Rev 2310 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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2287 | - | 1 | using GMap.NET; |
2 | using GMap.NET.MapProviders; |
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3 | using GMap.NET.WindowsPresentation; |
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4 | using MKLiveView.GMapCustomMarkers; |
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5 | using System; |
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6 | using System.Collections.Generic; |
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7 | using System.ComponentModel; |
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8 | using System.Data; |
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9 | using System.Diagnostics; |
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10 | using System.IO; |
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11 | using System.Linq; |
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12 | using System.Linq.Expressions; |
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13 | using System.Runtime.InteropServices; |
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14 | using System.Text; |
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15 | using System.Threading; |
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16 | using System.Threading.Tasks; |
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17 | using System.Windows; |
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18 | using System.Windows.Controls; |
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19 | using System.Windows.Data; |
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20 | using System.Windows.Documents; |
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21 | using System.Windows.Input; |
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22 | using System.Windows.Interop; |
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23 | using System.Windows.Media; |
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24 | using System.Windows.Media.Animation; |
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25 | using System.Windows.Media.Imaging; |
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26 | using System.Windows.Navigation; |
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27 | using System.Windows.Shapes; |
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28 | using System.Windows.Threading; |
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29 | |||
30 | namespace MKLiveView |
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31 | { |
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32 | /// <summary> |
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33 | /// Interaktionslogik für MainWindow.xaml |
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34 | /// </summary> |
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35 | public partial class MainWindow : Window |
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36 | { |
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2304 | - | 37 | #region declarations |
38 | |||
2287 | - | 39 | GMapMarker copter; |
40 | GMapMarker home; |
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41 | PointLatLng start; |
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42 | PointLatLng end; |
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43 | PointLatLng pHome; |
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44 | |||
45 | |||
46 | String[] NC_Error = new string[44] |
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47 | { |
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48 | "No Error", |
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49 | "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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50 | "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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51 | "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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52 | "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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53 | "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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54 | "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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55 | "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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56 | "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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57 | "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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58 | "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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59 | "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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60 | "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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61 | "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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62 | "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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63 | "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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64 | "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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65 | "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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66 | "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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67 | "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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68 | "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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69 | "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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70 | "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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71 | "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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72 | "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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73 | "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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74 | "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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75 | "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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76 | "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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77 | "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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78 | "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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79 | "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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80 | "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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81 | "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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82 | "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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83 | "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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84 | "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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85 | "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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86 | "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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87 | "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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88 | "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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89 | "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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90 | "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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91 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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92 | }; |
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93 | |||
94 | [FlagsAttribute] |
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95 | enum NC_HWError0 : short |
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96 | { |
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97 | None = 0, |
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98 | SPI_RX = 1, |
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99 | COMPASS_RX = 2, |
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100 | FC_INCOMPATIBLE = 4, |
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101 | COMPASS_INCOMPATIBLE = 8, |
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102 | GPS_RX = 16, |
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103 | COMPASS_VALUE = 32 |
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104 | }; |
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105 | [FlagsAttribute] |
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106 | enum FC_HWError0 : short |
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107 | { |
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108 | None = 0, |
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109 | GYRO_NICK = 1, |
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110 | GYRO_ROLL = 2, |
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111 | GYRO_YAW = 4, |
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112 | ACC_NICK = 8, |
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113 | ACC_ROLL = 16, |
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114 | ACC_TOP = 32, |
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115 | PRESSURE = 64, |
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116 | CAREFREE = 128 |
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117 | }; |
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118 | [FlagsAttribute] |
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119 | enum FC_HWError1 : short |
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120 | { |
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121 | None = 0, |
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122 | I2C = 1, |
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123 | BL_MISSING = 2, |
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124 | SPI_RX = 4, |
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125 | PPM = 8, |
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126 | MIXER = 16, |
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127 | RC_VOLTAGE = 32, |
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128 | ACC_NOT_CAL = 64, |
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129 | RES3 = 128 |
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130 | }; |
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131 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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132 | // Various colors for logging info |
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133 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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134 | |||
135 | bool _bCBInit = true; |
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136 | bool _init = true; |
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137 | bool check_HWError = false; |
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138 | |||
139 | string filePath = Directory.GetCurrentDirectory(); |
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140 | bool bReadContinously = false; |
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141 | bool _debugDataAutorefresh = true; |
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142 | bool _navCtrlDataAutorefresh = true; |
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143 | bool _blctrlDataAutorefresh = true; |
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144 | bool _OSDAutorefresh = true; |
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145 | bool _bErrorLog = false; |
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146 | bool _bConnErr = false; |
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147 | bool _bFollowCopter = false; |
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148 | |||
149 | bool _bSaveWinStateNormal = true; |
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150 | bool _bSaveWinStateFull = true; |
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151 | |||
152 | double scaleNormalAll = 1; |
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153 | double scaleNormalTopBar = 1; |
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154 | double scaleNormalMotors = 1; |
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155 | double scaleNormalOSD = 1; |
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156 | double scaleNormalLOG = 1; |
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157 | double scaleNormalHorizon = 1; |
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158 | |||
159 | double scaleFullAll = 1; |
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160 | double scaleFullTopBar = 1; |
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161 | double scaleFullMotors = 1; |
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162 | double scaleFullOSD = 1; |
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163 | double scaleFullLOG = 1; |
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164 | double scaleFullHorizon = 1; |
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165 | |||
166 | int _iCtrlAct = 0; |
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167 | int iOSDPage = 0; |
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168 | int iOSDMax = 0; |
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169 | int _iLifeCounter = 0; |
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170 | int crcError = 0; |
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171 | |||
2291 | - | 172 | bool _bSatFix = false; |
173 | Storyboard stbSatFixLostAnim; |
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174 | bool _bAnimSatFixActive = false; |
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175 | bool _bVoiceSatFixActive = false; |
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176 | bool _bVoiceSatFixPlay = false; |
