auto) |
||
2777 | { |
||
2778 | byte interval = auto ? blctrlInterval : (byte)0; |
||
2779 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
2780 | } |
||
2781 | /// <summary> |
||
2782 | /// poll the NC data struct (4sec subscription) |
||
2783 | /// </summary> |
||
2784 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2785 | private void _readNavData(bool auto) |
||
2786 | { |
||
2787 | byte interval = auto ? navctrlInterval : (byte)0; |
||
2428 | - | 2788 | // _sendControllerMessage('o', 2, new byte[1] { interval }); |
2789 | _sendControllerMessage('o', 2, new byte[3] { interval,4,0 }); |
||
2287 | - | 2790 | } |
2791 | /// <summary> |
||
2424 | - | 2792 | /// request the license info |
2793 | /// </summary> |
||
2794 | void _getLic() |
||
2795 | { |
||
2796 | if (serialPortCtrl.Port.IsOpen) |
||
2797 | { |
||
2798 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2799 | byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 }); |
||
2800 | serialStream.Write(bytes, 0, bytes.Length); |
||
2801 | } |
||
2802 | else |
||
2803 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2804 | |||
2805 | } |
||
2806 | /// <summary> |
||
2287 | - | 2807 | /// get the errortext for pending NC error |
2808 | /// </summary> |
||
2809 | private void _readNCError() |
||
2810 | { |
||
2811 | _sendControllerMessage('e', 2); |
||
2812 | } |
||
2813 | /// <summary> |
||
2814 | /// request the Waypoint at index |
||
2815 | /// </summary> |
||
2816 | /// <param name="index"></param> |
||
2817 | void _getpWP(int index) |
||
2818 | { |
||
2819 | if (serialPortCtrl.Port.IsOpen) |
||
2820 | { |
||
2821 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2822 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
2823 | serialStream.Write(bytes, 0, bytes.Length); |
||
2824 | } |
||
2825 | else |
||
2826 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2827 | |||
2828 | } |
||
2829 | void _getWP() |
||
2830 | { |
||
2335 | - | 2831 | int iTimeout = 0; |
2287 | - | 2832 | _bGetWPCount = true; |
2315 | - | 2833 | _getpWP(1); //get the itemscount of wp |
2335 | - | 2834 | while (_bGetWPCount & iTimeout < _iWPTimeout * 5) |
2835 | { |
||
2836 | Thread.Sleep(10); |
||
2837 | iTimeout++; |
||
2838 | } |
||
2839 | if (_iWPCount > 0 & !_bGetWPCount) |
||
2287 | - | 2840 | _getWPList(); |
2841 | } |
||
2842 | void _getWPList() |
||
2843 | { |
||
2844 | _bGetWP = true; |
||
2313 | - | 2845 | int iTimeout=0; |
2846 | for (int j = 0; j < _iWPCount; j++) |
||
2287 | - | 2847 | { |
2848 | _getpWP(j + 1); |
||
2313 | - | 2849 | iTimeout = 0; |
2850 | while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
||
2851 | { |
||
2852 | Thread.Sleep(1); |
||
2853 | iTimeout++; |
||
2854 | } |
||
2287 | - | 2855 | } |
2419 | - | 2856 | Dispatcher.Invoke(() => |
2857 | { |
||
2858 | // MainMap.ZoomAndCenterMarkers(null); |
||
2859 | MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]); |
||
2860 | MainMap.Zoom = 19; |
||
2861 | }); |
||
2287 | - | 2862 | } |
2363 | - | 2863 | /// <summary> |
2864 | /// Wrapper for _clearCopterWPList() |
||
2865 | /// necessary, cause it is called by threadnew which does not like return values... |
||
2866 | /// </summary> |
||
2340 | - | 2867 | void clearCopterWPList() |
2313 | - | 2868 | { |
2340 | - | 2869 | _clearCopterWPList(); |
2870 | } |
||
2363 | - | 2871 | /// <summary> |
2872 | /// clear the WP list of the copter |
||
2873 | /// by sending 'invalid' and index '0' |
||
2874 | /// </summary> |
||
2875 | /// <returns></returns> |
||
2340 | - | 2876 | bool _clearCopterWPList() |
2877 | { |
||
2335 | - | 2878 | int iTimeout = 0; |
2313 | - | 2879 | if (serialPortCtrl.Port.IsOpen) |
2880 | { |
||
2881 | byte[] bData = new byte[30]; |
||
2882 | for (int i = 0; i < 30; i++) |
||
2883 | bData[i] = 0; |
||
2884 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2885 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
||
2886 | serialStream.Write(bytes, 0, bytes.Length); |
||
2287 | - | 2887 | |
2313 | - | 2888 | _iWPCount = -1; |
2340 | - | 2889 | while (_iWPCount == -1 & iTimeout < _iWPTimeout) |
2335 | - | 2890 | { |
2313 | - | 2891 | Thread.Sleep(10); |
2335 | - | 2892 | iTimeout++; |
2893 | } |
||
2313 | - | 2894 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
2335 | - | 2895 | if (_iWPCount > -1) |
2340 | - | 2896 | return true; |
2897 | else |
||
2898 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2899 | } |
||
2900 | else |
||
2901 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2902 | |||
2903 | return false; |
||
2904 | } |
||
2905 | void _sendWPList() |
||
2906 | { |
||
2362 | - | 2907 | _sendWPList(0); |
2908 | } |
||
2909 | void _sendWPList(int iStart) |
||
2910 | { |
||
2340 | - | 2911 | int iTimeout = 0; |
2912 | if (serialPortCtrl.Port.IsOpen) |
||
2913 | { |
||
2914 | if (_clearCopterWPList()) |
||
2313 | - | 2915 | { |
2362 | - | 2916 | int k = 1; |
2917 | for (int i = iStart; i < dtWaypoints.Rows.Count; i++) |
||
2335 | - | 2918 | { |
2362 | - | 2919 | k = iStart > 0 ? k : -1; |
2376 | - | 2920 | _sendWayPoint(dtWaypoints.Rows[i], k, 'w',false); |
2313 | - | 2921 | |
2335 | - | 2922 | _iWPCount = -1; |
2923 | iTimeout = 0; |
||
2924 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
||
2925 | { |
||
2926 | Thread.Sleep(10); |
||
2927 | iTimeout++; |
||
2928 | } |
||
2929 | if (_iWPCount == -1) |
||
2930 | { |
||
2931 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2932 | break; |
||
2933 | } |
||
2934 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
||
2362 | - | 2935 | k++; |
2335 | - | 2936 | } |
2313 | - | 2937 | } |
2938 | } |
||
2939 | else |
||
2940 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2941 | |||
2942 | } |
||
2376 | - | 2943 | bool _sendWayPoint(DataRow dr, int index, char command,bool bSim) |
2340 | - | 2944 | { |
2313 | - | 2945 | |
2340 | - | 2946 | if (serialPortCtrl.Port.IsOpen) |
2947 | { |
||
2948 | byte[] bData = new byte[30]; |
||
2949 | for (int i = 0; i < 30; i++) |
||
2950 | bData[i] = 0; |
||
2951 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2952 | byte[] bytes; |
||
2953 | int iVal; |
||
2954 | double dVal; |
||
2955 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
2956 | nfi.NumberDecimalSeparator = ","; |
||
2957 | |||
2958 | //longitude |
||
2959 | dVal = Convert.ToDouble(dr[4], nfi); |
||
2960 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2961 | bData[0] = (byte)(iVal & 0xff); |
||
2962 | bData[1] = (byte)((iVal >> 8) & 0xff); |
||
2963 | bData[2] = (byte)((iVal >> 16) & 0xff); |
||
2964 | bData[3] = (byte)(iVal >> 24); |
||
2965 | //latitude |
||
2966 | dVal = Convert.ToDouble(dr[3], nfi); |
||
2967 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2968 | bData[4] = (byte)(iVal & 0xff); |
||
2969 | bData[5] = (byte)((iVal >> 8) & 0xff); |
||
2970 | bData[6] = (byte)((iVal >> 16) & 0xff); |
||
2971 | bData[7] = (byte)(iVal >> 24); |
||
2972 | //altitude |
||
2973 | dVal = Convert.ToDouble(dr[5], nfi); |
||
2974 | iVal = (int)(dVal * 10); |
||
2975 | bData[8] = (byte)(iVal & 0xff); |
||
2976 | bData[9] = (byte)((iVal >> 8) & 0xff); |
||
2977 | bData[10] = (byte)((iVal >> 16) & 0xff); |
||
2978 | bData[11] = (byte)(iVal >> 24); |
||
2376 | - | 2979 | if(bSim) |
2980 | bData[12] = 3; //Status 'SIMULATE' |
||
2340 | - | 2981 | //Status 'NEWDATA' |
2376 | - | 2982 | else |
2983 | bData[12] = 1; |
||
2340 | - | 2984 | //heading |
2985 | iVal = Convert.ToInt16(dr[6]); |
||
2986 | bData[13] = (byte)(iVal & 0xff); |
||
2987 | bData[14] = (byte)((iVal >> 8) & 0xff); |
||
2988 | //ToleranceRadius |
||
2989 | bData[15] = Convert.ToByte(dr[9]); |
||
2990 | //HoldTime |
||
2991 | bData[16] = Convert.ToByte(dr[10]); |
||
2992 | //Event_Flag |
||
2993 | bData[17] = Convert.ToByte(dr[13]); |
||
2994 | //Index |
||
2379 | - | 2995 | bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]); |
2340 | - | 2996 | //Type |
2997 | bData[19] = Convert.ToByte(dr[1]); |
||
2998 | //WP_EventChannelValue |
||
2999 | bData[20] = Convert.ToByte(dr[14]); |
||
3000 | //AltitudeRate |
||
3001 | bData[21] = Convert.ToByte(dr[8]); |
||
3002 | //Speed |
||
3003 | bData[22] = Convert.ToByte(dr[7]); |
||
3004 | //CamAngle |
||
3005 | bData[23] = (byte)Convert.ToInt16(dr[12]); |
||
3006 | //Name |
||
2362 | - | 3007 | string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2]; |
3008 | byte[] name = ASCIIEncoding.ASCII.GetBytes(s); |
||
2340 | - | 3009 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
3010 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
||
3011 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
||
3012 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
||
3013 | //Autotrigger |
||
3014 | bData[28] = Convert.ToByte(dr[11]); |
||
3015 | |||
2356 | - | 3016 | bytes = FlightControllerMessage.CreateMessage(command, 2, bData); |
2340 | - | 3017 | serialStream.Write(bytes, 0, bytes.Length); |
3018 | |||
3019 | return true; |
||
3020 | } |
||
3021 | |||
3022 | return false; |
||
3023 | } |
||
2287 | - | 3024 | #region OSD-Menue |
3025 | |||
3026 | /// <summary> |
||
3027 | /// one time query of the OSD Menue with pagenumber |
||
3028 | /// </summary> |
||
3029 | /// <param name="iMenue">Menue page</param> |
||
3030 | void _OSDMenue(int iMenue) |
||
3031 | { |
||
3032 | if (serialPortCtrl.Port.IsOpen) |
||
3033 | { |
||
3034 | if (iMenue > iOSDMax) |
||
3035 | iMenue = 0; |
||
3036 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
3037 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
3038 | serialStream.Write(bytes, 0, bytes.Length); |
||
3039 | } |
||
3040 | else |
||
3041 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
3042 | |||
3043 | } |
||
3044 | /// <summary> |
||
3045 | /// call the OSDMenue and start autorefresh |
||
3046 | /// usually by sending a menuekey |
||
3047 | /// 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) |
||
3048 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
3049 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
3050 | /// </summary> |
||
3051 | void _OSDMenueAutoRefresh() |
||
3052 | { |
||
3053 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
3054 | } |
||
3055 | void _OSDMenueAutoRefresh(byte key) |
||
3056 | { |
||
3057 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
3058 | } |
||
3059 | /// <summary> |
||
3060 | /// initialize the OSD menue combobox |
||
3061 | /// combox is filled by numbers from 0 to max pagenumber |
||
3062 | /// </summary> |
||
3063 | void _initOSDCB() |
||
3064 | { |
||
3065 | _bCBInit = true; |
||
3066 | if (iOSDMax == 0) |
||
3067 | { |
||
3068 | _OSDMenue(0); |
||
3069 | Thread.Sleep(10); |
||
3070 | } |
||
3071 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
3072 | for (int i = 0; i <= iOSDMax; i++) |
||
3073 | { |
||
3074 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
3075 | } |
||
3076 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
3077 | _bCBInit = false; |
||
3078 | } |
||
3079 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
3080 | { |
||
3081 | iOSDPage++; |
||
3082 | if (iOSDPage > iOSDMax) |
||
3083 | iOSDPage = 0; |
||
3084 | |||
3085 | _OSDMenue(iOSDPage); |
||
3086 | } |
||
3087 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
3088 | { |
||
3089 | iOSDPage--; |
||
3090 | if (iOSDPage < 0) |
||
3091 | iOSDPage = iOSDMax; |
||
3092 | |||
3093 | _OSDMenue(iOSDPage); |
||
3094 | } |
||
3095 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
3096 | { |
||
3097 | _OSDMenueAutoRefresh(8); |
||
3098 | } |
||
3099 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
3100 | { |
||
3101 | _OSDMenueAutoRefresh(4); |
||
3102 | } |
||
3103 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
3104 | { |
||
3105 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
3106 | _OSDMenue(cbOSD.SelectedIndex); |
||
3107 | } |
||
3108 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
3109 | { |
||
3110 | Dispatcher.Invoke(() => |
||
3111 | { |
||
3112 | TextRange tr; |
||
3113 | if (bNew) |
||
3114 | { |
||
3115 | rtfOSD.SelectAll(); |
||
3116 | rtfOSD.Selection.Text = string.Empty; |
||
3117 | } |
||
3118 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
3119 | tr.Text = msg; |
||
3120 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
3121 | // rtfOSD.AppendText("\r"); |
||
3122 | rtfOSD.ScrollToEnd(); |
||
3123 | |||
3124 | }); |
||
3125 | } |
||
3126 | |||
3127 | #endregion OSD-Menue |
||
3128 | |||
3129 | #endregion controller messages |
||
3130 | |||
2398 | - | 3131 | void _mediaPlayer(object file) |
2295 | - | 3132 | { |
2405 | - | 3133 | Monitor.TryEnter(lockObj); |
3134 | try |
||
2295 | - | 3135 | { |
2405 | - | 3136 | if (File.Exists((string)file)) |
3137 | { |
||
3138 | |||
3139 | mediaPlayer.Open((string)file); |
||
3140 | mediaPlayer.Play(); |
||
3141 | } |
||
3142 | |||
2295 | - | 3143 | } |
2405 | - | 3144 | finally |
3145 | { |
||
