Rev 2421 | 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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2313 | - | 29 | using System.Globalization; |
2324 | - | 30 | using System.Xml; |
31 | using System.Xml.Linq; |
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2287 | - | 32 | |
33 | namespace MKLiveView |
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34 | { |
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35 | /// <summary> |
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36 | /// Interaktionslogik für MainWindow.xaml |
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37 | /// </summary> |
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38 | public partial class MainWindow : Window |
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39 | { |
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2304 | - | 40 | #region declarations |
2405 | - | 41 | object lockObj = new Object(); |
42 | MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer(); |
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2304 | - | 43 | |
2287 | - | 44 | GMapMarker copter; |
45 | GMapMarker home; |
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46 | PointLatLng start; |
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47 | PointLatLng end; |
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48 | PointLatLng pHome; |
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2328 | - | 49 | GMapRoute mRouteWP; |
2342 | - | 50 | GMapMarker wpActiveMarker; |
2328 | - | 51 | List<PointLatLng> wpList = new List<PointLatLng>(); |
2405 | - | 52 | Circle cWPBound = new Circle(); |
53 | double dWPMaxRange = 0; |
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54 | |||
2324 | - | 55 | #region NC-Errors |
2287 | - | 56 | String[] NC_Error = new string[44] |
57 | { |
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58 | "No Error", |
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2381 | - | 59 | "FC not compatible", |
60 | "MK3Mag not compatible", |
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61 | "no FC communication", |
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62 | "no compass communication", |
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63 | "no GPS communication", |
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64 | "bad compass value", |
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65 | "RC Signal lost", |
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66 | "FC spi rx error", |
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67 | "ERR: no NC communication", |
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68 | "ERR: FC Nick Gyro", |
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69 | "ERR: FC Roll Gyro", |
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70 | "ERR: FC Yaw Gyro", |
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71 | "ERR: FC Nick ACC", |
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72 | "ERR: FC Roll ACC", |
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73 | "ERR: FC Z-ACC", |
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74 | "ERR: Pressure sensor", |
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75 | "ERR: FC I2C", |
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76 | "ERR: Bl Missing", |
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77 | "Mixer Error", |
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78 | "FC: Carefree Error", |
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79 | "ERR: GPS lost", |
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80 | "ERR: Magnet Error", |
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81 | "Motor restart", |
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82 | "BL Limitation", |
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83 | "Waypoint range", |
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84 | "ERR:No SD-Card", |
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85 | "ERR:SD Logging aborted", |
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86 | "ERR:Flying range!", |
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87 | "ERR:Max Altitude", |
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88 | "No GPS Fix", |
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89 | "compass not calibrated", |
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90 | "ERR:BL selftest", |
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91 | "no ext. compass", |
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92 | "compass sensor", |
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93 | "FAILSAFE pos.!", |
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94 | "ERR:Redundancy", |
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95 | "Redundancy test", |
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96 | "GPS Update rate", |
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97 | "ERR:Canbus", |
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98 | "ERR: 5V RC-Supply", |
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99 | "ERR:Power-Supply", |
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100 | "ACC not calibr.", |
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101 | "ERR:Parachute!" |
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2287 | - | 102 | }; |
2381 | - | 103 | String[] NC_Error_Link = new string[44] |
104 | { |
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105 | "", |
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106 | "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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107 | "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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108 | "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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109 | "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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110 | "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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111 | "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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112 | "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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113 | "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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114 | "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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115 | "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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116 | "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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117 | "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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118 | "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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119 | "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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120 | "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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121 | "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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122 | "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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123 | "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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124 | "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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125 | "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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126 | "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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127 | "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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128 | "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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129 | "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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130 | "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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131 | "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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132 | "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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133 | "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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134 | "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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135 | "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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136 | "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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137 | "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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138 | "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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139 | "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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140 | "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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141 | "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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142 | "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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143 | "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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144 | "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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145 | "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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146 | "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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147 | "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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148 | "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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149 | }; |
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150 | |||
2324 | - | 151 | #endregion NC-Errors |
2287 | - | 152 | [FlagsAttribute] |
153 | enum NC_HWError0 : short |
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154 | { |
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155 | None = 0, |
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156 | SPI_RX = 1, |
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157 | COMPASS_RX = 2, |
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158 | FC_INCOMPATIBLE = 4, |
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159 | COMPASS_INCOMPATIBLE = 8, |
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160 | GPS_RX = 16, |
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161 | COMPASS_VALUE = 32 |
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162 | }; |
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163 | [FlagsAttribute] |
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164 | enum FC_HWError0 : short |
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165 | { |
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166 | None = 0, |
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167 | GYRO_NICK = 1, |
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168 | GYRO_ROLL = 2, |
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169 | GYRO_YAW = 4, |
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170 | ACC_NICK = 8, |
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171 | ACC_ROLL = 16, |
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172 | ACC_TOP = 32, |
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173 | PRESSURE = 64, |
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174 | CAREFREE = 128 |
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175 | }; |
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176 | [FlagsAttribute] |
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177 | enum FC_HWError1 : short |
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178 | { |
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179 | None = 0, |
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180 | I2C = 1, |
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181 | BL_MISSING = 2, |
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182 | SPI_RX = 4, |
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183 | PPM = 8, |
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184 | MIXER = 16, |
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185 | RC_VOLTAGE = 32, |
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186 | ACC_NOT_CAL = 64, |
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187 | RES3 = 128 |
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188 | }; |
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189 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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190 | // Various colors for logging info |
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191 | private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
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192 | |||
193 | bool _bCBInit = true; |
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194 | bool _init = true; |
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195 | bool check_HWError = false; |
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196 | |||
197 | string filePath = Directory.GetCurrentDirectory(); |
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198 | bool bReadContinously = false; |
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199 | bool _debugDataAutorefresh = true; |
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200 | bool _navCtrlDataAutorefresh = true; |
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201 | bool _blctrlDataAutorefresh = true; |
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202 | bool _OSDAutorefresh = true; |
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203 | bool _bErrorLog = false; |
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204 | bool _bConnErr = false; |
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205 | bool _bFollowCopter = false; |
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2324 | - | 206 | bool _bGPXLog = false; |
2376 | - | 207 | bool _Simulate = false; |
2287 | - | 208 | |
209 | bool _bSaveWinStateNormal = true; |