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177 | int _iSatsLast = 0; |
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178 | int _iSatsJitter = 0; |
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179 | |||
180 | bool _bMagneticFieldOK = false; |
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181 | Storyboard stbMagneticFieldAnim; |
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182 | bool _bAnimMagneticFieldActive = false; |
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183 | bool _bVoiceMagneticFieldActive = false; |
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184 | bool _bVoiceMagneticFieldPlay = false; |
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185 | int _iMagneticFieldLast = 0; |
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186 | int _iMagneticFieldJitter = 0; |
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187 | |||
188 | bool _bRCLevelOK = false; |
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189 | Storyboard stbRCLevelAnim; |
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190 | bool _bAnimRCLevelActive = false; |
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191 | bool _bVoiceRCLevelActive = false; |
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192 | bool _bVoiceRCLevelPlay = false; |
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193 | int _iRCLevelLast = 0; |
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194 | int _iRCLevelJitter = 0; |
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195 | |||
2287 | - | 196 | int _iMotors = 4; |
197 | int _LipoCells = 4; |
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198 | |||
199 | double _dLipoVMax = 16.88; |
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200 | double _dLipoVMin = 12; |
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201 | double _dThresholdVoltageWarn = 0; |
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202 | double _dThresholdVoltageCrit = 0; |
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203 | Storyboard stbVoltageCritAnim; |
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204 | bool _bCritAnimVoltActive = false; |
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205 | bool _bCritVoiceVoltActive = false; |
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2291 | - | 206 | bool _bWarnVoiceVoltActive = false; |
2287 | - | 207 | bool _bVoiceVoltPlay = false; |
208 | double _dVoltLast = 0; |
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209 | int _iVoltJitter = 0; |
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210 | |||
2291 | - | 211 | double _dThresholdDistanceWarn = 100; |
212 | Storyboard stbDistanceWarnAnim; |
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213 | bool _bAnimDistanceActive = false; |
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214 | bool _bVoiceDistanceActive = false; |
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215 | bool _bVoiceDistancePlay = false; |
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216 | double _dDistanceLast = 0; |
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217 | int _iDistanceJitter = 0; |
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218 | |||
219 | double _dThresholdDistanceMax = 1000; |
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220 | int _iThresholdRC = 160; |
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221 | int _iThresholdMagField = 15; |
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222 | |||
2295 | - | 223 | bool _bAutoHome = false; |
224 | bool _bFirstSatFix = false; |
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225 | int _iFirstSatFix = 0; |
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2291 | - | 226 | |
2287 | - | 227 | double _dTopHeight = 36; |
228 | |||
229 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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230 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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231 | string[] serChanTitle = new string[12]; |
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232 | |||
233 | string[] sAnalogLabel = new string[32]; |
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234 | string[] sAnalogData = new string[32]; |
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235 | |||
236 | int[] iTimings = new int[] {100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000 }; |
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237 | int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 }; |
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238 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
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239 | /// <summary> |
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240 | /// interval for sending debugdata (multiplied by 10ms) |
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241 | /// </summary> |
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242 | byte debugInterval = 10; //(=> 100ms) |
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243 | /// <summary> |
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244 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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245 | /// </summary> |
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246 | byte blctrlInterval = 75; |
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247 | /// <summary> |
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248 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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249 | /// </summary> |
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250 | byte navctrlInterval = 80; |
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251 | /// <summary> |
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252 | /// interval for sending OSD page update (multiplied by 10ms) |
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253 | /// </summary> |
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254 | byte OSDInterval = 85; |
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255 | /// <summary> |
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256 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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257 | /// </summary> |
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258 | DataTable dtAnalog = new DataTable(); |
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259 | /// <summary> |
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260 | /// datatable for motordata (current,temp) |
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261 | /// </summary> |
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262 | DataTable dtMotors1 = new DataTable(); |
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263 | |||
264 | DataTable dtWaypoints = new DataTable(); |
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265 | static volatile int _iWP = -1; |
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266 | bool _bGetWP = false; |
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267 | static volatile bool _bGetWPCount = false; |
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268 | |||
269 | DispatcherTimer timer = new DispatcherTimer(); |
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270 | |||
271 | /// <summary> |
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272 | /// stuff for enabeling touch zoom for the map |
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273 | /// </summary> |
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274 | Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0); |
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275 | int iFirstStylusID = -1; |
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276 | public string connectButtonText |
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277 | { |
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278 | get |
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279 | { |
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280 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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281 | } |
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282 | } |
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283 | |||
284 | WinState winState = new WinState(); |
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2304 | - | 285 | #endregion declarations |
2287 | - | 286 | public MainWindow() |
287 | { |
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288 | InitializeComponent(); |
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289 | _initForm(); |
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290 | _dataTablesInit(); |
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291 | _setupMap(); |
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292 | _init = false; |
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293 | timer.Tick += new EventHandler(timerEvent); |
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294 | timer.Interval = new TimeSpan(0, 0, 1); |
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295 | timer.Start(); |
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296 | } |
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297 | |||
298 | #region init |
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299 | void _initForm() |
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300 | { |
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301 | _readIni(); |
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302 | if (_bSaveWinStateNormal) |
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303 | _setScaleSliders(false); |
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304 | cBoxTimingsDebug.ItemsSource = |
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305 | cBoxTimingsNav.ItemsSource = |
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306 | cBoxTimingsBl.ItemsSource = |
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307 | cBoxTimingsOSD.ItemsSource = |
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308 | iTimings; |
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309 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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310 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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311 | _LipoMinMax(); |
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312 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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313 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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314 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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2291 | - | 315 | checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
316 | checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
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317 | checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
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318 | sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
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319 | checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
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2287 | - | 320 | |
2291 | - | 321 | sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
322 | |||
2287 | - | 323 | cBoxMotors.ItemsSource = iMotors; |
324 | cBoxMotors.SelectedItem = _iMotors; |
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325 | |||
326 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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327 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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328 | serialPortCtrl.DataReceived += processMessage; |
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329 | |||
330 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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331 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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332 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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333 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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334 | |||
335 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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336 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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337 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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338 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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2295 | - | 339 | checkBoxAutoSetHP.IsChecked = _bAutoHome; |
2287 | - | 340 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
341 | |||
342 | |||
343 | } |
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344 | /// <summary> |
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345 | /// initialize the datatables |
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346 | /// with columnnames etc |
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347 | /// </summary> |
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348 | void _dataTablesInit() |
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349 | { |
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350 | //dtAnalog.Columns.Add("ID"); |
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351 | //dtAnalog.Columns.Add("Value"); |
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352 | // dataGridView1.DataSource = dtAnalog; |
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353 | |||
354 | dtMotors1.Columns.Add("#"); |
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355 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
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356 | dtMotors1.Columns.Add("Current"); |
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357 | else |
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358 | dtMotors1.Columns.Add("Strom"); |
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359 | dtMotors1.Columns.Add("Temp"); |
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360 | //dtMotors2.Columns.Add("#"); |
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361 | //if (Thread.CurrentThread.CurrentUICulture.Name == "") |
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362 | // dtMotors2.Columns.Add("Current"); |
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363 | //else |
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364 | // dtMotors2.Columns.Add("Strom"); |