3146 | Monitor.Exit(lockObj); |
||
3147 | } |
||
2295 | - | 3148 | } |
2310 | - | 3149 | |
2362 | - | 3150 | #region ui |
2310 | - | 3151 | /// <summary> |
3152 | /// Switch between fullscreen and normal window mode |
||
3153 | /// save & restore scaling settings |
||
3154 | /// </summary> |
||
3155 | /// <param name="sender"></param> |
||
3156 | /// <param name="e"></param> |
||
2287 | - | 3157 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
3158 | { |
||
3159 | if (winState.isMaximized) |
||
3160 | { |
||
3161 | winState.Restore(this); |
||
3162 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
3163 | if(_bSaveWinStateFull) |
||
3164 | _saveScaleSliders(true); |
||
3165 | if(_bSaveWinStateNormal) |
||
3166 | _setScaleSliders(false); |
||
3167 | } |
||
3168 | else |
||
3169 | { |
||
3170 | winState.Maximize(this); |
||
3171 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
3172 | if(_bSaveWinStateNormal) |
||
3173 | _saveScaleSliders(false); |
||
3174 | if(_bSaveWinStateFull) |
||
3175 | _setScaleSliders(true); |
||
3176 | } |
||
3177 | } |
||
3178 | |||
3179 | /// <summary> |
||
3180 | /// reset the scaling of all UI elements to default |
||
3181 | /// </summary> |
||
3182 | /// <param name="sender"></param> |
||
3183 | /// <param name="e"></param> |
||
3184 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
3185 | { |
||
3186 | UIScaleHorizonSlider.Value = |
||
3187 | UIScaleLOGSlider.Value = |
||
3188 | UIScaleMotorsSlider.Value = |
||
3189 | UIScaleOSDSlider.Value = |
||
3190 | UIScaleSlider.Value = |
||
3191 | UIScaleTopSlider.Value = 1; |
||
3192 | } |
||
3193 | /// <summary> |
||
3194 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
3195 | /// </summary> |
||
3196 | /// <param name="sender"></param> |
||
3197 | /// <param name="e"></param> |
||
3198 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3199 | { |
||
3200 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
3201 | if (GridMotors != null) |
||
3202 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
3203 | if (GridSideBar != null) |
||
3204 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
2401 | - | 3205 | if (WPStatus != null) |
3206 | WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom); |
||
2287 | - | 3207 | if (GridOSD != null) |
2401 | - | 3208 | { |
3209 | if(WPStatus.Visibility == Visibility.Visible) |
||
3210 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
3211 | else |
||
3212 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
3213 | } |
||
2287 | - | 3214 | if (GridData != null) |
3215 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
3216 | if (GridWP != null) |
||
3217 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
3218 | } |
||
2419 | - | 3219 | private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
3220 | { |
||
3221 | if (!_init) |
||
3222 | { |
||
3223 | if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible)) |
||
3224 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
3225 | else |
||
3226 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
3227 | } |
||
3228 | } |
||
3229 | |||
2310 | - | 3230 | /// <summary> |
3231 | /// restore the saved scalings for the fullscreen/normal window mode |
||
3232 | /// </summary> |
||
3233 | /// <param name="bFull">the mode the window is set to</param> |
||
2287 | - | 3234 | void _setScaleSliders(bool bFull) |
3235 | { |
||
3236 | if(bFull) |
||
3237 | { |
||
3238 | UIScaleSlider.Value = scaleFullAll; |
||
3239 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
3240 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
3241 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
3242 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
3243 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
3244 | } |
||
3245 | else |
||
3246 | { |
||
3247 | UIScaleSlider.Value = scaleNormalAll; |
||
3248 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
3249 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
3250 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
3251 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
3252 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
3253 | } |
||
3254 | } |
||
3255 | |||
2310 | - | 3256 | /// <summary> |
3257 | /// save the scalings for the actual window mode |
||
3258 | /// </summary> |
||
3259 | /// <param name="bFull">the actual window mode</param> |
||
2287 | - | 3260 | void _saveScaleSliders(bool bFull) |
3261 | { |
||
3262 | |||
3263 | if (bFull) |
||
3264 | { |
||
3265 | scaleFullAll = UIScaleSlider.Value; |
||
3266 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
3267 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
3268 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
3269 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
3270 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
3271 | } |
||
3272 | else |
||
3273 | { |
||
3274 | scaleNormalAll = UIScaleSlider.Value; |
||
3275 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
3276 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
3277 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
3278 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
3279 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
3280 | } |
||
3281 | } |
||
2362 | - | 3282 | #endregion ui |
2287 | - | 3283 | |
3284 | /// <summary> |
||
3285 | /// read settings from ini-file |
||
3286 | /// </summary> |
||
3287 | void _readIni() |
||
3288 | { |
||
3289 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
3290 | _writeIni(); |
||
3291 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
3292 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2312 | - | 3293 | try |
3294 | { |
||
2287 | - | 3295 | |
2312 | - | 3296 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
3297 | if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
3298 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
3299 | if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
3300 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
3301 | if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
3302 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
3303 | if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2287 | - | 3304 | |
2312 | - | 3305 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
3306 | if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
||
3307 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
3308 | if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
3309 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
3310 | if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
3311 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
3312 | if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2287 | - | 3313 | |
2312 | - | 3314 | sVal = ini.IniReadValue("topBar", "voltage"); |
3315 | if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
3316 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
3317 | if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
3318 | sVal = ini.IniReadValue("topBar", "current"); |
||
3319 | if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
3320 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
3321 | if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
3322 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
3323 | if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
3324 | sVal = ini.IniReadValue("topBar", "height"); |
||
3325 | if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
3326 | sVal = ini.IniReadValue("topBar", "speed"); |
||
3327 | if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
3328 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
3329 | if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
3330 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
3331 | if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
3332 | sVal = ini.IniReadValue("topBar", "rc"); |
||
3333 | if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 3334 | |
2312 | - | 3335 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
3336 | if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
3337 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
3338 | if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 3339 | |
2312 | - | 3340 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
3341 | if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
||
3342 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
3343 | if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
||
3344 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
3345 | if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
||
3346 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
3347 | if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
||
3348 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
3349 | if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
||
3350 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
3351 | if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 3352 | |
2312 | - | 3353 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
3354 | if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
||
3355 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
3356 | if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
||
3357 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
3358 | if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
||
3359 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
3360 | if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
||
3361 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
3362 | if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
||
3363 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
3364 | if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 3365 | |
2312 | - | 3366 | sVal = ini.IniReadValue("general", "LiPoCells"); |
3367 | _LipoCells = Convert.ToInt16(sVal); |
||
3368 | sVal = ini.IniReadValue("general", "Motors"); |
||
3369 | if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
||
2287 | - | 3370 | |
2312 | - | 3371 | sVal = ini.IniReadValue("map", "followMe"); |
3372 | if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
||
3373 | sVal = ini.IniReadValue("map", "AutoSetHome"); |
||
3374 | if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
||
2324 | - | 3375 | sVal = ini.IniReadValue("map", "GPXLog"); |
3376 | if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal); |
||
2287 | - | 3377 | |
2312 | - | 3378 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
3379 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
3380 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
3381 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
3382 | sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
||
3383 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
3384 | sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
||
3385 | if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
||
3386 | sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
||
3387 | if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
||
3388 | sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
||
3389 | if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
||
3390 | sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
||
3391 | if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
||
3392 | sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
||
3393 | if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
||
3394 | sVal = ini.IniReadValue("threshold", "MaxDistance"); |
||
3395 | if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
||
3396 | sVal = ini.IniReadValue("threshold", "RCThreshold"); |
||
3397 | if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
||
3398 | sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
||
3399 | if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
||
2321 | - | 3400 | |
3401 | sVal = ini.IniReadValue("waypoints", "wpcolor"); |
||
3402 | if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal); |
||
3403 | sVal = ini.IniReadValue("waypoints", "poicolor"); |
||
3404 | if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal); |
||
3405 | sVal = ini.IniReadValue("waypoints", "fscolor"); |
||
3406 | if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal); |
||
3407 | sVal = ini.IniReadValue("waypoints", "coptercolor"); |
||
3408 | if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2385 | - | 3409 | sVal = ini.IniReadValue("waypoints", "copterheadingcolor"); |
3410 | if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2379 | - | 3411 | sVal = ini.IniReadValue("waypoints", "landingcolor"); |
3412 | if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2328 | - | 3413 | sVal = ini.IniReadValue("waypoints", "routecolor"); |
3414 | if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal); |
||
3415 | sVal = ini.IniReadValue("waypoints", "showWPRoute"); |