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210 | bool _bSaveWinStateFull = true; |
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211 | |||
212 | double scaleNormalAll = 1; |
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213 | double scaleNormalTopBar = 1; |
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214 | double scaleNormalMotors = 1; |
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215 | double scaleNormalOSD = 1; |
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216 | double scaleNormalLOG = 1; |
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217 | double scaleNormalHorizon = 1; |
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218 | |||
219 | double scaleFullAll = 1; |
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220 | double scaleFullTopBar = 1; |
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221 | double scaleFullMotors = 1; |
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222 | double scaleFullOSD = 1; |
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223 | double scaleFullLOG = 1; |
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224 | double scaleFullHorizon = 1; |
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225 | |||
226 | int _iCtrlAct = 0; |
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227 | int iOSDPage = 0; |
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228 | int iOSDMax = 0; |
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229 | int _iLifeCounter = 0; |
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230 | int crcError = 0; |
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231 | |||
2291 | - | 232 | bool _bSatFix = false; |
233 | Storyboard stbSatFixLostAnim; |
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234 | bool _bAnimSatFixActive = false; |
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235 | bool _bVoiceSatFixActive = false; |
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236 | bool _bVoiceSatFixPlay = false; |
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237 | int _iSatsLast = 0; |
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238 | int _iSatsJitter = 0; |
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239 | |||
240 | bool _bMagneticFieldOK = false; |
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241 | Storyboard stbMagneticFieldAnim; |
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242 | bool _bAnimMagneticFieldActive = false; |
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243 | bool _bVoiceMagneticFieldActive = false; |
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244 | bool _bVoiceMagneticFieldPlay = false; |
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245 | int _iMagneticFieldLast = 0; |
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246 | int _iMagneticFieldJitter = 0; |
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247 | |||
248 | bool _bRCLevelOK = false; |
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249 | Storyboard stbRCLevelAnim; |
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250 | bool _bAnimRCLevelActive = false; |
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251 | bool _bVoiceRCLevelActive = false; |
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252 | bool _bVoiceRCLevelPlay = false; |
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253 | int _iRCLevelLast = 0; |
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254 | int _iRCLevelJitter = 0; |
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255 | |||
2287 | - | 256 | int _iMotors = 4; |
257 | int _LipoCells = 4; |
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258 | |||
259 | double _dLipoVMax = 16.88; |
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260 | double _dLipoVMin = 12; |
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261 | double _dThresholdVoltageWarn = 0; |
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262 | double _dThresholdVoltageCrit = 0; |
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263 | Storyboard stbVoltageCritAnim; |
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264 | bool _bCritAnimVoltActive = false; |
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265 | bool _bCritVoiceVoltActive = false; |
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2291 | - | 266 | bool _bWarnVoiceVoltActive = false; |
2287 | - | 267 | bool _bVoiceVoltPlay = false; |
268 | double _dVoltLast = 0; |
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269 | int _iVoltJitter = 0; |
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270 | |||
2291 | - | 271 | double _dThresholdDistanceWarn = 100; |
272 | Storyboard stbDistanceWarnAnim; |
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273 | bool _bAnimDistanceActive = false; |
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274 | bool _bVoiceDistanceActive = false; |
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275 | bool _bVoiceDistancePlay = false; |
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276 | double _dDistanceLast = 0; |
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277 | int _iDistanceJitter = 0; |
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278 | |||
279 | double _dThresholdDistanceMax = 1000; |
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280 | int _iThresholdRC = 160; |
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281 | int _iThresholdMagField = 15; |
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282 | |||
2295 | - | 283 | bool _bAutoHome = false; |
284 | bool _bFirstSatFix = false; |
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285 | int _iFirstSatFix = 0; |
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2291 | - | 286 | |
2287 | - | 287 | double _dTopHeight = 36; |
288 | |||
289 | int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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290 | int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
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291 | string[] serChanTitle = new string[12]; |
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292 | |||
293 | string[] sAnalogLabel = new string[32]; |
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294 | string[] sAnalogData = new string[32]; |
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2324 | - | 295 | int[] iAnalogData = new int[32]; |
2287 | - | 296 | |
2424 | - | 297 | 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 }; |
298 | int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 }; |
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2287 | - | 299 | string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
300 | /// <summary> |
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301 | /// interval for sending debugdata (multiplied by 10ms) |
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302 | /// </summary> |
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303 | byte debugInterval = 10; //(=> 100ms) |
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304 | /// <summary> |
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305 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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306 | /// </summary> |
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307 | byte blctrlInterval = 75; |
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308 | /// <summary> |