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365 | //dtMotors2.Columns.Add("Temp"); |
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366 | dgvMotors1.DataContext = dtMotors1.DefaultView; |
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367 | //dgvMotors2.DataContext = dtMotors2.DefaultView; |
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368 | _initDTMotors(); |
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369 | //dgvMotors1.Columns[0].Width = 24; |
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370 | //dgvMotors1.Columns[1].Width = 74; |
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371 | //dgvMotors1.Columns[2].Width = 74; |
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372 | //dgvMotors2.Columns[0].Width = 24; |
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373 | //dgvMotors2.Columns[1].Width = 74; |
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374 | //dgvMotors2.Columns[2].Width = 74; |
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375 | |||
376 | dtWaypoints.Columns.Add("Index"); |
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377 | dtWaypoints.Columns.Add("Type"); |
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378 | dtWaypoints.Columns.Add("Name"); |
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379 | dtWaypoints.Columns.Add("Latitude"); |
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380 | dtWaypoints.Columns.Add("Longitude"); |
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381 | dtWaypoints.Columns.Add("Altitude"); |
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382 | dtWaypoints.Columns.Add("Heading"); |
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383 | dtWaypoints.Columns.Add("Speed"); |
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384 | dtWaypoints.Columns.Add("Altitude rate"); |
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385 | dtWaypoints.Columns.Add("Tol radius"); |
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386 | dtWaypoints.Columns.Add("Hold time"); |
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387 | dtWaypoints.Columns.Add("AutoTrigger"); |
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388 | dtWaypoints.Columns.Add("Cam angle"); |
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389 | dtWaypoints.Columns.Add("Event"); |
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390 | dtWaypoints.Columns.Add("Eventchan Val"); |
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391 | dtWaypoints.Columns.Add("Status"); |
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392 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
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393 | dgvWP.DataContext = dtWaypoints.DefaultView; |
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394 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0)); |
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395 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
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396 | style.Setters.Add(setter); |
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397 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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398 | style.Setters.Add(setter); |
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399 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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400 | style.Setters.Add(setter); |
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401 | dgvWP.ColumnHeaderStyle = new Style(); |
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402 | dgvWP.ColumnHeaderStyle = style; |
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403 | } |
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404 | /// <summary> |
||
405 | /// initialize the 2 datatables for motor values |
||
406 | /// dtMotors1 - motor 1 - 4 |
||
407 | /// dtMotors2 - motor 5 - 8 |
||
408 | /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
||
409 | /// </summary> |
||
410 | void _initDTMotors() |
||
411 | { |
||
412 | for (int i = 0; i < 12; i++) |
||
413 | { |
||
414 | if (dtMotors1.Rows.Count < 12) |
||
415 | dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
416 | else |
||
417 | { |
||
418 | dtMotors1.Rows[i].SetField(1, "NA"); |
||
419 | dtMotors1.Rows[i].SetField(2, "NA"); |
||
420 | } |
||
421 | //if (dtMotors2.Rows.Count < 4) |
||
422 | // dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
||
423 | //else |
||
424 | //{ |
||
425 | // dtMotors2.Rows[i].SetField(1, "NA"); |
||
426 | // dtMotors2.Rows[i].SetField(2, "NA"); |
||
427 | //} |
||
428 | } |
||
429 | // Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout())); |
||
430 | //dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
||
431 | } |
||
432 | |||
433 | #endregion init |
||
434 | |||
435 | #region events |
||
436 | private void serialPortCtrl_PortOpened() |
||
437 | { |
||
438 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
||
439 | _getVersion(); |
||
440 | Thread.Sleep(100); |
||
441 | //_OSDMenue(0); |
||
442 | //Thread.Sleep(200); |
||
443 | //_sendSerialData(); |
||
444 | _readCont(true); |
||
445 | } |
||
446 | private void serialPortCtrl_PortClosed() |
||
447 | { |
||
448 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
||
449 | _readCont(false); |
||
450 | } |
||
451 | void timerEvent(object sender, EventArgs e) |
||
452 | { |
||
453 | if (bReadContinously) |
||
454 | { |
||
455 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
456 | |||
457 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
458 | |||
459 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
460 | check_HWError = true; |
||
461 | _getVersion(); |
||
462 | Thread.Sleep(10); |
||
463 | if (_OSDAutorefresh) |
||
464 | { |
||
465 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
466 | _initOSDCB(); |
||
467 | _OSDMenueAutoRefresh(); |
||
468 | } |
||
469 | if (_iLifeCounter > 0) |
||
470 | { |
||
471 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
472 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
473 | _iLifeCounter = 0; |
||
474 | _bConnErr = false; |
||
475 | } |
||
476 | else |
||
477 | { |
||
478 | if (!_bConnErr) |
||
479 | { |
||
480 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
481 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
482 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
||
483 | _bConnErr = true; |
||
484 | } |
||
485 | } |
||
486 | } |
||
487 | } |
||
488 | |||
489 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
490 | { |
||
491 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
492 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
493 | } |
||
494 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
495 | { |
||
496 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
497 | if (GridMotors.IsVisible) |
||
498 | _setMotorGridSize(); |
||
499 | } |
||
500 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
501 | { |
||
502 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
503 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
504 | } |
||
505 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
506 | { |
||
507 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
508 | } |
||
509 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
510 | { |
||
511 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
512 | } |
||
513 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
514 | { |
||
515 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
516 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
517 | } |
||
518 | |||
519 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
520 | { |
||
521 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
522 | t.Start(); |
||
523 | } |
||
524 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
525 | { |
||
526 | |||
527 | } |
||
528 | |||
529 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
530 | { |
||
531 | if (!serialPortCtrl.Port.IsOpen) |
||
532 | serialPortCtrl.Connect(true); |
||
533 | else |
||
534 | _readCont(!bReadContinously); |
||
535 | } |
||
536 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
537 | { |
||
538 | setHomePos(); |
||
539 | } |
||
540 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
541 | { |
||
542 | clearHomePos(); |
||
543 | } |
||
544 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
545 | { |
||
546 | if (home != null && MainMap.Markers.Contains(home)) |
||
547 | MainMap.Position = home.Position; |
||
548 | } |
||
2295 | - | 549 | private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
550 | { |
||
551 | _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
||
552 | } |
||
2287 | - | 553 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
554 | { |
||
555 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
556 | } |
||
557 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
558 | { |
||
559 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
560 | } |
||
561 | |||
2291 | - | 562 | #region thresholds |
2287 | - | 563 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
564 | { |
||
565 | if(!_init) |
||
566 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
||
567 | } |
||
568 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
569 | { |
||
570 | if(!_init) |
||
571 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
||
572 | } |
||
573 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
574 | { |
||
575 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
576 | } |
||
2291 | - | 577 | |
578 | private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
579 | { |
||
580 | if(!_init) |
||
581 | _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
||
582 | } |
||
583 | private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
||
584 | { |
||
585 | _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
||
586 | } |
||
587 | |||
588 | private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
||
589 | { |
||
590 | _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
||
591 | } |
||
592 | private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
||
593 | { |
||
594 | _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
||
595 | } |
||
596 | private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
||
597 | { |
||
598 | _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
||
599 | } |
||
600 | #endregion thresholds |
||
601 | |||
2287 | - | 602 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
603 | { |
||
604 | _switchToNC(); |
||
605 | } |
||
606 | |||
607 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
608 | { |
||
609 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
2291 | - | 610 | stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
611 | stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
||
612 | stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
||
613 | stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
||
2287 | - | 614 | _setMotorGridSize(); |
615 | } |
||
2310 | - | 616 | private void Window_Closing(object sender, CancelEventArgs e) |
617 | { |
||
618 | _writeIni(); |
||
619 | } |
||
2287 | - | 620 | #endregion events |
621 | |||
622 | #region GMap |
||
623 | |||
624 | void _setupMap() |
||
625 | { |
||
626 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
627 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
628 | MainMap.SetPositionByKeywords("Landshut"); |
||
629 | MainMap.MinZoom = 0; |
||
630 | MainMap.MaxZoom = 24; |
||
631 | MainMap.Zoom = 16; |
||
632 | MainMap.ShowCenter = true; |
||
633 | MainMap.ShowTileGridLines = false; |
||
634 | sliderMapZoom.Value = 16; |
||
635 | comboBoxMapType.ItemsSource = providerList; |
||
636 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
637 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
638 | |||
639 | // acccess mode |
||
640 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
641 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
642 | |||
643 | } |
||
644 | |||
645 | /// <summary> |
||
646 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
647 | /// comboBoxMapType.ItemsSource = providerList; |
||
648 | /// to: |
||
649 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
650 | /// in _setupMap() |
||
651 | /// or add items here: |
||
652 | /// </summary> |
||
653 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
654 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
655 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
656 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
657 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
658 | |||
659 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
660 | { |
||
661 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
662 | copter = new GMapMarker(MainMap.Position); |
||
663 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
664 | copter.Offset = new System.Windows.Point(-18, -18); |
||
665 | copter.ZIndex = int.MaxValue; |
||
666 | MainMap.Markers.Add(copter); |
||
667 | copter.Position = MainMap.Position; |
||
668 | } |
||
669 | void setHomePos() |
||
670 | { |
||
671 | pHome = MainMap.Position; |
||
672 | if (!MainMap.Markers.Contains(home)) |
||
673 | { |
||
674 | home = new GMapMarker(MainMap.Position); |
||
675 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
676 | home.Offset = new System.Windows.Point(-18, -18); |
||
677 | // home.ZIndex = int.MaxValue; |
||
678 | MainMap.Markers.Add(home); |
||
679 | } |
||
680 | home.Position = MainMap.Position; |
||
681 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
682 | } |
||
683 | void clearHomePos() |
||
684 | { |
||
685 | MainMap.Markers.Remove(home); |
||
686 | } |
||
687 | |||
688 | // access mode |
||
689 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
690 | { |
||
691 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
692 | MainMap.ReloadMap(); |
||
693 | } |
||
694 | // zoom up |
||
695 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
696 | { |
||
697 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
698 | } |
||
699 | |||
700 | // zoom down |
||
701 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
702 | { |
||
703 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
704 | } |
||
705 | |||
706 | // prefetch |
||
707 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
708 | { |
||
709 | RectLatLng area = MainMap.SelectedArea; |
||
710 | if (!area.IsEmpty) |
||
711 | { |
||
712 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
713 | { |
||
714 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
715 | |||
716 | if (res == MessageBoxResult.Yes) |
||
717 | { |
||
718 | TilePrefetcher obj = new TilePrefetcher(); |
||
719 | obj.Owner = this; |
||
720 | obj.ShowCompleteMessage = true; |
||
721 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
722 | } |
||
723 | else if (res == MessageBoxResult.No) |
||
724 | { |
||
725 | continue; |
||