||
3416 | if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal); |
||
2408 | - | 3417 | sVal = ini.IniReadValue("waypoints", "showWPMaxRange"); |
3418 | if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal); |
||
3419 | sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor"); |
||
3420 | if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2349 | - | 3421 | |
3422 | for (int i = 0; i < 12; i++) |
||
3423 | { |
||
3424 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val"); |
||
3425 | if (sVal != "") |
||
3426 | serChan[i] = Convert.ToInt16(sVal); |
||
3427 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title"); |
||
3428 | if (sVal != "") |
||
3429 | serChanTitle[i] = sVal; |
||
3430 | for (int y = 0; i < 4 && y < 3; y++) |
||
3431 | { |
||
3432 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString()); |
||
3433 | if (sVal != "") |
||
3434 | serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal); |
||
3435 | } |
||
3436 | } |
||
3437 | |||
2312 | - | 3438 | } |
3439 | catch (Exception e) |
||
3440 | { |
||
2287 | - | 3441 | |
2312 | - | 3442 | MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
3443 | } |
||
3444 | |||
2287 | - | 3445 | } |
3446 | |||
3447 | /// <summary> |
||
3448 | /// save settings to ini-file |
||
3449 | /// </summary> |
||
3450 | void _writeIni() |
||
3451 | { |
||
3452 | |||
3453 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
3454 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
3455 | |||
2312 | - | 3456 | try |
3457 | { |
||
2287 | - | 3458 | |
2312 | - | 3459 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
3460 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
3461 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
3462 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2287 | - | 3463 | |
2312 | - | 3464 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
3465 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
3466 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
3467 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2287 | - | 3468 | |
2312 | - | 3469 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
3470 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2287 | - | 3471 | |
2312 | - | 3472 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
3473 | ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
||
2324 | - | 3474 | ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString()); |
2287 | - | 3475 | |
2312 | - | 3476 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
3477 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
3478 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
3479 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
3480 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
3481 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
3482 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
3483 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
3484 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
3485 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2287 | - | 3486 | |
2312 | - | 3487 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
3488 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2287 | - | 3489 | |
2312 | - | 3490 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
3491 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
3492 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
3493 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
3494 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
3495 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2287 | - | 3496 | |
2312 | - | 3497 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
3498 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
3499 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
3500 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
3501 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
3502 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2287 | - | 3503 | |
2312 | - | 3504 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
3505 | |||
3506 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
3507 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
3508 | ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
||
3509 | ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
||
3510 | ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
||
3511 | ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
||
3512 | ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
||
3513 | ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
||
3514 | ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
||
3515 | ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
||
3516 | ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
||
2321 | - | 3517 | |
3518 | ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString()); |
||
3519 | ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString()); |
||
3520 | ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString()); |
||
3521 | ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString()); |
||
2385 | - | 3522 | ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString()); |
2379 | - | 3523 | ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString()); |
2328 | - | 3524 | ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString()); |
3525 | ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString()); |
||
2408 | - | 3526 | ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString()); |
3527 | ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString()); |
||
2349 | - | 3528 | |
3529 | for (int i = 0; i < 12; i++) |
||
3530 | { |
||
3531 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString()); |
||
3532 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]); |
||
3533 | for (int y = 0; i < 4 && y < 3; y++) |
||
3534 | { |
||
3535 | ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString()); |
||
3536 | } |
||
3537 | } |
||
3538 | |||
2312 | - | 3539 | } |
3540 | catch (Exception e) |
||
3541 | { |
||
3542 | |||
3543 | 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); |
||
3544 | } |
||
2287 | - | 3545 | } |
2350 | - | 3546 | |
2349 | - | 3547 | #region serial channels |
3548 | /// <summary> |
||
3549 | /// Sending the serial channel values |
||
3550 | /// </summary> |
||
3551 | void _sendSerialData() |
||
3552 | { |
||
3553 | byte[] serData = new byte[12]; |
||
3554 | for (int i = 0; i < 12; i++) |
||
3555 | { |
||
3556 | serData[i] = unchecked((byte)(serChan[i] - 127)); |
||
3557 | } |
||
3558 | _sendControllerMessage('y', 1, serData); |
||
3559 | } |
||
3560 | /// <summary> |
||
3561 | /// init the controls for displaying |
||
3562 | /// and setting serial control channels |
||
3563 | /// </summary> |
||
3564 | void _initSerialCtrl() |
||
3565 | { |
||
3566 | SerChan1ScaleSlider.Value = serChan[0]; |
||
3567 | textBoxSerial1.Text = serChanTitle[0]; |
||
3568 | SerChan2ScaleSlider.Value = serChan[1]; |
||
3569 | textBoxSerial2.Text = serChanTitle[1]; |
||
2350 | - | 3570 | SerChan3ScaleSlider.Value = serChan[2]; |
3571 | textBoxSerial3.Text = serChanTitle[2]; |
||
2349 | - | 3572 | //SerChan4ScaleSlider.Value = serChan[3]; |
3573 | //textBoxSerial4.Text = serChanTitle[3]; |
||
3574 | //trckbarSerial5.Value = serChan[4]; |
||
3575 | //textBoxSerial5.Text = serChanTitle[4]; |
||
3576 | //trckbarSerial6.Value = serChan[5]; |
||
3577 | //textBoxSerial6.Text = serChanTitle[5]; |
||
3578 | //trckbarSerial7.Value = serChan[6]; |
||
3579 | //textBoxSerial7.Text = serChanTitle[6]; |
||
3580 | //trckbarSerial8.Value = serChan[7]; |
||
3581 | //textBoxSerial8.Text = serChanTitle[7]; |
||
2312 | - | 3582 | |
2349 | - | 3583 | textBoxSerial1_val1.Text = serChan_sub[0].ToString(); |
3584 | textBoxSerial1_val2.Text = serChan_sub[1].ToString(); |
||
3585 | textBoxSerial1_val3.Text = serChan_sub[2].ToString(); |
||
3586 | textBoxSerial2_val1.Text = serChan_sub[3].ToString(); |
||
3587 | textBoxSerial2_val2.Text = serChan_sub[4].ToString(); |
||
3588 | textBoxSerial2_val3.Text = serChan_sub[5].ToString(); |
||
2350 | - | 3589 | textBoxSerial3_val1.Text = serChan_sub[6].ToString(); |
3590 | textBoxSerial3_val2.Text = serChan_sub[7].ToString(); |
||
3591 | textBoxSerial3_val3.Text = serChan_sub[8].ToString(); |
||
2349 | - | 3592 | //textBoxSerial4_val1.Text = serChan_sub[9].ToString(); |
3593 | //textBoxSerial4_val2.Text = serChan_sub[10].ToString(); |
||
3594 | //textBoxSerial4_val3.Text = serChan_sub[11].ToString(); |
||
3595 | } |
||
3596 | private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3597 | { |
||
3598 | if (!_init) |
||
3599 | { |
||
3600 | serChan[0] = (int)SerChan1ScaleSlider.Value; |
||
3601 | _sendSerialData(); |
||
3602 | } |
||
3603 | } |
||
3604 | private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e) |
||
3605 | { |
||
3606 | if (!_init) |
||
3607 | { |
||
3608 | serChanTitle[0] = textBoxSerial1.Text; |
||
3609 | } |
||
3610 | } |
||
3611 | private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3612 | { |
||
3613 | if (textBoxSerial1_val1.Text.Length > 0 & !_init) |
||
3614 | { |
||
3615 | serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text); |
||
3616 | } |
||
3617 | } |
||
3618 | private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3619 | { |
||
3620 | if (textBoxSerial1_val2.Text.Length > 0 & !_init) |
||
3621 | { |
||
3622 | serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text); |
||
3623 | } |
||
3624 | } |
||
3625 | private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3626 | { |
||
3627 | if (textBoxSerial1_val3.Text.Length > 0 & !_init) |
||
3628 | { |
||
3629 | serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text); |
||
3630 | } |
||
3631 | } |
||
3632 | private void btnSer1_val1_Click(object sender, RoutedEventArgs e) |
||
3633 | { |
||
3634 | if (textBoxSerial1_val1.Text.Length > 0) |
||
3635 | { |
||
3636 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text); |
||
3637 | } |
||
3638 | } |
||
3639 | private void btnSer1_0_Click(object sender, RoutedEventArgs e) |
||
3640 | { |
||
3641 | SerChan1ScaleSlider.Value = 0; |
||
3642 | } |
||
3643 | private void btnSer1_127_Click(object sender, RoutedEventArgs e) |
||
3644 | { |
||
3645 | SerChan1ScaleSlider.Value = 127; |
||
3646 | } |
||
3647 | private void btnSer1_254_Click(object sender, RoutedEventArgs e) |
||
3648 | { |
||
3649 | SerChan1ScaleSlider.Value = 254; |
||
3650 | } |
||
3651 | private void btnSer1_val2_Click(object sender, RoutedEventArgs e) |
||
3652 | { |
||
3653 | if (textBoxSerial1_val2.Text.Length > 0) |
||
3654 | { |
||
3655 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text); |
||
3656 | } |
||
3657 | } |
||
3658 | private void btnSer1_val3_Click(object sender, RoutedEventArgs e) |
||
3659 | { |
||
3660 | if (textBoxSerial1_val3.Text.Length > 0) |
||
3661 | { |
||
3662 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text); |
||
3663 | } |
||
3664 | } |
||
3665 | |||
3666 | private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3667 | { |
||
3668 | if (!_init) |
||
3669 | { |
||
3670 | serChan[1] = (int)SerChan2ScaleSlider.Value; |
||
3671 | _sendSerialData(); |
||
3672 | } |
||
3673 | } |
||
3674 | private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e) |
||
3675 | { |
||
3676 | if (!_init) |
||
3677 | { |
||
3678 | serChanTitle[1] = textBoxSerial2.Text; |
||
3679 | } |
||
3680 | } |
||
3681 | private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3682 | { |
||
3683 | if (textBoxSerial2_val1.Text.Length > 0 & !_init) |
||
3684 | { |
||
3685 | serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text); |
||
3686 | } |
||
3687 | } |
||
3688 | private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3689 | { |
||
3690 | if (textBoxSerial2_val2.Text.Length > 0 & !_init) |
||
3691 | { |
||
3692 | serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text); |
||
3693 | } |
||
3694 | } |
||
3695 | private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3696 | { |
||
3697 | if (textBoxSerial2_val3.Text.Length > 0 & !_init) |
||
3698 | { |
||
3699 | serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text); |
||
3700 | } |
||
3701 | } |
||
3702 | private void btnSer2_0_Click(object sender, RoutedEventArgs e) |
||
3703 | { |
||
3704 | SerChan2ScaleSlider.Value = 0; |
||
3705 | } |
||
3706 | private void btnSer2_127_Click(object sender, RoutedEventArgs e) |
||
3707 | { |
||
3708 | SerChan2ScaleSlider.Value = 127; |
||
3709 | } |
||
3710 | private void btnSer2_254_Click(object sender, RoutedEventArgs e) |
||
3711 | { |
||
3712 | SerChan2ScaleSlider.Value = 254; |
||
3713 | } |
||
3714 | private void btnSer2_val1_Click(object sender, RoutedEventArgs e) |
||
3715 | { |
||
3716 | if (textBoxSerial2_val1.Text.Length > 0) |
||
3717 | { |
||