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309 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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310 | /// </summary> |
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311 | byte navctrlInterval = 80; |
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312 | /// <summary> |
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313 | /// interval for sending OSD page update (multiplied by 10ms) |
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314 | /// </summary> |
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315 | byte OSDInterval = 85; |
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316 | /// <summary> |
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317 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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318 | /// </summary> |
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319 | DataTable dtAnalog = new DataTable(); |
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320 | /// <summary> |
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321 | /// datatable for motordata (current,temp) |
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322 | /// </summary> |
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2315 | - | 323 | DataTable dtMotors = new DataTable(); |
2287 | - | 324 | |
325 | DataTable dtWaypoints = new DataTable(); |
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2313 | - | 326 | static volatile int _iWPCount = -1; |
327 | static volatile int _iWPIndex = -1; |
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328 | int _iWPTimeout = 1000; |
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2287 | - | 329 | bool _bGetWP = false; |
2328 | - | 330 | bool _bShowWPRoute = false; |
2287 | - | 331 | static volatile bool _bGetWPCount = false; |
2324 | - | 332 | DataTable dtGPX = new DataTable(); |
333 | DataRow drGPX; |
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334 | bool _bAirborne = false; |
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2355 | - | 335 | int _wpIndex = -1, _wpCount = 0, _wpEdit = -1; |
2340 | - | 336 | |
2287 | - | 337 | DispatcherTimer timer = new DispatcherTimer(); |
338 | |||
339 | /// <summary> |
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340 | /// stuff for enabeling touch zoom for the map |
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341 | /// </summary> |
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2424 | - | 342 | Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0); |
2287 | - | 343 | int iFirstStylusID = -1; |
344 | public string connectButtonText |
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345 | { |
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346 | get |
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347 | { |
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348 | return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
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349 | } |
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350 | } |
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351 | |||
352 | WinState winState = new WinState(); |
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2304 | - | 353 | #endregion declarations |
2287 | - | 354 | public MainWindow() |
355 | { |
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356 | InitializeComponent(); |
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357 | _initForm(); |
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358 | _dataTablesInit(); |
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359 | _setupMap(); |
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360 | _init = false; |
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361 | timer.Tick += new EventHandler(timerEvent); |
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362 | timer.Interval = new TimeSpan(0, 0, 1); |
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363 | timer.Start(); |
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364 | } |
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365 | |||
366 | #region init |
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367 | void _initForm() |
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368 | { |
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369 | _readIni(); |
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370 | if (_bSaveWinStateNormal) |
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371 | _setScaleSliders(false); |
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2424 | - | 372 | cBoxTimingsDebug.ItemsSource = |
373 | cBoxTimingsNav.ItemsSource = |
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374 | cBoxTimingsBl.ItemsSource = |
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375 | cBoxTimingsOSD.ItemsSource = |
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2287 | - | 376 | iTimings; |
377 | cBoxLiPoCells.ItemsSource = sLiPoCells; |
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378 | cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
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379 | _LipoMinMax(); |
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380 | sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
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381 | sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
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382 | checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
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2291 | - | 383 | checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
384 | checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
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385 | checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
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386 | sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
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387 | checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
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2287 | - | 388 | |
2291 | - | 389 | sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
390 | |||
2287 | - | 391 | cBoxMotors.ItemsSource = iMotors; |
392 | cBoxMotors.SelectedItem = _iMotors; |
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393 | |||
394 | serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
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395 | serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
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396 | serialPortCtrl.DataReceived += processMessage; |
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397 | |||
398 | chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
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399 | chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
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400 | chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
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401 | chkbAutoOSD.IsChecked = _OSDAutorefresh; |
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402 | |||
403 | cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
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404 | cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
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405 | cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