726 | } |
||
727 | else if (res == MessageBoxResult.Cancel) |
||
728 | { |
||
729 | break; |
||
730 | } |
||
731 | } |
||
732 | } |
||
733 | else |
||
734 | { |
||
735 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
736 | } |
||
737 | } |
||
738 | |||
739 | // goto by geocoder |
||
740 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
741 | { |
||
742 | _goto_byGeoCoder(); |
||
743 | } |
||
744 | // goto by geocoder |
||
745 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
746 | { |
||
747 | if (e.Key == System.Windows.Input.Key.Enter) |
||
748 | _goto_byGeoCoder(); |
||
749 | } |
||
750 | void _goto_byGeoCoder() |
||
751 | { |
||
752 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
753 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
754 | { |
||
755 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
756 | } |
||
757 | } |
||
758 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
759 | { |
||
760 | try |
||
761 | { |
||
762 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
763 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
764 | |||
765 | MainMap.Position = new PointLatLng(lat, lng); |
||
766 | } |
||
767 | catch (Exception ex) |
||
768 | { |
||
769 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
770 | } |
||
771 | |||
772 | } |
||
773 | |||
774 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
775 | { |
||
776 | MainMap.ReloadMap(); |
||
777 | } |
||
778 | |||
779 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
780 | { |
||
781 | if (_bFollowCopter) |
||
782 | _setCopterData(MainMap.Position); |
||
783 | } |
||
784 | |||
785 | private void MainMap_OnMapZoomChanged() |
||
786 | { |
||
787 | if (_bFollowCopter) |
||
788 | _setCopterData(MainMap.Position); |
||
789 | if((int)sliderMapZoom.Value != MainMap.Zoom) |
||
790 | sliderMapZoom.Value = MainMap.Zoom; |
||
791 | } |
||
792 | |||
793 | void _setCopterData(PointLatLng p) |
||
794 | { |
||
795 | Dispatcher.Invoke(() => |
||
796 | { |
||
797 | copter.Position = p; |
||
798 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
799 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
800 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
801 | }); |
||
802 | if (home != null && MainMap.Markers.Contains(home)) |
||
803 | { |
||
804 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
805 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
806 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
2291 | - | 807 | |
808 | if(d*1000 < _dThresholdDistanceWarn) |
||
809 | { |
||
810 | _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
||
811 | if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
||
812 | { |
||
813 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
||
814 | _bAnimDistanceActive = false; |
||
815 | } |
||
816 | } |
||
817 | else |
||
818 | { |
||
819 | if (_iDistanceJitter < 20) |
||
820 | { _iDistanceJitter++; } |
||
821 | if (_iDistanceJitter == 20) |
||
822 | { |
||
823 | if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
||
824 | { |
||
825 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
||
826 | _bAnimDistanceActive = true; |
||
827 | } |
||
828 | if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
||
829 | { |
||
2295 | - | 830 | Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
831 | t.Start(); |
||
2291 | - | 832 | _bVoiceDistanceActive = true; |
833 | } |
||
834 | _iDistanceJitter++; |
||
835 | } |
||
836 | } |
||
2287 | - | 837 | } |
838 | } |
||
839 | |||
840 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
841 | { |
||
842 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
843 | } |
||
844 | |||
845 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
846 | { |
||
847 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
848 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
849 | } |
||
850 | #region Touch zooming hackattack ;) |
||
851 | /// <summary> |
||
852 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
853 | /// </summary> |
||
854 | bool bFirstAccess = true; |
||
855 | double dDistance = 0; |
||
856 | int iZoom; |
||
857 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
858 | { |
||
859 | var id = e.StylusDevice.Id; |
||
860 | e.StylusDevice.Capture(MainMap); |
||
861 | if (iFirstStylusID == -1) |
||
862 | { |
||
863 | iFirstStylusID = id; |
||
864 | } |
||
865 | else |
||
866 | { |
||
867 | |||
868 | MainMap.CanDragMap = false; |
||
869 | } |
||
870 | } |
||
871 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
872 | { |
||
873 | MainMap.ReleaseStylusCapture(); |
||
874 | iFirstStylusID = -1; |
||
875 | bFirstAccess = true; |
||
876 | MainMap.CanDragMap = true; |
||
877 | iZoom = 0; |
||
878 | } |
||
879 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
880 | { |
||
881 | var id = e.StylusDevice.Id; |
||
882 | var tp = e.GetPosition(MainMap); |
||
883 | |||
884 | // This is the first Stylus point; just record its position. |
||
885 | if (id == iFirstStylusID) |
||
886 | { |
||
887 | pTouch1.X = tp.X; |
||
888 | pTouch1.Y = tp.Y; |
||
889 | } |
||
890 | else |
||
891 | if (iFirstStylusID > -1) |
||
892 | { |
||
893 | pTouch2.X = tp.X; |
||
894 | pTouch2.Y = tp.Y; |
||
895 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
896 | if (!bFirstAccess) |
||
897 | { |
||
898 | if (distance > dDistance) |
||
899 | iZoom++; |
||
900 | else |
||
901 | if (distance < dDistance) |
||
902 | iZoom--; |
||
903 | } |
||
904 | if (iZoom > 30) |
||
905 | { |
||
906 | iZoom = 0; |
||
907 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
908 | } |
||
909 | if (iZoom < -30) |
||
910 | { |
||
911 | iZoom = 0; |
||
912 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
913 | } |
||
914 | dDistance = distance; |
||
915 | bFirstAccess = false; |
||
916 | } |
||
917 | } |
||
918 | #endregion Touch zooming hackattack ;) |
||
919 | |||
920 | #endregion GMap |
||
921 | |||
922 | #region settings |
||
923 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
924 | { |
||
925 | if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
||
926 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
||
927 | } |
||
928 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
929 | { |
||
930 | if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
||
931 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
||
932 | } |
||
933 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
934 | { |
||
935 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
936 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
937 | } |
||
938 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
939 | { |
||
940 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
941 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
942 | } |
||
943 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
944 | { |
||
945 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
946 | } |
||
947 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
948 | { |
||
949 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
950 | } |
||
951 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
952 | { |
||
953 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
954 | } |
||
955 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
956 | { |
||
957 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
958 | } |
||
959 | |||
960 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
961 | { |
||
962 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
963 | { |
||
964 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
965 | _LipoMinMax(); |
||
966 | } |
||
967 | } |
||
968 | void _LipoMinMax() |
||
969 | { |
||
970 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
971 | _dLipoVMin = (double)_LipoCells * 3; |
||
972 | pbTopVoltage.Maximum = _dLipoVMax; |
||
973 | pbTopVoltage.Minimum = _dLipoVMin; |
||
974 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
975 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
976 | } |
||
977 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
978 | { |
||
979 | if (cBoxMotors.SelectedIndex > -1) |
||
980 | { |
||
981 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
982 | Dispatcher.Invoke(() => |
||
983 | { |
||
984 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
985 | GridMotors.Height = dgvMotors1.Height + 10; |
||
986 | }); |
||
987 | } |
||
988 | } |
||
989 | void _setMotorGridSize() |
||
990 | { |
||
991 | if (dgvMotors1.Columns.Count > 2) |
||
992 | { |
||
993 | dgvMotors1.Columns[0].Width = 24; |
||
994 | dgvMotors1.Columns[1].Width = 50; |
||
995 | dgvMotors1.Columns[2].Width = 50; |
||
996 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
997 | GridMotors.Height = dgvMotors1.Height + 10; |
||
998 | } |
||
999 | |||
1000 | } |
||
1001 | #endregion settings |
||
1002 | |||
1003 | #region functions |
||
1004 | |||
1005 | #region logging |
||
1006 | /// <summary> Log data to the terminal window. </summary> |
||
1007 | /// <param name="msgtype"> The type of message to be written. </param> |
||
1008 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
1009 | private void Log(LogMsgType msgtype, string msg) |
||
1010 | { |
||
1011 | Dispatcher.Invoke(() => |
||
1012 | { |
||
1013 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
||
1014 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1015 | // rtfTerminal.AppendText(msg + "\r"); |
||
1016 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd); |
||
1017 | tr.Text = msg; |
||
1018 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1019 | rtfTerminal.AppendText("\r"); |
||
1020 | rtfTerminal.ScrollToEnd(); |
||
1021 | }); |
||
1022 | } |
||
1023 | private void ErrorLog(LogMsgType msgtype, string msg) |
||
1024 | { |
||
1025 | Dispatcher.Invoke(() => |
||
1026 | { |
||
1027 | TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
1028 | tr.Text = msg; |
||
1029 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1030 | rtfError.AppendText("\r"); |
||
1031 | rtfError.ScrollToEnd(); |
||
1032 | |||
1033 | _bErrorLog = true; |
||
1034 | }); |
||
1035 | } |
||
1036 | /// <summary> |
||
1037 | /// Clear the line in the errorlog window |
||
1038 | /// containing the error string when error has ceased |
||
1039 | /// </summary> |
||
1040 | /// <param name="s">substring of errrormessage</param> |
||
1041 | void _clearErrorLog(string s) |
||
1042 | { |
||
1043 | Dispatcher.Invoke((Action)(() => |
||
1044 | { |
||
1045 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
1046 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
1047 | |||
1048 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
1049 | |||
1050 | |||
1051 | if (iStart > -1) |
||
1052 | { |
||
1053 | int iLength = 0; |
||
1054 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
1055 | if (iEnd > 0) |
||
1056 | { |
||
1057 | iLength = iEnd + 1; |
||
1058 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
||
1059 | if (iHttp == iLength) |
||
1060 | { |
||
1061 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
1062 | if (iEnd2 > iLength) |
||
1063 | { |
||
1064 | iLength = iEnd2 + 1; |
||
1065 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1066 | |||
1067 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1068 | rtfError.Selection.Text = string.Empty; |
||
1069 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1070 | } |
||
1071 | |||
1072 | } |
||
1073 | else |
||
1074 | { |
||
1075 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1076 | rtfError.Selection.Text = string.Empty; |
||
1077 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1078 | } |
||
1079 | } |
||
1080 | } |
||
1081 | })); |
||
1082 | |||
1083 | } |
||
1084 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
1085 | { |
||
1086 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
1087 | if (offset < 0) |
||
1088 | return null; // Not found |
||
1089 | |||
1090 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
1091 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
1092 | |||
1093 | return result; |
||
1094 | } |
||
1095 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
1096 | { |
||
1097 | while (position != null) |
||
1098 | { |
||
1099 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
1100 | { |
||
1101 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
1102 | if (characterCount <= count) |
||
1103 | { |
||
1104 | return position.GetPositionAtOffset(characterCount); |
||
1105 | } |
||
1106 | |||
1107 | characterCount -= count; |
||
1108 | } |
||
1109 | |||
1110 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
1111 | if (nextContextPosition == null) |
||
1112 | return position; |
||
1113 | |||
1114 | position = nextContextPosition; |
||
1115 | } |
||
1116 | |||
1117 | return position; |
||
1118 | } |
||
1119 | #endregion logging |
||
1120 | |||
1121 | #region processing received data |
||
1122 | |||
1123 | private void processMessage(byte[] message) |
||
1124 | { |
||
1125 | if (message.Length > 0) |
||
1126 | { |
||
1127 | _iLifeCounter++; |
||
1128 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1129 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1130 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1131 | char cmdID; |
||
1132 | byte adr; |
||
1133 | byte[] data; |
||
1134 | byte[] tmp = null; |
||
1135 | if (message[0] != '#') |
||
1136 | { |
||
1137 | int iFound = -1; |
||
1138 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1139 | { //so this is a workaround to not spam the log box |
||
1140 | if (message[i] == 35) |
||
1141 | { |
||
1142 | iFound = i; |
||
1143 | break; |
||
1144 | } |
||
1145 | } |
||
1146 | if (iFound > 0) |
||
1147 | { |
||
1148 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1149 | tmp = new byte[message.Length - iFound]; |
||
1150 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1151 | } |
||
1152 | s = s.Trim('\0', '\n', '\r'); |
||
1153 | if (s.Length > 0) |
||
1154 | Log(LogMsgType.Normal, s); |
||
1155 | if (tmp != null) |
||
1156 | { |
||
1157 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1158 | processMessage(tmp); |
||
1159 | } |
||
1160 | } |
||
1161 | //Debug.Print(s); |
||
1162 | else |
||
1163 | { |
||
1164 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1165 | |||
1166 | if (adr == 255) { crcError++; } |
||
1167 | else crcError = 0; |
||
1168 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1169 | //display the active controller (FC / NC) |
||
1170 | 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...??? |
||
1171 | { |
||
1172 | _iCtrlAct = adr; |
||
1173 | switch (adr) |
||
1174 | { |
||
1175 | case 1: |
||
1176 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
2298 | - | 1177 | Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
2287 | - | 1178 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
1179 | // _setFieldsNA(); //display fields NA for FC |
||
1180 | break; |
||
1181 | case 2: |
||