3718 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text); |
||
3719 | } |
||
3720 | } |
||
3721 | private void btnSer2_val2_Click(object sender, RoutedEventArgs e) |
||
3722 | { |
||
3723 | if (textBoxSerial2_val2.Text.Length > 0) |
||
3724 | { |
||
3725 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text); |
||
3726 | } |
||
3727 | } |
||
3728 | private void btnSer2_val3_Click(object sender, RoutedEventArgs e) |
||
3729 | { |
||
3730 | if (textBoxSerial2_val3.Text.Length > 0) |
||
3731 | { |
||
3732 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text); |
||
3733 | } |
||
3734 | } |
||
2350 | - | 3735 | |
3736 | private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3737 | { |
||
3738 | if (!_init) |
||
3739 | { |
||
3740 | serChan[2] = (int)SerChan3ScaleSlider.Value; |
||
3741 | _sendSerialData(); |
||
3742 | } |
||
3743 | } |
||
3744 | private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e) |
||
3745 | { |
||
3746 | if (!_init) |
||
3747 | { |
||
3748 | serChanTitle[2] = textBoxSerial3.Text; |
||
3749 | } |
||
3750 | } |
||
3751 | private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3752 | { |
||
3753 | if (textBoxSerial3_val1.Text.Length > 0 & !_init) |
||
3754 | { |
||
3755 | serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text); |
||
3756 | } |
||
3757 | } |
||
3758 | private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3759 | { |
||
3760 | if (textBoxSerial3_val2.Text.Length > 0 & !_init) |
||
3761 | { |
||
3762 | serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text); |
||
3763 | } |
||
3764 | } |
||
3765 | private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3766 | { |
||
3767 | if (textBoxSerial3_val3.Text.Length > 0 & !_init) |
||
3768 | { |
||
3769 | serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text); |
||
3770 | } |
||
3771 | } |
||
3772 | private void btnSer3_0_Click(object sender, RoutedEventArgs e) |
||
3773 | { |
||
3774 | SerChan3ScaleSlider.Value = 0; |
||
3775 | } |
||
3776 | private void btnSer3_127_Click(object sender, RoutedEventArgs e) |
||
3777 | { |
||
3778 | SerChan3ScaleSlider.Value = 127; |
||
3779 | } |
||
3780 | private void btnSer3_254_Click(object sender, RoutedEventArgs e) |
||
3781 | { |
||
3782 | SerChan3ScaleSlider.Value = 254; |
||
3783 | } |
||
3784 | private void btnSer3_val1_Click(object sender, RoutedEventArgs e) |
||
3785 | { |
||
3786 | if (textBoxSerial3_val1.Text.Length > 0) |
||
3787 | { |
||
3788 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text); |
||
3789 | } |
||
3790 | } |
||
3791 | private void btnSer3_val2_Click(object sender, RoutedEventArgs e) |
||
3792 | { |
||
3793 | if (textBoxSerial3_val2.Text.Length > 0) |
||
3794 | { |
||
3795 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text); |
||
3796 | } |
||
3797 | } |
||
3798 | private void btnSer3_val3_Click(object sender, RoutedEventArgs e) |
||
3799 | { |
||
3800 | if (textBoxSerial3_val3.Text.Length > 0) |
||
3801 | { |
||
3802 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text); |
||
3803 | } |
||
3804 | } |
||
2349 | - | 3805 | /// <summary> |
3806 | /// checks the input of a textbox |
||
3807 | /// for valid data |
||
3808 | /// in this case values 0-254 |
||
3809 | /// </summary> |
||
3810 | /// <param name="sender"></param> |
||
3811 | /// <param name="e"></param> |
||
3812 | private void textBox_serial_KeyPress(object sender, KeyEventArgs e) |
||
3813 | { |
||
3814 | if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b) |
||
3815 | e.Handled = true; |
||
3816 | else |
||
3817 | if ("\b".IndexOf(e.Key.ToString()) < 0) |
||
3818 | if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number |
||
3819 | e.Handled = true; |
||
3820 | else |
||
3821 | { |
||
3822 | int i = -1; |
||
3823 | switch (((TextBox)sender).Name) |
||
3824 | { |
||
3825 | case "textBoxSerial1_val1": |
||
3826 | i = 0; |
||
3827 | break; |
||
3828 | case "textBoxSerial1_val2": |
||
3829 | i = 1; |
||
3830 | break; |
||
3831 | case "textBoxSerial1_val3": |
||
3832 | i = 2; |
||
3833 | break; |
||
3834 | case "textBoxSerial2_val1": |
||
3835 | i = 3; |
||
3836 | break; |
||
3837 | case "textBoxSerial2_val2": |
||
3838 | i = 4; |
||
3839 | break; |
||
3840 | case "textBoxSerial2_val3": |
||
3841 | i = 5; |
||
3842 | break; |
||
3843 | case "textBoxSerial3_val1": |
||
3844 | i = 6; |
||
3845 | break; |
||
3846 | case "textBoxSerial3_val2": |
||
3847 | i = 7; |
||
3848 | break; |
||
3849 | case "textBoxSerial3_val3": |
||
3850 | i = 8; |
||
3851 | break; |
||
3852 | case "textBoxSerial4_val1": |
||
3853 | i = 9; |
||
3854 | break; |
||
3855 | case "textBoxSerial4_val2": |
||
3856 | i = 10; |
||
3857 | break; |
||
3858 | case "textBoxSerial4_val3": |
||
3859 | i = 11; |
||
3860 | break; |
||
3861 | } |
||
3862 | if (i > -1) |
||
3863 | serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString()); |
||
3864 | } |
||
3865 | } |
||
3866 | |||
3867 | #endregion serial channels |
||
2315 | - | 3868 | #region WP |
2312 | - | 3869 | void _readWPLFile() |
3870 | { |
||
3871 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
3872 | fd.Filter = "Waypointlists | *.wpl"; |
||
3873 | fd.Multiselect = false; |
||
3874 | if (fd.ShowDialog().Value) |
||
3875 | { |
||
3876 | string file = fd.SafeFileName; |
||
3877 | IniFile ini = new IniFile(fd.SafeFileName); |
||
3878 | ini.path = fd.FileName; |
||
3879 | |||
3880 | try |
||
3881 | { |
||
3882 | string sVal = ini.IniReadValue("General", "FileVersion"); |
||
3883 | if (sVal == "") |
||
3884 | MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3885 | else |
||
3886 | { |
||
3887 | if (Convert.ToInt16(sVal) < 3) |
||
3888 | MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3889 | else |
||
3890 | { |
||
3891 | sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
||
3892 | if (sVal == "") |
||
3893 | MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3894 | else |
||
3895 | { |
||
3896 | int wpnum = Convert.ToInt16(sVal); |
||
3897 | string wp; |
||
3898 | int i; |
||
2313 | - | 3899 | NumberFormatInfo nfi = new NumberFormatInfo(); |
3900 | nfi.NumberDecimalSeparator = "."; |
||
2312 | - | 3901 | dtWaypoints.Rows.Clear(); |
2368 | - | 3902 | _wpEdit = -1;_wpIndex = -1; |
2425 | - | 3903 | wpOffset.Clear(); |
2327 | - | 3904 | _clearMapMarkers(typeof(CustomMarkerWP)); |
2363 | - | 3905 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2328 | - | 3906 | wpList.Clear(); |
3907 | if (mRouteWP != null) |
||
3908 | MainMap.Markers.Remove(mRouteWP); |
||
2363 | - | 3909 | //if (wpActiveMarker != null) |
3910 | // MainMap.Markers.Remove(wpActiveMarker); |
||
2328 | - | 3911 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
3912 | |||
2312 | - | 3913 | for (int k = 1; k <= wpnum; k++) |
3914 | { |
||
3915 | DataRow dr = dtWaypoints.NewRow(); |
||
3916 | dr.ItemArray = new object[16]; |
||
3917 | object[] o = new object[16]; |
||
3918 | i = 0; |
||
3919 | wp = "Point" + k.ToString(); |
||
3920 | o[i] = k; |
||
3921 | i++; |
||
3922 | sVal = ini.IniReadValue(wp, "Type"); |
||
3923 | if (sVal != "") |
||
2315 | - | 3924 | o[i] = Convert.ToInt16(sVal) - 1; |
2312 | - | 3925 | i++; |
3926 | sVal = ini.IniReadValue(wp, "Prefix"); |
||
3927 | if (sVal != "") |
||
2350 | - | 3928 | o[i] = sVal + k.ToString(); |
3929 | // o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString(); |
||
2312 | - | 3930 | i++; |
2313 | - | 3931 | sVal = ini.IniReadValue(wp, "Latitude"); |
2312 | - | 3932 | if (sVal != "") |
2313 | - | 3933 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3934 | i++; |
2313 | - | 3935 | sVal = ini.IniReadValue(wp, "Longitude"); |
2312 | - | 3936 | if (sVal != "") |
2313 | - | 3937 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3938 | i++; |
3939 | sVal = ini.IniReadValue(wp, "Altitude"); |
||
3940 | if (sVal != "") |
||
2313 | - | 3941 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3942 | i++; |
3943 | sVal = ini.IniReadValue(wp, "Heading"); |
||
3944 | if (sVal != "") |
||
3945 | o[i] = Convert.ToInt16(sVal); |
||
3946 | i++; |
||
3947 | sVal = ini.IniReadValue(wp, "Speed"); |
||
3948 | if (sVal != "") |
||
2315 | - | 3949 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 3950 | i++; |
3951 | sVal = ini.IniReadValue(wp, "ClimbRate"); |
||
3952 | if (sVal != "") |
||
3953 | o[i] = Convert.ToInt16(sVal); |
||
3954 | i++; |
||
3955 | sVal = ini.IniReadValue(wp, "Radius"); |
||
3956 | if (sVal != "") |
||
3957 | o[i] = Convert.ToInt16(sVal); |
||
3958 | i++; |
||
3959 | sVal = ini.IniReadValue(wp, "DelayTime"); |
||
3960 | if (sVal != "") |
||
3961 | o[i] = Convert.ToInt16(sVal); |
||
3962 | i++; |
||
3963 | sVal = ini.IniReadValue(wp, "AutoTrigger"); |
||
3964 | if (sVal != "") |
||
3965 | o[i] = Convert.ToInt16(sVal); ; |
||
3966 | i++; |
||
3967 | sVal = ini.IniReadValue(wp, "CAM-Nick"); |
||
3968 | if (sVal != "") |
||
2313 | - | 3969 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 3970 | i++; |
3971 | o[i] = 0; |
||
3972 | i++; |
||
3973 | sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
||
3974 | if (sVal != "") |
||
3975 | o[i] = Convert.ToInt16(sVal); |
||
3976 | i++; |
||
3977 | o[i] = "New"; |
||
3978 | |||
3979 | dr.ItemArray = o; |
||
3980 | dtWaypoints.Rows.Add(dr); |
||
2425 | - | 3981 | _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1); |
2315 | - | 3982 | |
2312 | - | 3983 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
3984 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
||
3985 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2419 | - | 3986 | Thread.Sleep(1); |
2312 | - | 3987 | } |
2419 | - | 3988 | Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4])); |
3989 | Dispatcher.Invoke(() => MainMap.Zoom = 19); |
||
3990 | // Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null)); |
||
3991 | Dispatcher.Invoke(() => _routeUpdate()); |
||
2312 | - | 3992 | } |
3993 | } |
||
3994 | } |
||
3995 | |||
3996 | } |
||
3997 | catch (Exception e) |
||
3998 | { |
||
3999 | |||
4000 | MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
4001 | } |
||
4002 | |||
4003 | } |
||
4004 | } |
||
2350 | - | 4005 | void _saveWPLFile() |
4006 | { |
||
4007 | if (dtWaypoints.Rows.Count > 0) |
||
4008 | { |
||
4009 | Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog(); |
||
4010 | fd.Filter = "Waypointlists | *.wpl"; |
||
4011 | fd.AddExtension = true; |
||
4012 | if (fd.ShowDialog().Value) |
||
4013 | { |
||
4014 | string file = fd.SafeFileName; |
||
4015 | IniFile ini = new IniFile(fd.SafeFileName); |
||
4016 | ini.path = fd.FileName; |
||
4017 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
4018 | nfi.NumberDecimalSeparator = "."; |
||
4019 | |||
4020 | try |
||
4021 | { |
||
4022 | ini.IniWriteValue("General", "FileVersion", "3"); |
||
4023 | ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString()); |
||
4024 | ini.IniWriteValue("General", "Mapfile", ""); |
||
4025 | for(int i = 1; i<=dtWaypoints.Rows.Count; i++) |
||
4026 | { |
||
4027 | ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi)); |
||
4028 | ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi)); |
||
4029 | ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString()); |
||
4030 | ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString()); |
||
4031 | ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString()); |
||
4032 | ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString()); |
||
4033 | ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString()); |
||
4034 | ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString()); |
||
4035 | ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString()); |
||
4036 | ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString()); |
||
4037 | ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString()); |
||
4038 | ini.IniWriteValue("Point" + i.ToString(), "Prefix", dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); // == "!" ? "0" : dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); |
||
4039 | ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString()); |
||
4040 | } |
||
4041 | MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information); |
||
4042 | } |
||
4043 | catch { } |
||
4044 | } |
||
4045 | } |
||
4046 | else |
||
4047 | MessageBox.Show("Nothing to save..."); |
||
4048 | } |
||
4049 | private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e) |
||
4050 | { |
||
4051 | _saveWPLFile(); |
||
4052 | } |
||
4053 | /// <summary> |
||
4054 | /// set the selected color for the route |
||
4055 | /// </summary> |
||
4056 | /// <param name="color"></param> |
||
4057 | /// <returns></returns> |
||
2328 | - | 4058 | Brush _getBrush(string color) |
4059 | { |
||
4060 | switch (color) |
||
4061 | { |
||
4062 | case "red": |
||
4063 | return Brushes.Red; |
||
4064 | case "green": |
||
4065 | return Brushes.Lime; |
||
4066 | case "blue": |
||
4067 | return Brushes.Aqua; |
||
4068 | case "pink": |
||
4069 | return Brushes.Magenta; |
||
4070 | case "yellow": |
||
4071 | return Brushes.Yellow; |
||
4072 | default: |
||
4073 | return Brushes.Magenta; |
||
4074 | } |
||
4075 | } |
||
2359 | - | 4076 | void _routeUpdate() |
4077 | { |
||
4078 | Dispatcher.Invoke(() => |
||
4079 | { |
||
4080 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
4081 | { |
||
4082 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
4083 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
4084 | } |
||
4085 | else |
||
4086 | mRouteWP = new GMapRoute(wpList, null); |
||
4087 | |||
4088 | if (_bShowWPRoute) |
||
2368 | - | 4089 | MainMap.Markers.Add(mRouteWP); |
2359 | - | 4090 | }); |
4091 | |||
4092 | MapRoute mr = new MapRoute(wpList, "WPList"); |
||
4093 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
||
4094 | } |
||
2425 | - | 4095 | GMapMarker _createWP(PointLatLng p, string name, int type, int index) |
2363 | - | 4096 | { |
4097 | GMapMarker wpMarker = new GMapMarker(p); |
||
2385 | - | 4098 | Dispatcher.Invoke(()=> |
4099 | { |
||
4100 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type); |
||
2419 | - | 4101 | wpMarker.Tag = name; |
2385 | - | 4102 | wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
4103 | wpMarker.ZIndex = 100; |
||
4104 | _setMarkerColor(wpMarker, type); |
||
4105 | MainMap.Markers.Add(wpMarker); |
||
4106 | if (type == 0 || type == 3) |
||
2425 | - | 4107 | { |
2385 | - | 4108 | wpList.Add(p); |
2425 | - | 4109 | wpOffset.Add(index); |
4110 | } |
||
2419 | - | 4111 | ((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos; |
4112 | ((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin; |
||
2421 | - | 4113 | ((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured; |
2385 | - | 4114 | }); |
2363 | - | 4115 | return wpMarker; |
4116 | } |
||
2419 | - | 4117 | bool _WPisMouseCaptured = false; |
2421 | - | 4118 | void _WPMouseCaptured(bool isCaptured) |
2419 | - | 4119 | { |
4120 | _WPisMouseCaptured = isCaptured; |
||
4121 | MainMap.CanDragMap = !isCaptured; |
||
4122 | } |
||
4123 | void _updateDTWPPos(CustomMarkerWP wp) |
||
4124 | { |
||
4125 | string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
||
4126 | int index = Convert.ToInt16(sIndex) -1; |
||
4127 | GMapMarker p = ((GMapMarker)wp.DataContext); |
||
4128 | if (p != null && index < dtWaypoints.Rows.Count) |
||
4129 | { |
||
4130 | //Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
4131 | if(wp.WPType == 0 | wp.WPType == 3) |
||
2424 | - | 4132 | { |
4133 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
4134 | int wpListIndex = wpList.IndexOf(x); |
||
4135 | if (wpListIndex > -1) |
||
4136 | { |
||
4137 | wpList[wpListIndex] = p.Position; |
||
4138 | MainMap.Markers.Remove(mRouteWP); |
||
4139 | _routeUpdate(); |
||
4140 | } |
||
2419 | - | 4141 | } |
2424 | - | 4142 | dtWaypoints.Rows[index][3] = p.Position.Lat; |
4143 | dtWaypoints.Rows[index][4] = p.Position.Lng; |
||
2419 | - | 4144 | } |
4145 | } |
||
4146 | void _updateDTWPPosFin(CustomMarkerWP wp) |
||
4147 | { |
||
4148 | string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
||
4149 | int index = Convert.ToInt16(sIndex) -1; |
||
4150 | GMapMarker p = ((GMapMarker)wp.DataContext); |
||
4151 | if (p != null && index < dtWaypoints.Rows.Count) |
||
4152 | { |
||
4153 | dtWaypoints.Rows[index][3] = p.Position.Lat; |
||
4154 | dtWaypoints.Rows[index][4] = p.Position.Lng; |
||
2421 | - | 4155 | Dispatcher.Invoke(() => |
4156 | { |
||
4157 | dgvWP.Items.Refresh(); |
||
4158 | dgvWP.SelectedIndex = index; |
||
4159 | _dgvWPselectEditRow(); |
||
4160 | }); |
||
4161 | |||
2419 | - | 4162 | } |
4163 | |||
4164 | } |
||
2428 | - | 4165 | |
2425 | - | 4166 | /// <summary> |
4167 | /// find the index of of a wp from datatable in the waypointlist wpList |
||
4168 | /// </summary> |
||
4169 | /// <param name="dtIndex">the index of wp in datatable (0-based)</param> |
||
4170 | /// <returns></returns> |
||
4171 | int _getWPIndexfromList(int dtIndex) |
||
4172 | { |
||
4173 | if ((int)dtWaypoints.Rows[dtIndex][1] == 0 || (int)dtWaypoints.Rows[dtIndex][1] == 3) |
||
4174 | { |
||
4175 | GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]); |
||
4176 | if (wp != null) |
||
4177 | return wpList.IndexOf(wp.Position); |
||
4178 | } |
||
4179 | return -1; |
||
4180 | } |
||
4181 | /// <summary> |
||
4182 | /// find the index of of a wp from datatable in the waypointlist wpList |
||
4183 | /// </summary> |
||
4184 | /// <param name="name">the name of the wp</param> |
||
4185 | /// <returns></returns> |
||
4186 | int _getWPIndexfromList(string name) |
||
4187 | { |
||
4188 | GMapMarker wp = _findWPMarker(name); |
||
4189 | if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 | ((CustomMarkerWP)wp.Shape).WPType == 3) |
||
4190 | return wpList.IndexOf(wp.Position); |
||
4191 | else |
||
4192 | return -1; |
||
4193 | } |
||
4194 | int _getWPListOffset(int index) |
||
4195 | { |
||
4196 | int k = 0; |
||
4197 | for(int i = 0; i < wpOffset.Count;i++) |
||
4198 | { |
||
4199 | if (wpOffset[i] <= index) |
||
4200 | k++; |
||
4201 | } |
||
2419 | - | 4202 | |
2425 | - | 4203 | return k; |
4204 | } |
||
2315 | - | 4205 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
4206 | { |
||
2369 | - | 4207 | if(wpMarker != null) |
2315 | - | 4208 | Dispatcher.Invoke(() => |
4209 | { |
||
4210 | switch (iType) |
||
4211 | { |
||
4212 | case 0: |
||
4213 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
4214 | { |
||
4215 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
4216 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
4217 | } |
||
4218 | else |
||
2372 | - | 4219 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("green"); |
2315 | - | 4220 | break; |
4221 | case 1: |
||
4222 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
4223 | { |
||
4224 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
4225 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
4226 | } |
||
4227 | else |
||
2372 | - | 4228 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("pink"); |
2315 | - | 4229 | break; |
4230 | case 2: |
||
4231 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
4232 | { |
||
4233 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
4234 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
4235 | } |
||
4236 | else |
||
4237 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
4238 | break; |
||
2372 | - | 4239 | case 3: |
4240 | if (comboBoxLandingColor.SelectionBoxItem != null) |
||
4241 | { |
||
4242 | string s = comboBoxLandingColor.SelectionBoxItem.ToString(); |
||
4243 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
4244 | } |
||
4245 | else |
||
4246 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("blue"); |
||
4247 | break; |
||
2315 | - | 4248 | default: |
4249 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
4250 | break; |
||
4251 | } |
||
4252 | }); |
||
2312 | - | 4253 | |
2315 | - | 4254 | } |
2372 | - | 4255 | void _MarkerColorSelection(object sender,int type) |
4256 | { |
||
2315 | - | 4257 | Dispatcher.Invoke(() => |
4258 | { |
||
2372 | - | 4259 | if (((ComboBox)sender).SelectionBoxItem != null) |
2315 | - | 4260 | { |
4261 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
4262 | { |
||
4263 | GMapMarker p = MainMap.Markers[k]; |
||
2372 | - | 4264 | if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)) |
2315 | - | 4265 | { |
2372 | - | 4266 | if (((CustomMarkerWP)p.Shape).WPType == type) |
2315 | - | 4267 | { |
2372 | - | 4268 | string s = ((ComboBox)sender).SelectionBoxItem.ToString(); |
2315 | - | 4269 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
4270 | } |
||
4271 | } |
||
4272 | } |
||
4273 | } |
||
4274 | }); |
||
2287 | - | 4275 | } |
2379 | - | 4276 | private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e) |
2318 | - | 4277 | { |
2376 | - | 4278 | _MarkerColorSelection(sender, 0); |
4279 | } |
||
4280 | private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e) |
||
4281 | { |
||
4282 | _MarkerColorSelection(sender, 1); |
||
4283 | } |
||
4284 | private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e) |
||
4285 | { |
||
4286 | _MarkerColorSelection(sender, 2); |
||
4287 | } |
||
4288 | private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e) |
||
4289 | { |
||
4290 | _MarkerColorSelection(sender,3); |
||
4291 | } |
||
2385 | - | 4292 | private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e) |
2376 | - | 4293 | { |
2318 | - | 4294 | Dispatcher.Invoke(() => { |
4295 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
4296 | { |
||
4297 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2385 | - | 4298 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
2318 | - | 4299 | } |
4300 | else |
||
2385 | - | 4301 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor("red"); |
2318 | - | 4302 | }); |
4303 | } |
||
2385 | - | 4304 | private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e) |
4305 | { |
||
4306 | Dispatcher.Invoke(() => { |
||
4307 | if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
||
4308 | { |
||
4309 | string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
||
4310 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
||
4311 | } |
||
4312 | else |
||
4313 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red"); |
||
4314 | }); |
||
4315 | } |
||
2328 | - | 4316 | private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e) |
4317 | { |
||
4318 | Dispatcher.Invoke(() => |
||
4319 | { |
||
4320 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
4321 | { |
||
4322 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
4323 | MainMap.Markers.Remove(mRouteWP); |
||
4324 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
4325 | if (_bShowWPRoute) |
||
4326 | MainMap.Markers.Add(mRouteWP); |
||
4327 | } |
||
4328 | }); |
||
4329 | } |
||
2408 | - | 4330 | private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e) |
4331 | { |
||
4332 | Dispatcher.Invoke(() => |
||
4333 | { |
||
4334 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
4335 | { |
||
4336 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
||
4337 | { |
||
4338 | if (cWPBound != null && cWPBound.Tag != null) |
||
4339 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
4340 | |||
4341 | createCircle(home.Position, dWPMaxRange); |
||
4342 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
4343 | cWPBound.setColor(s); |
||
4344 | |||
4345 | } |
||
4346 | } |
||
4347 | }); |
||
4348 | |||
4349 | } |
||
2328 | - | 4350 | private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e) |
4351 | { |
||
4352 | _bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked; |
||
4353 | if (_bShowWPRoute) |
||
4354 | { |
||
4355 | if (mRouteWP != null) |
||
4356 | MainMap.Markers.Add(mRouteWP); |
||
4357 | } |
||
4358 | else |
||
4359 | { |
||
4360 | if (mRouteWP != null) |
||
4361 | MainMap.Markers.Remove(mRouteWP); |
||
4362 | } |
||
4363 | } |
||
2428 | - | 4364 | |
2315 | - | 4365 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
2287 | - | 4366 | { |
2315 | - | 4367 | _readWPLFile(); |
2287 | - | 4368 | } |
2335 | - | 4369 | private void btnClearWPList_Click(object sender, RoutedEventArgs e) |
4370 | { |
||
4371 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
2347 | - | 4372 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2335 | - | 4373 | wpList.Clear(); |
4374 | if (mRouteWP != null) |
||
4375 | MainMap.Markers.Remove(mRouteWP); |
||
2347 | - | 4376 | //if (wpActiveMarker != null) |
4377 | // MainMap.Markers.Remove(wpActiveMarker); |
||
2335 | - | 4378 | dtWaypoints.Rows.Clear(); |
2356 | - | 4379 | _wpEdit = -1; |
2368 | - | 4380 | _wpIndex = -1; |
2425 | - | 4381 | wpOffset.Clear(); |
2335 | - | 4382 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
4383 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
4384 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
4385 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
||
4386 | } |
||
2340 | - | 4387 | private void btnClearCopterList_Click(object sender, RoutedEventArgs e) |
4388 | { |
||
4389 | Thread t = new Thread(new ThreadStart(clearCopterWPList)); |
||
4390 | t.Start(); |
||
4391 | } |
||
2355 | - | 4392 | private void btnSendActiveWP_Click(object sender, RoutedEventArgs e) |
2340 | - | 4393 | { |
4394 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
4395 | { |
||
2372 | - | 4396 | if (_wpCount > 0) |
2376 | - | 4397 | _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false); |
2372 | - | 4398 | else |
2376 | - | 4399 | _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false); |
2363 | - | 4400 | |
2372 | - | 4401 | //int index = dgvWP.SelectedIndex; |
4402 | //Thread t = new Thread(() => _sendWPList(index)); |
||
4403 | //t.Start(); |
||
2354 | - | 4404 | |
4405 | Dispatcher.Invoke(() => { |
||