1182 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1183 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1184 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1185 | break; |
||
1186 | //case 3: |
||
1187 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1188 | // break; |
||
1189 | //case 4: |
||
1190 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1191 | // break; |
||
1192 | default: |
||
1193 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1194 | break; |
||
1195 | } |
||
1196 | // _loadLabelNames(); |
||
1197 | } |
||
1198 | // else |
||
1199 | // Debug.Print("Address == 0?"); |
||
1200 | |||
1201 | if (data != null && data.Length > 0) |
||
1202 | { |
||
1203 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1204 | s = s.Trim('\0', '\n'); |
||
1205 | |||
1206 | switch (cmdID) |
||
1207 | { |
||
1208 | //case 'A': //Label names |
||
1209 | // _processLabelNames(s); |
||
1210 | // break; |
||
1211 | |||
1212 | case 'D': //Debug data |
||
1213 | _processDebugVals(adr, data); |
||
1214 | break; |
||
1215 | |||
1216 | case 'V': //Version |
||
1217 | _processVersion(adr, data); |
||
1218 | break; |
||
1219 | |||
1220 | case 'K'://BL-CTRL data |
||
1221 | _processBLCtrl(data); |
||
1222 | break; |
||
1223 | |||
1224 | case 'O': //NC Data |
||
1225 | _processNCData(data); |
||
1226 | break; |
||
1227 | |||
1228 | case 'E': //NC error-string |
||
1229 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1230 | break; |
||
1231 | |||
1232 | case 'L': //OSD Menue (called by pagenumber) |
||
1233 | _processOSDSingle(data); |
||
1234 | break; |
||
1235 | |||
1236 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1237 | _processOSDAuto(data); |
||
1238 | break; |
||
1239 | |||
1240 | case 'X': //Waypoint data |
||
1241 | _processWPData(data); |
||
1242 | break; |
||
1243 | |||
1244 | //default: |
||
1245 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1246 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1247 | // break; |
||
1248 | } |
||
1249 | } |
||
1250 | //else |
||
1251 | //{ |
||
1252 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1253 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1254 | //} |
||
1255 | } |
||
1256 | } |
||
1257 | } |
||
1258 | /// <summary> |
||
1259 | /// Analog label names 'A' |
||
1260 | /// each label name is returned as a single string |
||
1261 | /// and added to string array sAnalogLabel[] |
||
1262 | /// and the datatable dtAnalog |
||
1263 | /// </summary> |
||
1264 | /// <param name="s">the label name</param> |
||
1265 | void _processLabelNames(string s) |
||
1266 | { |
||
1267 | //if (iLableIndex < 32) |
||
1268 | //{ |
||
1269 | // sAnalogLabel[iLableIndex] = s; |
||
1270 | // if (dtAnalog.Rows.Count < 32) |
||
1271 | // dtAnalog.Rows.Add(s, ""); |
||
1272 | // else |
||
1273 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1274 | |||
1275 | // // _getAnalogLabels(iLableIndex + 1); |
||
1276 | //} |
||
1277 | //Debug.Print(s); |
||
1278 | } |
||
1279 | /// <summary> |
||
1280 | /// Debug values 'D' |
||
1281 | /// </summary> |
||
1282 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1283 | /// <param name="data">the received byte array to process</param> |
||
1284 | void _processDebugVals(byte adr, byte[] data) |
||
1285 | { |
||
1286 | if (data.Length == 66) |
||
1287 | { |
||
1288 | int[] iAnalogData = new int[32]; |
||
1289 | double v; |
||
1290 | int index = 0; |
||
1291 | Int16 i16 = 0; |
||
1292 | double dTemp = 0; |
||
1293 | for (int i = 2; i < 66; i += 2) |
||
1294 | { |
||
1295 | i16 = data[i + 1]; |
||
1296 | i16 = (Int16)(i16 << 8); |
||
1297 | iAnalogData[index] = data[i] + i16; |
||
1298 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
1299 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
1300 | |||
1301 | if (adr == 2) //NC |
||
1302 | { |
||
1303 | switch (index) |
||
1304 | { |
||
1305 | case 0: //pitch (German: nick) |
||
1306 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1307 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1308 | break; |
||
1309 | case 1: //roll |
||
1310 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1311 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1312 | break; |
||
1313 | case 4: //altitude |
||
1314 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1315 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1316 | break; |
||
1317 | case 7: //Voltage |
||
1318 | v = (double)iAnalogData[index] / (double)10; |
||
1319 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1320 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1321 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1322 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1323 | { |
||
1324 | if (v == _dVoltLast) |
||
1325 | if(_iVoltJitter < 20) _iVoltJitter++; |
||
1326 | else |
||
1327 | { |
||
1328 | _iVoltJitter = 0; |
||
1329 | _dVoltLast = v; |
||
1330 | } |
||
1331 | if (_iVoltJitter == 20) |
||
1332 | { |
||
1333 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1334 | |||
1335 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1336 | { |
||
1337 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1338 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1339 | { |
||
1340 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1341 | _bCritAnimVoltActive = true; |
||
1342 | } |
||
1343 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1344 | { |
||
2295 | - | 1345 | Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1346 | t.Start(); |
||
2287 | - | 1347 | _bCritVoiceVoltActive = true; |
1348 | } |
||
1349 | } |
||
1350 | else |
||
1351 | { |
||
1352 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1353 | { |
||
1354 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1355 | _bCritAnimVoltActive = false; |
||
1356 | } |
||
1357 | _bCritVoiceVoltActive = false; |
||
1358 | |||
2291 | - | 1359 | if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
2287 | - | 1360 | { |
2295 | - | 1361 | Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
1362 | t.Start(); |
||
2291 | - | 1363 | _bWarnVoiceVoltActive = true; |
2287 | - | 1364 | } |
1365 | } |
||
1366 | } |
||
1367 | } |
||
1368 | else |
||
1369 | { |
||
1370 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1371 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1372 | { |
||
1373 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1374 | _bCritAnimVoltActive = false; |
||
1375 | } |
||
1376 | _bCritVoiceVoltActive = false; |
||
2291 | - | 1377 | _bWarnVoiceVoltActive = false; |
2287 | - | 1378 | _iVoltJitter = 0; |
1379 | } |
||
1380 | break; |
||
1381 | case 8: // Current |
||
1382 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1383 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1384 | break; |
||
1385 | case 10: //heading |
||
2291 | - | 1386 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
2287 | - | 1387 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
1388 | break; |
||
1389 | case 12: // SPI error |
||
2291 | - | 1390 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
2287 | - | 1391 | break; |
1392 | case 14: //i2c error |
||
2291 | - | 1393 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
2287 | - | 1394 | break; |
1395 | case 20: //Earthmagnet field |
||
2291 | - | 1396 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
1397 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
1398 | |||
1399 | if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
||
1400 | { |
||
1401 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1402 | _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
||
1403 | if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
||
1404 | { |
||
1405 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
||
1406 | _bAnimMagneticFieldActive = false; |
||
1407 | } |
||
1408 | } |
||
1409 | else |
||
1410 | { |
||
1411 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
1412 | if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
||
1413 | { |
||
1414 | if (_iMagneticFieldJitter < 20) |
||
1415 | _iMagneticFieldJitter++; |
||
1416 | } |
||
1417 | else |
||
1418 | { |
||
1419 | _iMagneticFieldJitter = 0; |
||
1420 | _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
||
1421 | } |
||
1422 | if(_iMagneticFieldJitter == 20) |
||
1423 | { |
||
1424 | if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
||
1425 | { |
||
1426 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
||
1427 | _bAnimMagneticFieldActive = true; |
||
1428 | } |
||
1429 | if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
||
1430 | { |
||
2295 | - | 1431 | Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
1432 | t.Start(); |
||
2291 | - | 1433 | _bVoiceMagneticFieldActive = true; |
1434 | } |
||
1435 | } |
||
1436 | } |
||
2287 | - | 1437 | break; |
1438 | case 21: //GroundSpeed |
||
1439 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1440 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
1441 | break; |
||
2291 | - | 1442 | |
1443 | ///********** needs testing --> not sure what position this is *************** |
||
2287 | - | 1444 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
1445 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
1446 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1447 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1448 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1449 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1450 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1451 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
1452 | break; |
||
2291 | - | 1453 | |
2287 | - | 1454 | case 31: //Sats used |
1455 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
||
1456 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
1457 | break; |
||
1458 | } |
||
1459 | } |
||
1460 | index++; |
||
1461 | } |
||
1462 | } |
||
1463 | else |
||
1464 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1465 | } |
||
1466 | /// <summary> |
||
1467 | /// Version string 'V' |
||
1468 | /// </summary> |
||
1469 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1470 | /// <param name="data">the received byte array to process</param> |
||
1471 | void _processVersion(byte adr, byte[] data) |
||
1472 | { |
||
1473 | if (data.Length == 12) |
||
1474 | { |
||
1475 | if (!check_HWError) |
||
1476 | { |
||
1477 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1478 | string sVersion = ""; |
||
1479 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1480 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1481 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1482 | Log(LogMsgType.Incoming, sVersion); |
||
1483 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1484 | Log(LogMsgType.Incoming, sVersion); |
||
1485 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1486 | } |
||
1487 | if (data[5] > 0) //error0 |
||
1488 | { |
||
1489 | if (adr == 1) |
||
1490 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
1491 | if (adr == 2) |
||
1492 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
1493 | } |
||
1494 | if (data[6] > 0) //error1 |
||
1495 | { |
||
1496 | if (adr == 1) |
||
1497 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
1498 | if (adr == 2) |
||
1499 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
1500 | } |
||
1501 | if ((data[5] + data[6] == 0) && _bErrorLog) |
||
1502 | _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
1503 | |||
1504 | } |
||
1505 | check_HWError = false; |
||
1506 | } |
||
1507 | /// <summary> |
||
1508 | /// BL-Ctrl data 'K' |
||
1509 | /// for FC you have to use a customized firmware |
||
1510 | /// </summary> |
||
1511 | /// <param name="data">the received byte array to process</param> |
||
1512 | void _processBLCtrl(byte[] data) |
||
1513 | { |
||
1514 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1515 | { |
||
1516 | bool bAvailable = false; |
||
1517 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1518 | { |
||
1519 | |||
1520 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1521 | bAvailable = true; |
||
1522 | else |
||
1523 | bAvailable = false; |
||
1524 | |||
1525 | if (data[i] < _iMotors) |
||
1526 | { |
||
1527 | if (bAvailable) |
||
1528 | { |
||
1529 | dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1530 | dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
1531 | } |
||
1532 | else |
||
1533 | { |
||
1534 | dtMotors1.Rows[data[i]].SetField(1, "NA"); |
||
1535 | dtMotors1.Rows[data[i]].SetField(2, "NA"); |
||
1536 | } |
||
1537 | } |
||
1538 | //if (data[i] > 3 && data[i] < 8) |
||
1539 | //{ |
||
1540 | // if (bAvailable) |
||
1541 | // { |
||
1542 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1543 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1544 | // } |
||
1545 | // else |
||
1546 | // { |
||
1547 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1548 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1549 | // } |
||
1550 | //} |
||
1551 | } |
||
1552 | } |
||
1553 | } |
||
1554 | /// <summary> |
||
1555 | /// Navi-Ctrl data 'O' |
||
1556 | /// GPS-Position, capacatiy, flying time... |
||
1557 | /// </summary> |
||
1558 | /// <param name="data">the received byte array to process</param> |
||
1559 | void _processNCData(byte[] data) |
||
1560 | { |
||
1561 | int i_32, i_16, iVal; |
||
1562 | double d; |
||
1563 | i_32 = data[4]; |
||
1564 | iVal = i_32 << 24; |
||
1565 | i_32 = data[3]; |
||
1566 | iVal += i_32 << 16; |
||
1567 | i_32 = data[2]; |
||
1568 | iVal += i_32 << 8; |
||
1569 | iVal += data[1]; |
||
1570 | d = (double)iVal / Math.Pow(10, 7); |
||
1571 | |||
1572 | PointLatLng p = new PointLatLng(); |
||
1573 | |||
1574 | p.Lng = d; |
||
1575 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
1576 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
1577 | |||
1578 | i_32 = data[8]; |
||
1579 | iVal = i_32 << 24; |
||
1580 | i_32 = data[7]; |
||
1581 | iVal += i_32 << 16; |
||
1582 | i_32 = data[6]; |
||
1583 | iVal += i_32 << 8; |
||
1584 | iVal += data[5]; |
||
1585 | d = (double)iVal / Math.Pow(10, 7); |
||
1586 | p.Lat = d; |
||
2291 | - | 1587 | if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
1588 | { |
||
1589 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
2295 | - | 1590 | if(_bAutoHome && !_bFirstSatFix) |
1591 | { |
||
1592 | if (_iFirstSatFix < 3) |
||
1593 | _iFirstSatFix++; |
||
1594 | else |
||
1595 | { |
||
1596 | _bFirstSatFix = true; |
||
1597 | Dispatcher.Invoke(() => setHomePos()); |
||
1598 | } |
||
1599 | } |
||
2291 | - | 1600 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
1601 | { |
||
1602 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
1603 | _bAnimSatFixActive = false; |
||
1604 | } |
||
1605 | if (!_bFollowCopter) |
||
1606 | { |
||
1607 | _setCopterData(p); |
||
1608 | if (!MainMap.ViewArea.Contains(p)) |
||
1609 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
2287 | - | 1610 | |
2291 | - | 1611 | } |
1612 | else |
||