4406 | DataGridRow row; |
||
2368 | - | 4407 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
2354 | - | 4408 | { |
2368 | - | 4409 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
2354 | - | 4410 | row.Background = new SolidColorBrush(Colors.Transparent); |
4411 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
4412 | row.BorderThickness = new Thickness(0); |
||
2376 | - | 4413 | dgvWP.UpdateLayout(); |
2354 | - | 4414 | } |
2376 | - | 4415 | //_wpEdit = dgvWP.SelectedIndex; |
4416 | //row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4417 | //row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
||
4418 | //row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
||
4419 | //row.BorderThickness = new Thickness(2); |
||
2354 | - | 4420 | }); |
2340 | - | 4421 | } |
4422 | } |
||
2385 | - | 4423 | private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e) |
4424 | { |
||
4425 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
4426 | { |
||
4427 | |||
4428 | object[] o = new object[16]; |
||
4429 | o[0] = dgvWP.SelectedIndex + 1; |
||
4430 | o[1] = cbWPEditType.SelectedIndex; |
||
4431 | o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
||
4432 | o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
||
4433 | o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
||
4434 | o[5] = tbWPEditAlt.Text; |
||
4435 | switch (cbWPEditHeading.SelectedIndex) |
||
4436 | { |
||
4437 | case 0: |
||
4438 | o[6] = "0"; |
||
4439 | break; |
||
4440 | case 1: |
||
4441 | o[6] = "-" + tbWPEditHeading.Text; |
||
4442 | break; |
||
4443 | case 2: |
||
4444 | o[6] = tbWPEditHeading.Text; |
||
4445 | break; |
||
4446 | } |
||
4447 | switch (cbWPEditSpeed.SelectedIndex) |
||
4448 | { |
||
4449 | case 0: |
||
4450 | o[7] = "0"; |
||
4451 | break; |
||
4452 | case 1: |
||
4453 | o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0"); |
||
4454 | break; |
||
4455 | case 2: |
||
4456 | o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString(); |
||
4457 | break; |
||
4458 | } |
||
4459 | switch (cbWPEditClimbrate.SelectedIndex) |
||
4460 | { |
||
4461 | case 0: |
||
4462 | o[8] = "255"; |
||
4463 | break; |
||
4464 | case 1: |
||
4465 | o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0"); |
||
4466 | break; |
||
4467 | } |
||
4468 | o[9] = tbWPEditRadius.Text; |
||
4469 | o[10] = tbWPEditHoldtime.Text; |
||
4470 | o[11] = tbWPEditAutoTrigger.Text; |
||
4471 | switch (cbWPEditCamAngle.SelectedIndex) |
||
4472 | { |
||
4473 | case 0: |
||
4474 | o[12] = "0"; |
||
4475 | break; |
||
4476 | case 1: |
||
4477 | o[12] = "255"; |
||
4478 | break; |
||
4479 | case 2: |
||
4480 | o[12] = tbWPEditCamAngle.Text; |
||
4481 | break; |
||
4482 | } |
||
4483 | o[13] = 0; |
||
4484 | o[14] = tbWPEditOut1.Text; |
||
4485 | DataRow dr = dtWaypoints.NewRow(); |
||
4486 | dr.ItemArray = o; |
||
4487 | |||
4488 | if (_wpCount > 0) |
||
4489 | _sendWayPoint(dr, -1, 'w', false); |
||
4490 | else |
||
4491 | _sendWayPoint(dr, 1, 'w', false); |
||
2399 | - | 4492 | |
4493 | if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count) |
||
4494 | _sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false); |
||
2385 | - | 4495 | } |
4496 | } |
||
2376 | - | 4497 | private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e) |
4498 | { |
||
4499 | _Simulate = !_Simulate; |
||
4500 | if (dtWaypoints.Rows.Count > 0) |
||
4501 | { |
||
4502 | DataRow dr = dtWaypoints.Rows[0]; |
||
4503 | dr[13] = _Simulate ? 3 : 0; |
||
2379 | - | 4504 | _sendWayPoint(dr, 0, 's', true); |
2381 | - | 4505 | rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden; |
2376 | - | 4506 | } |
4507 | } |
||
2428 | - | 4508 | |
2355 | - | 4509 | private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e) |
4510 | { |
||
2359 | - | 4511 | _dgvWPselectEditRow(); |
4512 | } |
||
4513 | private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e) |
||
4514 | { |
||
4515 | } |
||
4516 | void _dgvWPselectEditRow() |
||
4517 | { |
||
2355 | - | 4518 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4519 | { |
||
2368 | - | 4520 | Dispatcher.Invoke(() => { |
2355 | - | 4521 | DataGridRow row; |
2421 | - | 4522 | dgvWP.UpdateLayout(); |
2368 | - | 4523 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
2355 | - | 4524 | { |
4525 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4526 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
4527 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
4528 | row.BorderThickness = new Thickness(0); |
||
4529 | } |
||
4530 | _wpEdit = dgvWP.SelectedIndex; |
||
4531 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4532 | row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255)); |
||
4533 | row.BorderBrush = new SolidColorBrush(Colors.Aqua); |
||
4534 | row.BorderThickness = new Thickness(2); |
||
4535 | dgvWP.UpdateLayout(); |
||
2340 | - | 4536 | |
2355 | - | 4537 | _setWPEditFields(_wpEdit); |
4538 | }); |
||
4539 | } |
||
4540 | } |
||
4541 | void _setWPEditFields(int index) |
||
4542 | { |
||
4543 | int iVal; |
||
2421 | - | 4544 | lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString(); |
2355 | - | 4545 | cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1]; |
4546 | tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1); |
||
4547 | tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString(); |
||
4548 | tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString(); |
||
4549 | tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString(); |
||
4550 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]); |
||
4551 | if (iVal == 0) |
||
4552 | { |
||
4553 | cbWPEditHeading.SelectedIndex = 0; |
||
4554 | tbWPEditHeading.Text = " - - -"; |
||
4555 | tbWPEditHeading.IsReadOnly = true; |
||
4556 | } |
||
4557 | if (iVal > 0 && iVal < 360) |
||
4558 | { |
||
4559 | cbWPEditHeading.SelectedIndex = 2; |
||
4560 | tbWPEditHeading.Text = iVal.ToString(); |
||
4561 | tbWPEditHeading.IsReadOnly = false; |
||
4562 | } |
||
4563 | if (iVal < 0) |
||
4564 | { |
||
4565 | cbWPEditHeading.SelectedIndex = 1; |
||
4566 | tbWPEditHeading.Text = (Math.Abs(iVal).ToString()); |
||
4567 | tbWPEditHeading.IsReadOnly = false; |
||
4568 | } |
||
4569 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]); |
||
4570 | if (iVal == 0) |
||
4571 | { |
||
4572 | cbWPEditSpeed.SelectedIndex = 0; |
||
4573 | tbWPEditSpeed.Text = "MAX"; |
||
4574 | tbWPEditSpeed.IsReadOnly = true; |
||
4575 | } |
||
4576 | if (iVal > 0 && iVal < 248) |
||
4577 | { |
||
4578 | cbWPEditSpeed.SelectedIndex = 1; |
||
4579 | tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString(); |
||
4580 | tbWPEditSpeed.IsReadOnly = false; |
||
4581 | } |
||
4582 | if (iVal > 247) |
||
4583 | { |
||
4584 | cbWPEditSpeed.SelectedIndex = 256 - iVal + 1; |
||
4585 | tbWPEditSpeed.Text = ""; |
||
4586 | tbWPEditSpeed.IsReadOnly = true; |
||
4587 | } |
||
4588 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]); |
||
4589 | if (iVal == 255) |
||
4590 | { |
||
4591 | cbWPEditClimbrate.SelectedIndex = 0; |
||
4592 | tbWPEditClimbrate.Text = "AUTO"; |
||
4593 | tbWPEditClimbrate.IsReadOnly = true; |
||
4594 | } |
||
4595 | else |
||
4596 | { |
||
4597 | cbWPEditClimbrate.SelectedIndex = 1; |
||
4598 | tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0"); |
||
4599 | tbWPEditClimbrate.IsReadOnly = false; |
||
4600 | } |
||
4601 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]); |
||
4602 | tbWPEditRadius.Text = iVal.ToString(); |
||
4603 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]); |
||
4604 | tbWPEditHoldtime.Text = iVal.ToString(); |
||
4605 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]); |
||
4606 | tbWPEditAutoTrigger.Text = iVal.ToString(); |
||
4607 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]); |
||
4608 | if (iVal == 0) |
||
4609 | { |
||
4610 | cbWPEditCamAngle.SelectedIndex = 0; |
||
4611 | tbWPEditCamAngle.Text = " - - - "; |
||
4612 | tbWPEditCamAngle.IsReadOnly = true; |
||
4613 | } |
||
4614 | if (iVal < 0 | iVal == 255) |
||
4615 | { |
||
4616 | cbWPEditCamAngle.SelectedIndex = 1; |
||
4617 | tbWPEditCamAngle.Text = "AUTO"; |
||
4618 | tbWPEditCamAngle.IsReadOnly = true; |
||
4619 | } |
||
4620 | if (iVal > 0 & iVal < 255) |
||
4621 | { |
||
4622 | cbWPEditCamAngle.SelectedIndex = 2; |
||
4623 | tbWPEditCamAngle.Text = iVal.ToString(); |
||
4624 | tbWPEditCamAngle.IsReadOnly = false; |
||
4625 | } |
||
4626 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]); |
||
4627 | tbWPEditOut1.Text = iVal.ToString(); |
||
4628 | |||
4629 | } |
||
2361 | - | 4630 | private void btnEditWPSave_Click(object sender, RoutedEventArgs e) |
4631 | { |
||
2363 | - | 4632 | if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4633 | { |
||
2369 | - | 4634 | string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]; |
2372 | - | 4635 | int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]; |
4636 | PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]); |
||
4637 | int i = wpList.IndexOf(pOld); |
||
2363 | - | 4638 | dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex; |
4639 | dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
||
4640 | dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
||
4641 | dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
||
2372 | - | 4642 | if (i > -1) |
4643 | { |
||
2425 | - | 4644 | if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
2372 | - | 4645 | wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
4646 | else |
||
2425 | - | 4647 | { |
2372 | - | 4648 | wpList.Remove(pOld); |
2425 | - | 4649 | wpOffset.Remove(wpOffset[i]); |
4650 | } |
||
2372 | - | 4651 | } |
4652 | else |
||
4653 | { |
||
4654 | if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
||
4655 | { |
||
4656 | int found = 0; |
||
4657 | for (int k = 0; k < dgvWP.SelectedIndex; k++) |
||
2425 | - | 4658 | { |
4659 | if ((int)dtWaypoints.Rows[k][1] == 0 || (int)dtWaypoints.Rows[k][1] == 3) |
||
4660 | { |
||
2372 | - | 4661 | found++; |
2425 | - | 4662 | } |
4663 | } |
||
2372 | - | 4664 | wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
2425 | - | 4665 | wpOffset.Insert(found, dgvWP.SelectedIndex); |
2372 | - | 4666 | } |
4667 | } |
||
2363 | - | 4668 | dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text; |
4669 | switch (cbWPEditHeading.SelectedIndex) |
||
4670 | { |
||
4671 | case 0: |
||
4672 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0"; |
||
4673 | break; |
||
4674 | case 1: |
||
4675 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text; |
||
4676 | break; |
||
4677 | case 2: |
||
4678 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text; |
||
4679 | break; |
||
4680 | } |
||
4681 | switch (cbWPEditSpeed.SelectedIndex) |
||
4682 | { |
||
4683 | case 0: |
||
4684 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0"; |
||
4685 | break; |
||
4686 | case 1: |
||
4687 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0"); |
||
4688 | break; |
||
4689 | case 2: |
||
4690 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString(); |
||
4691 | break; |
||
4692 | } |
||
4693 | switch (cbWPEditClimbrate.SelectedIndex) |
||
4694 | { |
||
4695 | case 0: |
||
4696 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255"; |
||
4697 | break; |
||
4698 | case 1: |
||
4699 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0"); |
||
4700 | break; |
||
4701 | } |
||
4702 | dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text; |
||
4703 | dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text; |
||
4704 | dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text; |
||
4705 | switch (cbWPEditCamAngle.SelectedIndex) |
||
4706 | { |
||
4707 | case 0: |
||
4708 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0"; |
||
4709 | break; |
||
4710 | case 1: |
||
4711 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255"; |
||
4712 | break; |
||
4713 | case 2: |
||
4714 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text; |
||
4715 | break; |
||
4716 | } |
||
4717 | dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text; |
||
2361 | - | 4718 | |
2369 | - | 4719 | // _clearMapMarkers(typeof(CustomMarkerWP)); |
4720 | _repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName); |
||
4721 | _renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]); |
||
2363 | - | 4722 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2369 | - | 4723 | _setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
2372 | - | 4724 | _WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
2369 | - | 4725 | // wpList.Clear(); |
2363 | - | 4726 | if (mRouteWP != null) |
4727 | MainMap.Markers.Remove(mRouteWP); |
||
4728 | |||
2369 | - | 4729 | //for (int k = 0; k < dtWaypoints.Rows.Count; k++) |
4730 | //{ |
||
4731 | // _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]); |
||
4732 | //} |
||
2363 | - | 4733 | _routeUpdate(); |
4734 | dgvWP.Items.Refresh(); |
||
4735 | |||
4736 | } |
||
4737 | |||
2361 | - | 4738 | } |
4739 | private void btnEditWPDel_Click(object sender, RoutedEventArgs e) |
||
4740 | { |
||
2368 | - | 4741 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4742 | { |
||
4743 | int index = dgvWP.SelectedIndex; |
||
4744 | Dispatcher.Invoke(() => { |
||
4745 | DataGridRow row; |
||
4746 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
||
4747 | { |
||
4748 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4749 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
4750 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
4751 | row.BorderThickness = new Thickness(0); |
||
4752 | } |
||
2372 | - | 4753 | if ((int)dtWaypoints.Rows[index][1] == 0 || (int)dtWaypoints.Rows[index][1] == 3) |
2368 | - | 4754 | wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4])); |
2425 | - | 4755 | else |
4756 | wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1); |
||
2368 | - | 4757 | _clearWPMarker((string)dtWaypoints.Rows[index][2]); |
2369 | - | 4758 | if (wpActiveMarker != null) |
4759 | MainMap.Markers.Remove(wpActiveMarker); |
||
2368 | - | 4760 | dtWaypoints.Rows[index].Delete(); |
4761 | _wpIndex = -1; |
||
4762 | _wpEdit = -1; |
||
4763 | for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index |
||
4764 | { |
||
4765 | dtWaypoints.Rows[i][0] = i + 1; |
||
4766 | string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index) |
||
4767 | string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP |
||
4768 | _renameWPMarker(s1, s2); |
||
4769 | dtWaypoints.Rows[i][2] = s2; |
||
4770 | } |
||
4771 | lblWPCount.Content = dtWaypoints.Rows.Count; |
||
4772 | if (mRouteWP != null) |
||
4773 | MainMap.Markers.Remove(mRouteWP); |
||
4774 | _routeUpdate(); |
||
2361 | - | 4775 | |
2368 | - | 4776 | dgvWP.UpdateLayout(); |
4777 | }); |
||
4778 | } |
||
2361 | - | 4779 | } |
2366 | - | 4780 | private void tbWPEdit_TouchDown(object sender, TouchEventArgs e) |
4781 | { |
||
4782 | _wpWEdit(sender); |
||
4783 | } |
||
2361 | - | 4784 | private void tbWPEdit_KeyDown(object sender, KeyEventArgs e) |
4785 | { |
||
2366 | - | 4786 | _wpWEdit(sender); |
4787 | } |
||
2369 | - | 4788 | private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e) |
4789 | { |
||
4790 | _wpWEdit(sender); |
||
4791 | } |
||
2366 | - | 4792 | void _wpWEdit(object sender) |
4793 | { |
||
2369 | - | 4794 | // if (!((TextBox)sender).IsReadOnly) |
2361 | - | 4795 | { |
4796 | KeyPad.Keypad k = new KeyPad.Keypad(this); |
||
4797 | |||
2363 | - | 4798 | switch (((TextBox)sender).Name) |
4799 | { |
||
4800 | case "tbWPEditLat": |
||
4801 | k.Title = "Latitude"; |
||
4802 | k.LENGTH = 17; |
||
4803 | k.MAX = 359.9; |
||
4804 | break; |
||
4805 | case "tbWPEditLon": |
||
4806 | k.Title = "Longitude"; |
||
4807 | k.LENGTH = 17; |
||
4808 | k.MAX = 359.9; |
||
4809 | break; |
||
4810 | case "tbWPEditAlt": |
||
4811 | k.Title = "Altitude"; |
||
4812 | k.LENGTH = 3; |
||
4813 | k.MAX = 254; |
||
4814 | k.disableDecimal(); |
||
4815 | break; |
||
4816 | case "tbWPEditHeading": |
||
4817 | k.Title = "Heading"; |
||
4818 | k.LENGTH = 3; |
||
4819 | k.MAX = 359; |
||
4820 | k.MIN = 1; |
||
4821 | k.disableDecimal(); |
||
4822 | break; |
||
4823 | case "tbWPEditSpeed": |
||
4824 | k.Title = "Speed"; |
||
4825 | k.LENGTH = 4; |
||
4826 | k.MAX = 24.7; |
||
4827 | k.MIN = 0.1; |
||
4828 | break; |
||
4829 | case "tbWPEditClimbrate": |
||
4830 | k.Title = "Climbrate"; |
||
4831 | k.LENGTH = 4; |
||
4832 | k.MAX = 25.4; |
||
4833 | k.MIN = 0.1; |
||
4834 | break; |
||
4835 | case "tbWPEditRadius": |
||
4836 | k.Title = "Radius"; |
||
4837 | k.LENGTH = 3; |
||
4838 | k.MAX = 254; |
||
4839 | k.disableDecimal(); |
||
4840 | break; |
||
4841 | case "tbWPEditHoldtime": |
||
4842 | k.Title = "Holdtime"; |
||
4843 | k.LENGTH = 3; |
||
4844 | k.MAX = 254; |
||
4845 | break; |
||
4846 | case "tbWPEditAutoTrigger": |
||
4847 | k.Title = "Autotrigger"; |
||
4848 | k.LENGTH = 3; |
||
4849 | k.MAX = 254; |
||
4850 | k.disableDecimal(); |
||
4851 | break; |
||
4852 | case "tbWPEditCamAngle": |
||
4853 | k.Title = "Camera angle"; |
||
4854 | k.LENGTH = 3; |
||
4855 | k.MAX = 254; |
||
4856 | k.MIN = 1; |
||
4857 | k.disableDecimal(); |
||
4858 | break; |
||
4859 | case "tbWPEditOut1": |
||
4860 | k.Title = "OUT1 timer interval"; |
||
4861 | k.LENGTH = 3; |
||
4862 | k.MAX = 254; |
||
4863 | k.disableDecimal(); |
||
4864 | break; |
||
4865 | } |
||
4866 | k.Result = ((TextBox)sender).Text; |
||
2366 | - | 4867 | if (k.ShowDialog() == true && k.Result.Length > 0) |
2363 | - | 4868 | ((TextBox)sender).Text = k.Result; |
2361 | - | 4869 | } |
2366 | - | 4870 | |
2361 | - | 4871 | } |
4872 | private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e) |
||
2356 | - | 4873 | { |
2359 | - | 4874 | object[] o = new object[16]; |
2356 | - | 4875 | |
2359 | - | 4876 | o[0] = dgvWP.ItemContainerGenerator.Items.Count+1; |
4877 | o[1] = 0; |
||
4878 | // cbWPEditType.SelectedIndex = 0; |
||
4879 | // tbWPEditPrefix.Text = "P"; |
||
4880 | o[2] = "P" + o[0].ToString(); |
||
4881 | // tbWPEditLat.Text = copter.Position.Lat.ToString(); |
||
4882 | o[3] = copter.Position.Lat; |
||
4883 | // tbWPEditLon.Text = copter.Position.Lng.ToString(); |
||
4884 | o[4] = copter.Position.Lng; |
||
4885 | // tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString(); |
||
4886 | o[5] = iAnalogData[4].ToString(); |
||
2356 | - | 4887 | |
2359 | - | 4888 | // cbWPEditHeading.SelectedIndex = 2; |
4889 | o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString(); |
||
4890 | // tbWPEditHeading.IsReadOnly = false; |
||
2356 | - | 4891 | |
2359 | - | 4892 | // cbWPEditSpeed.SelectedIndex = 1; |
4893 | // tbWPEditSpeed.Text = "5.0"; |
||
4894 | // tbWPEditSpeed.IsReadOnly = false; |
||
2372 | - | 4895 | o[7] = "10"; |
2356 | - | 4896 | |
2359 | - | 4897 | // cbWPEditClimbrate.SelectedIndex = 1; |
4898 | // tbWPEditClimbrate.Text = "5.0"; |
||
4899 | // tbWPEditClimbrate.IsReadOnly = false; |
||
2372 | - | 4900 | o[8] = "10"; |
2356 | - | 4901 | |
2359 | - | 4902 | // tbWPEditRadius.Text = "10"; |
2372 | - | 4903 | o[9] = "5"; |
2359 | - | 4904 | // tbWPEditHoldtime.Text = "5"; |
4905 | o[10] = "5"; |
||
4906 | // tbWPEditAutoTrigger.Text = "0"; |
||
4907 | o[11] = "0"; |
||
4908 | // cbWPEditCamAngle.SelectedIndex = 1; |
||
4909 | // tbWPEditCamAngle.Text = "AUTO"; |
||
4910 | // tbWPEditCamAngle.IsReadOnly = true; |
||
4911 | o[12] = "255"; |
||
2356 | - | 4912 | |
2359 | - | 4913 | o[13] = "0"; |
4914 | // tbWPEditOut1.Text = "0"; |
||
4915 | o[14] = "0"; |
||
4916 | o[15] = "0"; |
||
4917 | |||
4918 | dtWaypoints.Rows.Add(o); |
||
2425 | - | 4919 | _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1],(int)o[0]-1); |
2359 | - | 4920 | Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString()); |
4921 | if (mRouteWP != null) |
||
4922 | MainMap.Markers.Remove(mRouteWP); |
||
4923 | _routeUpdate(); |
||
4924 | Dispatcher.Invoke(() => { |
||
4925 | dgvWP.Items.Refresh(); |
||
4926 | dgvWP.SelectedIndex = (int)o[0] -1; |
||
4927 | dgvWP.UpdateLayout(); |
||
4928 | _dgvWPselectEditRow(); |
||
4929 | }); |
||
2356 | - | 4930 | } |
2428 | - | 4931 | |
4932 | private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e) |
||
4933 | { |
||
4934 | if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
4935 | { |
||
4936 | int index = dgvWP.SelectedIndex; |
||
4937 | if (((int)dtWaypoints.Rows[index][1] == 0 | (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index - 1][1] == 0 | (int)dtWaypoints.Rows[index - 1][1] == 3))// && wpList.Count > index) |
||
4938 | { |
||
4939 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
4940 | int wpListIndex = wpList.IndexOf(x); |
||
4941 | if (wpListIndex > 0) |
||
4942 | { |
||
4943 | wpList.RemoveAt(wpListIndex); |
||
4944 | wpList.Insert(wpListIndex - 1, x); |
||
4945 | MainMap.Markers.Remove(mRouteWP); |
||
4946 | _routeUpdate(); |
||
4947 | } |
||
4948 | } |
||
4949 | DataRow dr = dtWaypoints.Rows[index]; |
||
4950 | DataRow newRow = dtWaypoints.NewRow(); |
||
4951 | newRow.ItemArray = dr.ItemArray; |
||
4952 | dtWaypoints.Rows.Remove(dr); |
||
4953 | dtWaypoints.Rows.InsertAt(newRow, index - 1); |
||
4954 | dtWaypoints.Rows[index][0] = 100; |
||
4955 | dtWaypoints.Rows[index - 1][0] = index; |
||
4956 | GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString()); |
||
4957 | GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
||
4958 | dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString(); |
||
4959 | ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString(); |
||
4960 | dtWaypoints.Rows[index][0] = index + 1; |
||
4961 | dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
||
4962 | ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
||
4963 | dgvWP.Items.Refresh(); |
||
4964 | dgvWP.SelectedIndex = index - 1; |
||
4965 | _dgvWPselectEditRow(); |
||
4966 | if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1) |
||
4967 | { |
||
4968 | int iOffset = wpOffset.IndexOf(index); |
||
4969 | if (iOffset > 0) // if not first element |
||
4970 | { |
||
4971 | if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset |
||
4972 | wpOffset[iOffset] = index-1; //then decrease offset value by one |
||
4973 | } |
||
4974 | else |
||
4975 | wpOffset[iOffset] = index-1; //if first element, decrease offset by one |
||
4976 | } |
||
4977 | else //selected line is POI |
||
4978 | { |
||
4979 | if (wpOffset.Contains(index - 1)) // if next point is WP |
||
4980 | { |
||
4981 | int iOffset = wpOffset.IndexOf(index - 1); |
||
4982 | wpOffset[iOffset] = index; //decrease linenumber of following WP |
||
4983 | } |
||
4984 | } |
||
4985 | |||
4986 | } |
||
4987 | } |
||
4988 | private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e) |
||
4989 | { |
||
4990 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1) |
||
4991 | { |
||
4992 | int index = dgvWP.SelectedIndex; |
||
4993 | if (((int)dtWaypoints.Rows[index][1] == 0 | (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index+1][1] == 0 | (int)dtWaypoints.Rows[index+1][1] == 3))// && wpList.Count > index) |
||
4994 | { |
||
4995 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
4996 | int wpListIndex = wpList.IndexOf(x); |
||
4997 | if (wpListIndex > -1) |
||
4998 | { |
||
4999 | wpList.RemoveAt(wpListIndex); |
||
5000 | if (wpList.Count > wpListIndex) |
||
5001 | wpList.Insert(wpListIndex + 1, x); |
||
5002 | else |
||
5003 | wpList.Add(x); |
||
5004 | MainMap.Markers.Remove(mRouteWP); |
||
5005 | _routeUpdate(); |
||
5006 | } |
||
5007 | } |
||
5008 | DataRow dr = dtWaypoints.Rows[index]; |
||
5009 | DataRow newRow = dtWaypoints.NewRow(); |
||
5010 | newRow.ItemArray = dr.ItemArray; |
||
5011 | dtWaypoints.Rows.Remove(dr); |
||
5012 | dtWaypoints.Rows.InsertAt(newRow, index + 1); |
||
5013 | dtWaypoints.Rows[index][0] = 100; |
||
5014 | dtWaypoints.Rows[index + 1][0] = index + 2; |
||
5015 | GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString()); |
||
5016 | GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
||
5017 | dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString(); |
||
5018 | ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString(); |
||
5019 | dtWaypoints.Rows[index][0] = index + 1; |
||
5020 | dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
||
5021 | ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
||
5022 | dgvWP.Items.Refresh(); |
||
5023 | dgvWP.SelectedIndex = index + 1; |
||
5024 | _dgvWPselectEditRow(); |
||
5025 | if(wpOffset.Contains(index)) // If selected line is WP |
||
5026 | { |
||
5027 | int iOffset = wpOffset.IndexOf(index); |
||
5028 | if(iOffset < wpOffset.Count -1) // if not last element |
||
5029 | { |
||
5030 | if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset |
||
5031 | wpOffset[iOffset] = index + 1; //then increase offset value by one |
||
5032 | } |
||
5033 | else |
||
5034 | wpOffset[iOffset] = index + 1; //if last element increase offset by one |
||
5035 | } |
||
5036 | else //selected line is POI |
||
5037 | { |
||
5038 | if (wpOffset.Contains(index + 1)) // if next point is WP |
||
5039 | { |
||
5040 | int iOffset = wpOffset.IndexOf(index + 1); |
||
5041 | wpOffset[iOffset] = index; //decrease linenumber of following WP |
||
5042 | } |
||
5043 | } |
||
5044 | } |
||
5045 | |||
5046 | } |
||
5047 | |||
2405 | - | 5048 | private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e) |
5049 | { |
||
5050 | if (WPStatus.Visibility == Visibility.Visible) |
||
5051 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
5052 | else |
||
5053 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
5054 | } |
||
5055 | private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e) |
||
5056 | { |
||
5057 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
||
5058 | { |
||