2287 | - | 1613 | Dispatcher.Invoke(() => MainMap.Position = p); |
1614 | } |
||
1615 | else |
||
2291 | - | 1616 | { |
1617 | if(_bSatFix) |
||
1618 | { |
||
1619 | if (data[50] == _iSatsLast) |
||
1620 | { |
||
1621 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
1622 | } |
||
1623 | else |
||
1624 | { |
||
1625 | _iSatsJitter = 0; |
||
1626 | _iSatsLast = data[50]; |
||
1627 | } |
||
2287 | - | 1628 | |
2291 | - | 1629 | if (_iSatsJitter == 20) |
1630 | { |
||
1631 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
1632 | { |
||
1633 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
1634 | _bAnimSatFixActive = true; |
||
1635 | } |
||
1636 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
1637 | { |
||
2295 | - | 1638 | Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
1639 | th.Start(); |
||
2291 | - | 1640 | _bVoiceSatFixActive = true; |
1641 | } |
||
1642 | |||
1643 | _bSatFix = false; |
||
1644 | } |
||
1645 | } |
||
1646 | } |
||
1647 | |||
2287 | - | 1648 | // lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
1649 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
||
1650 | |||
1651 | i_16 = data[28]; |
||
1652 | i_16 = (Int16)(i_16 << 8); |
||
1653 | iVal = data[27] + i_16; |
||
1654 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP |
||
1655 | |||
1656 | i_16 = data[45]; |
||
1657 | i_16 = (Int16)(i_16 << 8); |
||
1658 | iVal = data[44] + i_16; |
||
1659 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1660 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1661 | |||
1662 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index |
||
1663 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
||
1664 | |||
1665 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites |
||
1666 | |||
1667 | |||
1668 | //--------------- Capacity used ------------------------ |
||
1669 | i_16 = data[81]; |
||
1670 | i_16 = (Int16)(i_16 << 8); |
||
1671 | iVal = data[80] + i_16; |
||
1672 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
1673 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
1674 | |||
1675 | //--------------- Flying time ------------------------ |
||
1676 | i_16 = data[56]; |
||
1677 | i_16 = (Int16)(i_16 << 8); |
||
1678 | iVal = data[55] + i_16; |
||
1679 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
1680 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
1681 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
1682 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
1683 | |||
1684 | //--------------- RC quality ------------------------ |
||
1685 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
1686 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
1687 | |||
2291 | - | 1688 | if(data[66] > _iThresholdRC) |
1689 | { |
||
1690 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
1691 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
1692 | { |
||
1693 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
1694 | _bAnimRCLevelActive = false; |
||
1695 | } |
||
1696 | } |
||
1697 | else |
||
1698 | { |
||
1699 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
1700 | if (_iRCLevelJitter == 20) |
||
1701 | { |
||
1702 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
1703 | { |
||
1704 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
1705 | _bAnimRCLevelActive = true; |
||
1706 | } |
||
1707 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
1708 | { |
||
2295 | - | 1709 | Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
1710 | th.Start(); |
||
2291 | - | 1711 | _bVoiceRCLevelActive = true; |
1712 | } |
||
1713 | _iRCLevelJitter++; |
||
1714 | } |
||
1715 | } |
||
1716 | |||
2287 | - | 1717 | //--------------- NC Error ------------------------ |
1718 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
1719 | if (data[69] > 0) |
||
1720 | _readNCError(); |
||
1721 | if (data[69] > 0 & data[69] < 44) |
||
1722 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
1723 | else |
||
1724 | if (_bErrorLog) _clearErrorLog("NC Error"); |
||
1725 | |||
2298 | - | 1726 | //-------------FC / NC Status Flags |
1727 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1728 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
1729 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
1730 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
1731 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
1732 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
1733 | |||
1734 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1735 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1736 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
1737 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
1738 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
1739 | 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 |
||
1740 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
1741 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
1742 | |||
1743 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
1744 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
1745 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
1746 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
1747 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
1748 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
1749 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
2299 | - | 1750 | |
1751 | //Sidebar StatusSymbols |
||
1752 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
1753 | 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 |
||
1754 | 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 |
||
1755 | |||
1756 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
1757 | 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 |
||
1758 | 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 |
||
1759 | |||
1760 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2304 | - | 1761 | 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 |
1762 | 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 | - | 1763 | |
1764 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
1765 | 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 |
||
1766 | 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 |
||
1767 | |||
1768 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2304 | - | 1769 | 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 |
1770 | 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 |
||
1771 | 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 | - | 1772 | |
2287 | - | 1773 | } |
1774 | /// <summary> |
||
1775 | /// Navi-Ctrl WP data struct 'X' |
||
1776 | /// called by index |
||
1777 | /// </summary> |
||
1778 | /// <param name="data">the received byte array to process</param> |
||
1779 | void _processWPData(byte[] data) |
||
1780 | { |
||
1781 | _iWP = data[0]; |
||
1782 | _bGetWPCount = false; |
||
1783 | if (data.Length >= 28) |
||
1784 | { |
||
1785 | //int count = data[0]; |
||
1786 | //int index = data[1]; |
||
1787 | //cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear())); |
||
1788 | //for (int i = 0; i < count; i++) |
||
1789 | // cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1))); |
||
1790 | //cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index)); |
||
1791 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
1792 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
1793 | if (_bGetWP) |
||
1794 | { |
||
1795 | if (data[1] == 1) |
||
1796 | dtWaypoints.Rows.Clear(); |
||
1797 | DataRow dr = dtWaypoints.NewRow(); |
||
1798 | dr = Waypoints.toDataRow(data, dr); |
||
1799 | //if (dtWaypoints.Rows.Contains(data[1])) |
||
1800 | //{ |
||
1801 | // dtWaypoints.Rows.Find(data[1]).Delete(); |
||
1802 | // dtWaypoints.Rows.InsertAt(dr, data[1] - 1); |
||
1803 | //} |
||
1804 | //else |
||
1805 | dtWaypoints.Rows.Add(dr); |
||
1806 | |||
1807 | if (data[1] == data[0]) |
||
1808 | { |
||
1809 | _bGetWP = false; |
||
1810 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
1811 | } |
||
1812 | |||
1813 | } |
||
1814 | } |
||
1815 | else |
||
1816 | { |
||
1817 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
1818 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
1819 | // Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length))); |
||
1820 | } |
||
1821 | } |
||
1822 | /// <summary> |
||
1823 | /// OSD Menue 'L' |
||
1824 | /// single page called by pagenumber |
||
1825 | /// no autoupdate |
||
1826 | /// </summary> |
||
1827 | /// <param name="data">the received byte array to process</param> |
||
1828 | void _processOSDSingle(byte[] data) |
||
1829 | { |
||
1830 | if (data.Length == 84) |
||
1831 | { |
||
1832 | string sMessage = ""; |
||
1833 | iOSDPage = data[0]; |
||
1834 | iOSDMax = data[1]; |
||
1835 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
1836 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
1837 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1838 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1839 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1840 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1841 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
1842 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
1843 | |||
1844 | } |
||
1845 | //else |
||
1846 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
1847 | |||
1848 | } |
||
1849 | /// <summary> |
||
1850 | /// OSD Menue 'H' |
||
1851 | /// called by keys (0x01,0x02,0x03,0x04) |
||
1852 | /// autoupdate |
||
1853 | /// </summary> |
||
1854 | /// <param name="data">the received byte array to process</param> |
||
1855 | void _processOSDAuto(byte[] data) |
||
1856 | { |
||
1857 | if (data.Length == 81) |
||
1858 | { |
||
1859 | string sMessage = ""; |
||
1860 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
1861 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
1862 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
1863 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
1864 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
1865 | |||
1866 | } |
||
1867 | //else |
||
1868 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
1869 | } |
||
1870 | |||
1871 | #endregion processing received data |
||
1872 | |||
1873 | #region controller messages |
||
1874 | /// <summary> send message to controller to request data |
||
1875 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1876 | /// </summary> |
||
1877 | /// <param name="CMDID"> the command ID </param> |
||
1878 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1879 | private void _sendControllerMessage(char CMDID, byte address) |
||
1880 | { |
||
1881 | if (serialPortCtrl.Port.IsOpen) |
||
1882 | { |
||
1883 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1884 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
1885 | serialStream.Write(bytes, 0, bytes.Length); |
||
1886 | |||
1887 | } |
||
1888 | else |
||
1889 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1890 | } |
||
1891 | /// <summary> send message to controller to request data |
||
1892 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1893 | /// </summary> |
||
1894 | /// <param name="CMDID"> the command ID </param> |
||
1895 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1896 | /// <param name="data"> additional data for the request</param> |
||
1897 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
1898 | { |
||
1899 | if (serialPortCtrl.Port.IsOpen) |
||
1900 | { |
||
1901 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1902 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
1903 | serialStream.Write(bytes, 0, bytes.Length); |
||
1904 | |||
1905 | } |
||
1906 | else |
||
1907 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1908 | } |
||
1909 | |||
1910 | /// <summary> |
||
1911 | /// start/stop continous polling of controller values |
||
1912 | /// </summary> |
||
1913 | /// <param name="b">start/stop switch</param> |
||
1914 | void _readCont(bool b) |
||
1915 | { |
||
1916 | bReadContinously = b; |
||
1917 | if (bReadContinously) |
||
1918 | { |
||
1919 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
1920 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1921 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1922 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
1923 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
1924 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
1925 | } |
||
1926 | else |
||
1927 | { |
||
1928 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
1929 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
1930 | _bConnErr = false; |
||
1931 | } |
||
1932 | _iLifeCounter = 0; |
||
1933 | } |
||
1934 | |||
1935 | private void _getVersion() |
||
1936 | { |
||
1937 | _sendControllerMessage('v', 0); |
||
1938 | } |
||
1939 | /// <summary> |
||
1940 | /// get FC version struct via NC |
||
1941 | /// by sending '1' as data (not documented in wiki...) |
||
1942 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
1943 | /// </summary> |
||
1944 | /// <param name="ctrl">controller number 1=FC</param> |
||
1945 | private void _getVersion(byte ctrl) |
||
1946 | { |
||
1947 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
1948 | } |
||
1949 | /// <summary> |
||
1950 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
1951 | /// </summary> |
||
1952 | private void _switchToNC() |
||
1953 | { |
||
1954 | if (serialPortCtrl.Port.IsOpen) |
||
1955 | { |
||
1956 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
1957 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
1958 | serialStream.Write(bytes, 0, bytes.Length); |
||
1959 | |||
1960 | Thread.Sleep(100); |
||
1961 | _getVersion(); |
||
1962 | Thread.Sleep(100); |
||
1963 | // _OSDMenue(0); |
||
1964 | } |
||
1965 | else |
||
1966 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1967 | } |
||
1968 | /// <summary> |
||
1969 | /// switch to FC |
||
1970 | /// </summary> |
||
1971 | private void _switchToFC() |
||
1972 | { |
||
1973 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
1974 | Thread.Sleep(100); |
||
1975 | _getVersion(); |
||
1976 | Thread.Sleep(100); |
||
1977 | // _OSDMenue(0); |
||
1978 | } |
||
1979 | /// <summary> |
||
1980 | /// send RESET signal to FC |
||
1981 | /// </summary> |
||
1982 | private void _resetCtrl() |
||
1983 | { |
||
1984 | _sendControllerMessage('R', 1); |
||
1985 | } |
||
1986 | /// <summary> |
||
1987 | /// poll the debug data (4sec subscription) |
||
1988 | /// </summary> |
||
1989 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1990 | private void _readDebugData(bool auto) |
||
1991 | { |
||
1992 | byte interval = auto ? debugInterval : (byte)0; |
||
1993 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
1994 | } |
||
1995 | /// <summary> |
||
1996 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
1997 | /// </summary> |
||
1998 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1999 | private void _readBLCtrl(bool auto) |
||
2000 | { |
||
2001 | byte interval = auto ? blctrlInterval : (byte)0; |
||
2002 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
2003 | } |
||
2004 | /// <summary> |
||
2005 | /// poll the NC data struct (4sec subscription) |
||
2006 | /// </summary> |
||
2007 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2008 | private void _readNavData(bool auto) |
||
2009 | { |
||
2010 | byte interval = auto ? navctrlInterval : (byte)0; |
||
2011 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
2012 | } |
||
2013 | /// <summary> |
||
2014 | /// get the errortext for pending NC error |
||
2015 | /// </summary> |
||
2016 | private void _readNCError() |
||
2017 | { |
||
2018 | _sendControllerMessage('e', 2); |
||
2019 | } |
||
2020 | /// <summary> |
||
2021 | /// request the Waypoint at index |
||
2022 | /// </summary> |
||
2023 | /// <param name="index"></param> |
||
2024 | void _getpWP(int index) |
||
2025 | { |
||
2026 | if (serialPortCtrl.Port.IsOpen) |
||
2027 | { |
||
2028 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2029 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
2030 | serialStream.Write(bytes, 0, bytes.Length); |
||
2031 | } |
||
2032 | else |
||
2033 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2034 | |||
2035 | } |
||
2036 | void _getWP() |
||
2037 | { |
||
2038 | //if (_iWP > 0) |
||
2039 | //{ |
||
2040 | // _getWPList(); |
||
2041 | //} |
||
2042 | //else |
||
2043 | //{ |
||
2044 | // if (_iWP == -1) |
||
2045 | // { |
||
2046 | _bGetWPCount = true; |
||
2047 | _getpWP(1); |
||
2048 | while (_bGetWPCount) |
||
2049 | Thread.Sleep(100); |
||
2050 | if (_iWP > 0) |
||
2051 | _getWPList(); |
||
2052 | // } |
||
2053 | //} |
||
2054 | } |
||
2055 | void _getWPList() |
||
2056 | { |
||
2057 | _bGetWP = true; |
||
2058 | for (int j = 0; j < _iWP; j++) |
||
2059 | { |
||
2060 | _getpWP(j + 1); |
||
2061 | Thread.Sleep(10); |
||
2062 | } |
||
2063 | } |
||
2064 | |||
2065 | |||
2066 | #region OSD-Menue |
||
2067 | |||
2068 | /// <summary> |
||
2069 | /// one time query of the OSD Menue with pagenumber |
||
2070 | /// </summary> |
||
2071 | /// <param name="iMenue">Menue page</param> |
||
2072 | void _OSDMenue(int iMenue) |
||
2073 | { |
||
2074 | if (serialPortCtrl.Port.IsOpen) |
||
2075 | { |
||
2076 | if (iMenue > iOSDMax) |
||
2077 | iMenue = 0; |
||
2078 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2079 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
2080 | serialStream.Write(bytes, 0, bytes.Length); |
||
2081 | } |
||
2082 | else |
||
2083 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2084 | |||
2085 | } |
||
2086 | /// <summary> |
||
2087 | /// call the OSDMenue and start autorefresh |
||
2088 | /// usually by sending a menuekey |
||
2089 | /// 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) |
||
2090 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
2091 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
2092 | /// </summary> |
||
2093 | void _OSDMenueAutoRefresh() |
||
2094 | { |
||
2095 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
2096 | } |
||
2097 | void _OSDMenueAutoRefresh(byte key) |
||
2098 | { |
||
2099 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
2100 | } |
||
2101 | /// <summary> |
||
2102 | /// initialize the OSD menue combobox |
||
2103 | /// combox is filled by numbers from 0 to max pagenumber |
||
2104 | /// </summary> |
||
2105 | void _initOSDCB() |
||
2106 | { |
||
2107 | _bCBInit = true; |
||
2108 | if (iOSDMax == 0) |
||
2109 | { |
||
2110 | _OSDMenue(0); |
||
2111 | Thread.Sleep(10); |
||
2112 | } |
||
2113 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
2114 | for (int i = 0; i <= iOSDMax; i++) |
||
2115 | { |
||
2116 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
2117 | } |
||
2118 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
2119 | _bCBInit = false; |
||
2120 | } |
||
2121 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
2122 | { |
||
2123 | iOSDPage++; |
||
2124 | if (iOSDPage > iOSDMax) |
||
2125 | iOSDPage = 0; |
||
2126 | |||
2127 | _OSDMenue(iOSDPage); |
||
2128 | } |
||
2129 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
2130 | { |
||
2131 | iOSDPage--; |
||
2132 | if (iOSDPage < 0) |
||
2133 | iOSDPage = iOSDMax; |
||
2134 | |||
2135 | _OSDMenue(iOSDPage); |
||
2136 | } |
||
2137 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
2138 | { |
||
2139 | _OSDMenueAutoRefresh(8); |
||
2140 | } |
||
2141 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
2142 | { |
||
2143 | _OSDMenueAutoRefresh(4); |
||
2144 | } |
||
2145 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
2146 | { |
||
2147 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
2148 | _OSDMenue(cbOSD.SelectedIndex); |
||
2149 | } |
||
2150 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
2151 | { |
||
2152 | Dispatcher.Invoke(() => |
||
2153 | { |
||
2154 | TextRange tr; |
||
2155 | if (bNew) |
||
2156 | { |
||
2157 | rtfOSD.SelectAll(); |
||
2158 | rtfOSD.Selection.Text = string.Empty; |
||
2159 | } |
||
2160 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
2161 | tr.Text = msg; |
||
2162 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
2163 | // rtfOSD.AppendText("\r"); |
||
2164 | rtfOSD.ScrollToEnd(); |
||
2165 | |||
2166 | }); |
||
2167 | } |
||
2168 | |||
2169 | #endregion OSD-Menue |
||
2170 | |||
2171 | #endregion controller messages |
||
2172 | |||
2295 | - | 2173 | void _mediaPlayer(string file) |
2174 | { |
||
2175 | if (File.Exists(file)) |
||
2176 | { |
||
2177 | MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer(); |
||
2178 | mp.Open(file); |
||
2179 | mp.Play(); |
||
2180 | } |
||
2181 | } |
||
2310 | - | 2182 | |
2183 | /// <summary> |
||
2184 | /// Switch between fullscreen and normal window mode |
||
2185 | /// save & restore scaling settings |
||
2186 | /// </summary> |
||
2187 | /// <param name="sender"></param> |
||
2188 | /// <param name="e"></param> |
||
2287 | - | 2189 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
2190 | { |
||
2191 | if (winState.isMaximized) |
||
2192 | { |
||
2193 | winState.Restore(this); |
||
2194 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
2195 | if(_bSaveWinStateFull) |
||
2196 | _saveScaleSliders(true); |
||
2197 | if(_bSaveWinStateNormal) |
||
2198 | _setScaleSliders(false); |
||
2199 | } |
||
2200 | else |
||
2201 | { |
||
2202 | winState.Maximize(this); |
||
2203 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
2204 | if(_bSaveWinStateNormal) |
||
2205 | _saveScaleSliders(false); |
||
2206 | if(_bSaveWinStateFull) |
||
2207 | _setScaleSliders(true); |
||
2208 | } |
||
2209 | } |
||
2210 | |||
2211 | /// <summary> |
||
2212 | /// reset the scaling of all UI elements to default |
||
2213 | /// </summary> |
||
2214 | /// <param name="sender"></param> |
||
2215 | /// <param name="e"></param> |
||
2216 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
2217 | { |
||
2218 | UIScaleHorizonSlider.Value = |
||
2219 | UIScaleLOGSlider.Value = |
||
2220 | UIScaleMotorsSlider.Value = |
||
2221 | UIScaleOSDSlider.Value = |
||
2222 | UIScaleSlider.Value = |
||
2223 | UIScaleTopSlider.Value = 1; |
||
2224 | } |
||
2225 | /// <summary> |
||
2226 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
2227 | /// </summary> |
||
2228 | /// <param name="sender"></param> |
||
2229 | /// <param name="e"></param> |
||
2230 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
2231 | { |
||
2232 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
2233 | if (GridMotors != null) |
||
2234 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
2235 | if (GridSideBar != null) |
||
2236 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
2237 | if (GridOSD != null) |
||
2238 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2239 | if (GridData != null) |
||
2240 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
2241 | if (GridWP != null) |
||
2242 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
2243 | } |
||
2310 | - | 2244 | /// <summary> |
2245 | /// restore the saved scalings for the fullscreen/normal window mode |
||
2246 | /// </summary> |
||
2247 | /// <param name="bFull">the mode the window is set to</param> |
||
2287 | - | 2248 | void _setScaleSliders(bool bFull) |
2249 | { |
||
2250 | if(bFull) |
||
2251 | { |
||
2252 | UIScaleSlider.Value = scaleFullAll; |
||
2253 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
2254 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
2255 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
2256 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
2257 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
2258 | } |
||
2259 | else |
||
2260 | { |
||
2261 | UIScaleSlider.Value = scaleNormalAll; |
||
2262 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
2263 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
2264 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
2265 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
2266 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
2267 | } |
||
2268 | } |
||
2269 | |||
2310 | - | 2270 | /// <summary> |
2271 | /// save the scalings for the actual window mode |
||
2272 | /// </summary> |
||
2273 | /// <param name="bFull">the actual window mode</param> |
||
2287 | - | 2274 | void _saveScaleSliders(bool bFull) |
2275 | { |
||
2276 | |||
2277 | if (bFull) |
||
2278 | { |
||
2279 | scaleFullAll = UIScaleSlider.Value; |
||
2280 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
2281 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
2282 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
2283 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
2284 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
2285 | } |
||
2286 | else |
||
2287 | { |
||
2288 | scaleNormalAll = UIScaleSlider.Value; |
||
2289 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
2290 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
2291 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
2292 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
2293 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
2294 | } |
||
2295 | } |
||
2296 | |||
2297 | /// <summary> |
||
2298 | /// read settings from ini-file |
||
2299 | /// </summary> |
||
2300 | void _readIni() |
||
2301 | { |
||
2302 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
2303 | _writeIni(); |
||
2304 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2305 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2312 | - | 2306 | try |
2307 | { |
||
2287 | - | 2308 | |
2312 | - | 2309 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
2310 | if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
2311 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
2312 | if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2313 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
2314 | if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2315 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
2316 | if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2287 | - | 2317 | |
2312 | - | 2318 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
2319 | if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
||
2320 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
2321 | if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2322 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
2323 | if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2324 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
2325 | if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2287 | - | 2326 | |
2312 | - | 2327 | sVal = ini.IniReadValue("topBar", "voltage"); |
2328 | if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
2329 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
2330 | if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
2331 | sVal = ini.IniReadValue("topBar", "current"); |
||
2332 | if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
2333 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
2334 | if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
2335 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
2336 | if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
2337 | sVal = ini.IniReadValue("topBar", "height"); |
||
2338 | if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
2339 | sVal = ini.IniReadValue("topBar", "speed"); |
||
2340 | if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
2341 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
2342 | if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
2343 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
2344 | if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
2345 | sVal = ini.IniReadValue("topBar", "rc"); |
||
2346 | if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2347 | |
2312 | - | 2348 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
2349 | if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
2350 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
2351 | if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2352 | |
2312 | - | 2353 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
2354 | if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
||
2355 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
2356 | if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
||
2357 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
2358 | if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
||
2359 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
2360 | if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
||
2361 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
2362 | if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
||
2363 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
2364 | if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2365 | |
2312 | - | 2366 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
2367 | if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
||
2368 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
2369 | if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
||
2370 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
2371 | if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
||
2372 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
2373 | if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
||
2374 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
2375 | if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
||
2376 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
2377 | if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2378 | |
2312 | - | 2379 | sVal = ini.IniReadValue("general", "LiPoCells"); |
2380 | _LipoCells = Convert.ToInt16(sVal); |
||
2381 | sVal = ini.IniReadValue("general", "Motors"); |
||
2382 | if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
||
2287 | - | 2383 | |