5059 | if (cWPBound != null && cWPBound.Tag != null) |
||
5060 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2356 | - | 5061 | |
2408 | - | 5062 | createCircle(home.Position, dWPMaxRange); |
2419 | - | 5063 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
5064 | { |
||
5065 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
5066 | cWPBound.setColor(s); |
||
5067 | } |
||
2405 | - | 5068 | } |
2408 | - | 5069 | |
2405 | - | 5070 | if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null)) |
5071 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
5072 | } |
||
2315 | - | 5073 | #endregion WP |
2324 | - | 5074 | #region GPX |
5075 | private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
||
5076 | { |
||
5077 | _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
||
5078 | } |
||
5079 | void _gpxAdd(double lat,double lon, int elevation) |
||
5080 | { |
||
5081 | DataRow dr = dtGPX.NewRow(); |
||
5082 | dr[0] = dtGPX.Rows.Count - 1; |
||
5083 | dr[1] = lat; |
||
5084 | dr[2] = lon; |
||
5085 | dr[3] = elevation; |
||
5086 | dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z |
||
5087 | dtGPX.Rows.Add(dr); |
||
5088 | } |
||
5089 | void _saveGPXLog() |
||
5090 | { |
||
5091 | if (!Directory.Exists("GPXLog")) |
||
5092 | Directory.CreateDirectory("GPXLog"); |
||
5093 | string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx"; |
||
5094 | XmlTextWriter myXmlTextWriter = null; |
||
5095 | myXmlTextWriter = new XmlTextWriter(SaveFileName, null); |
||
5096 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
5097 | nfi.NumberDecimalSeparator = "."; |
||
2315 | - | 5098 | |
2324 | - | 5099 | try |
5100 | { |
||
5101 | myXmlTextWriter.Formatting = Formatting.Indented; |
||
5102 | |||
5103 | myXmlTextWriter.WriteStartDocument(); |
||
5104 | |||
5105 | myXmlTextWriter.WriteStartElement("gpx"); |
||
5106 | |||
5107 | myXmlTextWriter.WriteAttributeString("version", "1.0"); |
||
5108 | myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0"); |
||
5109 | myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance"); |
||
5110 | myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1"); |
||
5111 | myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd"); |
||
5112 | |||
5113 | myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture)); |
||
5114 | |||
5115 | myXmlTextWriter.WriteStartElement("trk"); |
||
5116 | myXmlTextWriter.WriteStartElement("trkseg"); |
||
5117 | for(int i = 0; i< dtGPX.Rows.Count;i++) |
||
5118 | { |
||
5119 | myXmlTextWriter.WriteStartElement("trkpt"); |
||
5120 | myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : ""); |
||
5121 | myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : ""); |
||
5122 | myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString()); |
||
5123 | myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString()); |
||
5124 | myXmlTextWriter.WriteEndElement(); |
||
5125 | } |
||
5126 | myXmlTextWriter.WriteEndElement(); |
||
5127 | myXmlTextWriter.WriteEndElement(); |
||
5128 | myXmlTextWriter.WriteEndElement(); |
||
5129 | } |
||
5130 | catch (Exception e) |
||
5131 | { |
||
5132 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
5133 | } |
||
5134 | finally |
||
5135 | { |
||
5136 | if (myXmlTextWriter != null) |
||
5137 | { |
||
5138 | myXmlTextWriter.Close(); |
||
5139 | } |
||
5140 | } |
||
5141 | } |
||
2425 | - | 5142 | |
5143 | private void Grid_TouchDown(object sender, TouchEventArgs e) |
||
5144 | { |
||
5145 | |||
5146 | } |
||
5147 | |||
2324 | - | 5148 | private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e) |
5149 | { |
||
5150 | _loadGPXLog(); |
||
5151 | } |
||
2327 | - | 5152 | private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
5153 | { |
||
5154 | _clearMapMarkers(typeof(GMapRoute)); |
||
5155 | } |
||
2324 | - | 5156 | void _loadGPXLog() |
5157 | { |
||
5158 | |||
5159 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
5160 | fd.Filter = "GPX-Logfile | *.gpx"; |
||
5161 | fd.Multiselect = false; |
||
5162 | if (fd.ShowDialog().Value) |
||
5163 | { |
||
5164 | string file = fd.FileName; |
||
5165 | try |
||
5166 | { |
||
5167 | XDocument gpxDoc = XDocument.Load(file); |
||
5168 | XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1"); |
||
5169 | |||
5170 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
5171 | nfi.NumberDecimalSeparator = "."; |
||
5172 | |||
5173 | var tracks = from track in gpxDoc.Descendants(gpx + "trk") |
||
5174 | select new |
||
5175 | { |
||
5176 | Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null, |
||
5177 | Segs = ( |
||
5178 | from trackpoint in track.Descendants(gpx + "trkpt") |
||
5179 | select new |
||
5180 | { |
||
5181 | Latitude = trackpoint.Attribute("lat").Value, |
||
5182 | Longitude = trackpoint.Attribute("lon").Value, |
||
5183 | Elevation = trackpoint.Element(gpx + "ele") != null ? |
||
5184 | trackpoint.Element(gpx + "ele").Value : null, |
||
5185 | Time = trackpoint.Element(gpx + "time") != null ? |
||
5186 | trackpoint.Element(gpx + "time").Value : null |
||
5187 | } |
||
5188 | ) |
||
5189 | }; |
||
5190 | |||
5191 | List<PointLatLng> wpl = new List<PointLatLng>(); |
||
5192 | foreach(var trk in tracks) |
||
5193 | { |
||
5194 | foreach(var trkseg in trk.Segs) |
||
5195 | { |
||
5196 | if(trkseg.Latitude != "" && trkseg.Longitude !="") |
||
5197 | wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi))); |
||
5198 | } |
||
5199 | |||
5200 | } |
||
5201 | if(wpl.Count() > 0) |
||
5202 | { |
||
2327 | - | 5203 | _clearMapMarkers(typeof(GMapRoute)); |
2324 | - | 5204 | MapRoute mr = new MapRoute(wpl, "flying"); |
2328 | - | 5205 | Dispatcher.Invoke(() => |
5206 | { |
||
5207 | GMapRoute mRoute; |
||
5208 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
5209 | { |
||
5210 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
2366 | - | 5211 | mRoute = new GMapRoute(wpl, _getBrush(s)); |
2328 | - | 5212 | } |
5213 | else |
||
2366 | - | 5214 | mRoute = new GMapRoute(wpl, null); |
2324 | - | 5215 | |
2328 | - | 5216 | MainMap.Markers.Add(mRoute); |
5217 | }); |
||
2324 | - | 5218 | } |
5219 | |||
5220 | } |
||
5221 | catch (Exception e) |
||
5222 | { |
||
5223 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
5224 | } |
||
5225 | } |
||
5226 | } |
||
5227 | #endregion GPX |
||
2315 | - | 5228 | #endregion functions |
2287 | - | 5229 | } |
2425 | - | 5230 | |
5231 | /// <summary> |
||
2315 | - | 5232 | /// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter |
5233 | /// </summary> |
||
2313 | - | 5234 | public class waypointsConverter : IValueConverter |
5235 | { |
||
5236 | public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
||
5237 | { |
||
5238 | if (value != null) |
||
5239 | { |
||
5240 | switch ((string)parameter) |
||
5241 | { |
||
5242 | case "Latitude": |
||
5243 | return value.ToString() + " °"; |
||
5244 | case "Longitude": |
||
5245 | return value.ToString() + " °"; |
||
5246 | case "Radius": |
||
5247 | return value.ToString() + " m"; |
||
5248 | case "Altitude": |
||
5249 | return value.ToString() + " m"; |
||
5250 | case "ClimbRate": |
||
5251 | return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
||
5252 | case "DelayTime": |
||
5253 | return value.ToString() + " s"; |
||
5254 | case "Heading": |
||
5255 | return Waypoints.Heading(System.Convert.ToInt32(value)); |
||
5256 | case "Speed": |
||
5257 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
5258 | case "CamAngle": |
||
5259 | return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
||
5260 | case "Type": |
||
5261 | return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
||
5262 | case "AutoTrigger": |
||
5263 | return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
||
5264 | case "Status": |
||
2355 | - | 5265 | return (Waypoints.status)(System.Convert.ToInt16(value)); |
2313 | - | 5266 | } |
5267 | |||
5268 | return value.ToString(); |
||
5269 | } |
||
5270 | else return value; |
||
5271 | } |
||
5272 | |||
5273 | public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
||
5274 | { |
||
5275 | throw new NotImplementedException(); |
||
5276 | } |
||
5277 | } |
||
2287 | - | 5278 | public class IniFile |
5279 | { |
||
5280 | public string path; |
||
5281 | |||
5282 | [DllImport("kernel32")] |
||
5283 | private static extern long WritePrivateProfileString(string section, |
||
5284 | string key, string val, string filePath); |
||
5285 | |||
5286 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
5287 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
5288 | uint nSize, string lpFileName); |
||
5289 | |||
5290 | [DllImport("kernel32")] |
||
5291 | private static extern int GetPrivateProfileString(string section, |
||
5292 | string key, string def, StringBuilder retVal, |
||
5293 | int size, string filePath); |
||
5294 | |||
5295 | public IniFile(string INIPath) |
||
5296 | { |
||
5297 | path = INIPath; |
||
5298 | } |
||
5299 | |||
5300 | public void IniWriteValue(string Section, string Key, string Value) |
||
5301 | { |
||
5302 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
5303 | } |
||
5304 | |||
5305 | public string IniReadValue(string Section, string Key) |
||
5306 | { |
||
5307 | StringBuilder temp = new StringBuilder(255); |
||
5308 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
5309 | return temp.ToString(); |
||
5310 | } |
||
5311 | //Ini_sections auslesen in String-Array |
||
5312 | public string[] IniSectionNames() |
||
5313 | { |
||
5314 | |||
5315 | // uint MAX_BUFFER = 32767; |
||
5316 | uint MAX_BUFFER = 8388608; |
||
5317 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
5318 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
5319 | if (bytesReturned == 0) |
||
5320 | { |
||
5321 | Marshal.FreeCoTaskMem(pReturnedString); |
||
5322 | return null; |
||
5323 | } |
||
5324 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
5325 | Marshal.FreeCoTaskMem(pReturnedString); |
||
5326 | //use of Substring below removes terminating null for split |
||
5327 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
5328 | |||
5329 | |||
5330 | } |
||
5331 | } |
||
5332 | /// <summary> |
||
5333 | /// Selected Win AI Function Calls |
||
5334 | /// </summary> |
||
5335 | public class WinApi |
||
5336 | { |
||
5337 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
5338 | public static extern int GetSystemMetrics(int which); |
||
5339 | [DllImport("user32.dll")] |
||
5340 | public static extern void |
||
5341 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
5342 | int X, int Y, int width, int height, uint flags); |
||
5343 | |||
5344 | private const int SM_CXSCREEN = 0; |
||
5345 | private const int SM_CYSCREEN = 1; |
||
5346 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
5347 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
5348 | |||
5349 | public static int ScreenX |
||
5350 | { |
||
5351 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
5352 | } |
||
5353 | |||
5354 | public static int ScreenY |
||
5355 | { |
||
5356 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
5357 | } |
||
5358 | |||
5359 | public static void SetWinFullScreen(IntPtr hwnd) |
||
5360 | { |
||
5361 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
5362 | } |
||
5363 | } |
||
5364 | /// <summary> |
||
5365 | /// Class used to preserve / restore state of the window |
||
5366 | /// </summary> |
||
5367 | public class WinState |
||
5368 | { |
||
5369 | private WindowState winState; |
||
5370 | private WindowStyle brdStyle; |
||
5371 | private bool topMost; |
||
5372 | private Rect restore; |
||
5373 | private bool IsMaximized = false; |
||
5374 | |||
5375 | public bool isMaximized |
||
5376 | { |
||
5377 | get { return IsMaximized; } |
||
5378 | } |
||
5379 | public void Maximize(Window targetForm) |
||
5380 | { |
||
5381 | if (!IsMaximized) |
||
5382 | { |
||
5383 | IsMaximized = true; |
||
5384 | Save(targetForm); |
||
5385 | targetForm.WindowState = WindowState.Maximized; |
||
5386 | targetForm.WindowStyle = WindowStyle.None; |
||
5387 | targetForm.Topmost = true; |
||
5388 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
5389 | } |
||
5390 | } |
||
5391 | |||
5392 | public void Save(Window targetForm) |
||
5393 | { |
||
5394 | winState = targetForm.WindowState; |
||
5395 | brdStyle = targetForm.WindowStyle; |
||
5396 | topMost = targetForm.Topmost; |
||
5397 | restore = targetForm.RestoreBounds; |
||
5398 | } |
||
5399 | public void Restore(Window targetForm) |
||
5400 | { |
||
5401 | targetForm.WindowState = winState; |
||
5402 | targetForm.WindowStyle = brdStyle; |
||
5403 | targetForm.Topmost = topMost; |
||
5404 | |||
5405 | targetForm.Left = restore.Left; |
||
5406 | targetForm.Top = restore.Top; |
||
5407 | targetForm.Height = restore.Height; |
||
5408 | targetForm.Width = restore.Width; |
||
5409 | IsMaximized = false; |
||
5410 | } |
||
5411 | } |
||
5412 | |||
5413 | } |