2312 | - | 2384 | sVal = ini.IniReadValue("map", "followMe"); |
2385 | if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
||
2386 | sVal = ini.IniReadValue("map", "AutoSetHome"); |
||
2387 | if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
||
2287 | - | 2388 | |
2312 | - | 2389 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
2390 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
2391 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
2392 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
2393 | sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
||
2394 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
2395 | sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
||
2396 | if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
||
2397 | sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
||
2398 | if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
||
2399 | sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
||
2400 | if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
||
2401 | sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
||
2402 | if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
||
2403 | sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
||
2404 | if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
||
2405 | sVal = ini.IniReadValue("threshold", "MaxDistance"); |
||
2406 | if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
||
2407 | sVal = ini.IniReadValue("threshold", "RCThreshold"); |
||
2408 | if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
||
2409 | sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
||
2410 | if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
||
2411 | } |
||
2412 | catch (Exception e) |
||
2413 | { |
||
2287 | - | 2414 | |
2312 | - | 2415 | MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
2416 | } |
||
2417 | |||
2287 | - | 2418 | } |
2419 | |||
2420 | /// <summary> |
||
2421 | /// save settings to ini-file |
||
2422 | /// </summary> |
||
2423 | void _writeIni() |
||
2424 | { |
||
2425 | |||
2426 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2427 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2428 | |||
2312 | - | 2429 | try |
2430 | { |
||
2287 | - | 2431 | |
2312 | - | 2432 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
2433 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
2434 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
2435 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2287 | - | 2436 | |
2312 | - | 2437 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
2438 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
2439 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
2440 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2287 | - | 2441 | |
2312 | - | 2442 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
2443 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2287 | - | 2444 | |
2312 | - | 2445 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
2446 | ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
||
2287 | - | 2447 | |
2312 | - | 2448 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
2449 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
2450 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
2451 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
2452 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
2453 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
2454 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
2455 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
2456 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
2457 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2287 | - | 2458 | |
2312 | - | 2459 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
2460 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2287 | - | 2461 | |
2312 | - | 2462 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
2463 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
2464 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
2465 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
2466 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
2467 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2287 | - | 2468 | |
2312 | - | 2469 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
2470 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
2471 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
2472 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
2473 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
2474 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2287 | - | 2475 | |
2312 | - | 2476 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
2477 | |||
2478 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
2479 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
2480 | ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
||
2481 | ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
||
2482 | ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
||
2483 | ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
||
2484 | ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
||
2485 | ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
||
2486 | ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
||
2487 | ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
||
2488 | ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
||
2489 | } |
||
2490 | catch (Exception e) |
||
2491 | { |
||
2492 | |||
2493 | 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); |
||
2494 | } |
||
2287 | - | 2495 | } |
2312 | - | 2496 | |
2497 | void _readWPLFile() |
||
2498 | { |
||
2499 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
2500 | fd.Filter = "Waypointlists | *.wpl"; |
||
2501 | fd.Multiselect = false; |
||
2502 | if (fd.ShowDialog().Value) |
||
2503 | { |
||
2504 | string file = fd.SafeFileName; |
||
2505 | IniFile ini = new IniFile(fd.SafeFileName); |
||
2506 | ini.path = fd.FileName; |
||
2507 | |||
2508 | try |
||
2509 | { |
||
2510 | string sVal = ini.IniReadValue("General", "FileVersion"); |
||
2511 | if (sVal == "") |
||
2512 | MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2513 | else |
||
2514 | { |
||
2515 | if (Convert.ToInt16(sVal) < 3) |
||
2516 | MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2517 | else |
||
2518 | { |
||
2519 | sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
||
2520 | if (sVal == "") |
||
2521 | MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
2522 | else |
||
2523 | { |
||
2524 | int wpnum = Convert.ToInt16(sVal); |
||
2525 | string wp; |
||
2526 | int i; |
||
2527 | dtWaypoints.Rows.Clear(); |
||
2528 | for (int k = 1; k <= wpnum; k++) |
||
2529 | { |
||
2530 | DataRow dr = dtWaypoints.NewRow(); |
||
2531 | dr.ItemArray = new object[16]; |
||
2532 | object[] o = new object[16]; |
||
2533 | i = 0; |
||
2534 | wp = "Point" + k.ToString(); |
||
2535 | o[i] = k; |
||
2536 | i++; |
||
2537 | sVal = ini.IniReadValue(wp, "Type"); |
||
2538 | if (sVal != "") |
||
2539 | o[i] = ((Waypoints.pointType)(Convert.ToInt16(sVal) - 1)).ToString(); |
||
2540 | i++; |
||
2541 | sVal = ini.IniReadValue(wp, "Prefix"); |
||
2542 | if (sVal != "") |
||
2543 | o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString(); |
||
2544 | i++; |
||
2545 | sVal = ini.IniReadValue(wp, "Longitude"); |
||
2546 | if (sVal != "") |
||
2547 | o[i] = Convert.ToDouble(sVal); |
||
2548 | i++; |
||
2549 | sVal = ini.IniReadValue(wp, "Latitude"); |
||
2550 | if (sVal != "") |
||
2551 | o[i] = Convert.ToDouble(sVal); |
||
2552 | i++; |
||
2553 | sVal = ini.IniReadValue(wp, "Altitude"); |
||
2554 | if (sVal != "") |
||
2555 | o[i] = Convert.ToInt16(sVal); |
||
2556 | i++; |
||
2557 | sVal = ini.IniReadValue(wp, "Heading"); |
||
2558 | if (sVal != "") |
||
2559 | o[i] = Convert.ToInt16(sVal); |
||
2560 | i++; |
||
2561 | sVal = ini.IniReadValue(wp, "Speed"); |
||
2562 | if (sVal != "") |
||
2563 | o[i] = Waypoints.WPSpeed(Convert.ToInt16(sVal)); |
||
2564 | i++; |
||
2565 | sVal = ini.IniReadValue(wp, "ClimbRate"); |
||
2566 | if (sVal != "") |
||
2567 | o[i] = Convert.ToInt16(sVal); |
||
2568 | i++; |
||
2569 | sVal = ini.IniReadValue(wp, "Radius"); |
||
2570 | if (sVal != "") |
||
2571 | o[i] = Convert.ToInt16(sVal); |
||
2572 | i++; |
||
2573 | sVal = ini.IniReadValue(wp, "DelayTime"); |
||
2574 | if (sVal != "") |
||
2575 | o[i] = Convert.ToInt16(sVal); |
||
2576 | i++; |
||
2577 | sVal = ini.IniReadValue(wp, "AutoTrigger"); |
||
2578 | if (sVal != "") |
||
2579 | o[i] = Convert.ToInt16(sVal); ; |
||
2580 | i++; |
||
2581 | sVal = ini.IniReadValue(wp, "CAM-Nick"); |
||
2582 | if (sVal != "") |
||
2583 | o[i] = Waypoints.CAMAngle(Convert.ToInt16(sVal)); |
||
2584 | i++; |
||
2585 | o[i] = 0; |
||
2586 | i++; |
||
2587 | sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
||
2588 | if (sVal != "") |
||
2589 | o[i] = Convert.ToInt16(sVal); |
||
2590 | i++; |
||
2591 | o[i] = "New"; |
||
2592 | |||
2593 | dr.ItemArray = o; |
||
2594 | dtWaypoints.Rows.Add(dr); |
||
2595 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
||
2596 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
||
2597 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2598 | Thread.Sleep(10); |
||
2599 | } |
||
2600 | } |
||
2601 | } |
||
2602 | } |
||
2603 | |||
2604 | } |
||
2605 | catch (Exception e) |
||
2606 | { |
||
2607 | |||
2608 | MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
2609 | } |
||
2610 | |||
2611 | } |
||
2612 | } |
||
2613 | |||
2614 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
||
2615 | { |
||
2616 | _readWPLFile(); |
||
2617 | } |
||
2287 | - | 2618 | #endregion functions |
2619 | } |
||
2620 | public class BooleanToVisibilityConverter : IValueConverter |
||
2621 | { |
||
2622 | |||
2623 | public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture) |
||
2624 | { |
||
2625 | return (bool)value ? Visibility.Visible : Visibility.Collapsed; |
||
2626 | } |
||
2627 | |||
2628 | public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture) |
||
2629 | { |
||
2630 | throw new NotImplementedException(); |
||
2631 | } |
||
2632 | } |
||
2633 | |||
2634 | public class IniFile |
||
2635 | { |
||
2636 | public string path; |
||
2637 | |||
2638 | [DllImport("kernel32")] |
||
2639 | private static extern long WritePrivateProfileString(string section, |
||
2640 | string key, string val, string filePath); |
||
2641 | |||
2642 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
2643 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
2644 | uint nSize, string lpFileName); |
||
2645 | |||
2646 | [DllImport("kernel32")] |
||
2647 | private static extern int GetPrivateProfileString(string section, |
||
2648 | string key, string def, StringBuilder retVal, |
||
2649 | int size, string filePath); |
||
2650 | |||
2651 | public IniFile(string INIPath) |
||
2652 | { |
||
2653 | path = INIPath; |
||
2654 | } |
||
2655 | |||
2656 | public void IniWriteValue(string Section, string Key, string Value) |
||
2657 | { |
||
2658 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
2659 | } |
||
2660 | |||
2661 | public string IniReadValue(string Section, string Key) |
||
2662 | { |
||
2663 | StringBuilder temp = new StringBuilder(255); |
||
2664 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
2665 | return temp.ToString(); |
||
2666 | } |
||
2667 | //Ini_sections auslesen in String-Array |
||
2668 | public string[] IniSectionNames() |
||
2669 | { |
||
2670 | |||
2671 | // uint MAX_BUFFER = 32767; |
||
2672 | uint MAX_BUFFER = 8388608; |
||
2673 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
2674 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
2675 | if (bytesReturned == 0) |
||
2676 | { |
||
2677 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2678 | return null; |
||
2679 | } |
||
2680 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
2681 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2682 | //use of Substring below removes terminating null for split |
||
2683 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
2684 | |||
2685 | |||
2686 | } |
||
2687 | } |
||
2688 | |||
2689 | /// <summary> |
||
2690 | /// Selected Win AI Function Calls |
||
2691 | /// </summary> |
||
2692 | public class WinApi |
||
2693 | { |
||
2694 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
2695 | public static extern int GetSystemMetrics(int which); |
||
2696 | [DllImport("user32.dll")] |
||
2697 | public static extern void |
||
2698 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
2699 | int X, int Y, int width, int height, uint flags); |
||
2700 | |||
2701 | private const int SM_CXSCREEN = 0; |
||
2702 | private const int SM_CYSCREEN = 1; |
||
2703 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
2704 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
2705 | |||
2706 | public static int ScreenX |
||
2707 | { |
||
2708 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
2709 | } |
||
2710 | |||
2711 | public static int ScreenY |
||
2712 | { |
||
2713 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
2714 | } |
||
2715 | |||
2716 | public static void SetWinFullScreen(IntPtr hwnd) |
||
2717 | { |
||
2718 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
2719 | } |
||
2720 | } |
||
2721 | /// <summary> |
||
2722 | /// Class used to preserve / restore state of the window |
||
2723 | /// </summary> |
||
2724 | public class WinState |
||
2725 | { |
||
2726 | private WindowState winState; |
||
2727 | private WindowStyle brdStyle; |
||
2728 | private bool topMost; |
||
2729 | private Rect restore; |
||
2730 | private bool IsMaximized = false; |
||
2731 | |||
2732 | public bool isMaximized |
||
2733 | { |
||
2734 | get { return IsMaximized; } |
||
2735 | } |
||
2736 | public void Maximize(Window targetForm) |
||
2737 | { |
||
2738 | if (!IsMaximized) |
||
2739 | { |
||
2740 | IsMaximized = true; |
||
2741 | Save(targetForm); |
||
2742 | targetForm.WindowState = WindowState.Maximized; |
||
2743 | targetForm.WindowStyle = WindowStyle.None; |
||
2744 | targetForm.Topmost = true; |
||
2745 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
2746 | } |
||
2747 | } |
||
2748 | |||
2749 | public void Save(Window targetForm) |
||
2750 | { |
||
2751 | winState = targetForm.WindowState; |
||
2752 | brdStyle = targetForm.WindowStyle; |
||
2753 | topMost = targetForm.Topmost; |
||
2754 | restore = targetForm.RestoreBounds; |
||
2755 | } |
||
2756 | public void Restore(Window targetForm) |
||
2757 | { |
||
2758 | targetForm.WindowState = winState; |
||
2759 | targetForm.WindowStyle = brdStyle; |
||
2760 | targetForm.Topmost = topMost; |
||
2761 | |||
2762 | targetForm.Left = restore.Left; |
||
2763 | targetForm.Top = restore.Top; |
||
2764 | targetForm.Height = restore.Height; |
||
2765 | targetForm.Width = restore.Width; |
||
2766 | IsMaximized = false; |
||
2767 | } |
||
2768 | } |
||
2769 | |||
2770 | } |