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406 | cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
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2295 | - | 407 | checkBoxAutoSetHP.IsChecked = _bAutoHome; |
2287 | - | 408 | checkBoxFollowCopter.IsChecked = _bFollowCopter; |
2324 | - | 409 | checkBoxGPXLog.IsChecked = _bGPXLog; |
2328 | - | 410 | checkBoxShowWPRoute.IsChecked = _bShowWPRoute; |
2287 | - | 411 | |
2421 | - | 412 | GridSettings.Visibility = Visibility.Visible; |
413 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
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2349 | - | 414 | _initSerialCtrl(); |
2287 | - | 415 | } |
416 | /// <summary> |
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417 | /// initialize the datatables |
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418 | /// with columnnames etc |
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419 | /// </summary> |
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420 | void _dataTablesInit() |
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421 | { |
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2315 | - | 422 | dtMotors.Columns.Add("#"); |
2313 | - | 423 | if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
2315 | - | 424 | dtMotors.Columns.Add("Strom"); |
2313 | - | 425 | else |
2315 | - | 426 | dtMotors.Columns.Add("Current"); |
427 | dtMotors.Columns.Add("Temp"); |
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428 | dgvMotors1.DataContext = dtMotors.DefaultView; |
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2287 | - | 429 | _initDTMotors(); |
430 | |||
2424 | - | 431 | Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0)); |
2287 | - | 432 | Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
433 | style.Setters.Add(setter); |
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434 | setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
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435 | style.Setters.Add(setter); |
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436 | setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
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437 | style.Setters.Add(setter); |
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2313 | - | 438 | |
2424 | - | 439 | dtWaypoints.Columns.Add("Index", typeof(int)); |
2315 | - | 440 | dtWaypoints.Columns.Add("Type", typeof(int)); |
2424 | - | 441 | dtWaypoints.Columns.Add("Name", typeof(string)); |
442 | dtWaypoints.Columns.Add("Latitude", typeof(double)); |
||
443 | dtWaypoints.Columns.Add("Longitude", typeof(double)); |
||
444 | dtWaypoints.Columns.Add("Altitude", typeof(string)); |
||
445 | dtWaypoints.Columns.Add("Heading", typeof(string)); |
||
446 | dtWaypoints.Columns.Add("Speed", typeof(string)); |
||
447 | dtWaypoints.Columns.Add("ClimbRate", typeof(string)); |
||
448 | dtWaypoints.Columns.Add("Radius", typeof(string)); |
||
449 | dtWaypoints.Columns.Add("HoldTime", typeof(string)); |
||
450 | dtWaypoints.Columns.Add("AutoTrigger", typeof(string)); |
||
451 | dtWaypoints.Columns.Add("CamAngle", typeof(string)); |
||
452 | dtWaypoints.Columns.Add("Event", typeof(string)); |
||
453 | dtWaypoints.Columns.Add("Out1Timer", typeof(string)); |
||
454 | dtWaypoints.Columns.Add("Status", typeof(string)); |
||
2313 | - | 455 | dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
456 | dgvWP.ItemsSource = dtWaypoints.DefaultView; |
||
2287 | - | 457 | dgvWP.ColumnHeaderStyle = new Style(); |
458 | dgvWP.ColumnHeaderStyle = style; |
||
2313 | - | 459 | |
2424 | - | 460 | dtGPX.Columns.Add("Index", typeof(int)); |
461 | dtGPX.Columns.Add("Latitude", typeof(double)); |
||
462 | dtGPX.Columns.Add("Longitude", typeof(double)); |
||
463 | dtGPX.Columns.Add("Elevation", typeof(int)); |
||
464 | dtGPX.Columns.Add("Time", typeof(string)); |
||
2324 | - | 465 | dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] }; |
466 | drGPX = dtGPX.NewRow(); |
||
2313 | - | 467 | |
2287 | - | 468 | } |
469 | /// <summary> |
||
2315 | - | 470 | /// initialize the datatable dtMotors for motor values |
2313 | - | 471 | /// DataGridView dgvMotors1 is bound to dtMotors1 |
2287 | - | 472 | /// </summary> |
473 | void _initDTMotors() |
||
474 | { |
||
475 | for (int i = 0; i < 12; i++) |
||
476 | { |
||
2315 | - | 477 | if (dtMotors.Rows.Count < 12) |
478 | dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
2287 | - | 479 | else |
480 | { |
||
2315 | - | 481 | dtMotors.Rows[i].SetField(1, "NA"); |
482 | dtMotors.Rows[i].SetField(2, "NA"); |
||
2287 | - | 483 | } |
484 | } |
||
485 | } |
||
486 | |||
487 | #endregion init |
||
488 | |||
489 | #region events |
||
490 | private void serialPortCtrl_PortOpened() |
||
491 | { |
||
492 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
||
493 | _getVersion(); |
||
494 | Thread.Sleep(100); |
||
2424 | - | 495 | _getLic(); |
2287 | - | 496 | //_OSDMenue(0); |
497 | //Thread.Sleep(200); |
||
498 | //_sendSerialData(); |
||
499 | _readCont(true); |
||
500 | } |
||
501 | private void serialPortCtrl_PortClosed() |
||
502 | { |
||
503 | Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
||
504 | _readCont(false); |
||
505 | } |
||
2324 | - | 506 | bool _bToggle = false; |
2287 | - | 507 | void timerEvent(object sender, EventArgs e) |
508 | { |
||
509 | if (bReadContinously) |
||
510 | { |
||
511 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
512 | |||
513 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
514 | |||
515 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
516 | check_HWError = true; |
||
517 | _getVersion(); |
||
518 | Thread.Sleep(10); |
||
519 | if (_OSDAutorefresh) |
||
520 | { |
||
521 | if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
||
522 | _initOSDCB(); |
||
523 | _OSDMenueAutoRefresh(); |
||
524 | } |
||
525 | if (_iLifeCounter > 0) |
||
526 | { |
||
527 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
2424 | - | 528 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
2287 | - | 529 | _iLifeCounter = 0; |
530 | _bConnErr = false; |
||
2424 | - | 531 | if (_bAirborne && _bGPXLog) |
2324 | - | 532 | { |
533 | drGPX[0] = dtGPX.Rows.Count; |
||
534 | dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] }); |
||
535 | } |
||
2327 | - | 536 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent))); |
537 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
538 | Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
||
2324 | - | 539 | _bToggle = !_bToggle; |
2287 | - | 540 | } |
541 | else |
||
542 | { |
||
543 | if (!_bConnErr) |
||
544 | { |
||
545 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
||
546 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
||
2424 | - | 547 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
2287 | - | 548 | _bConnErr = true; |
549 | } |
||
550 | } |
||
551 | } |
||
552 | } |
||
553 | |||
554 | private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
||
555 | { |
||
556 | GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
557 | GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
558 | } |
||
559 | private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
||
560 | { |
||
561 | GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
562 | if (GridMotors.IsVisible) |
||
563 | _setMotorGridSize(); |
||
564 | } |
||
565 | private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
||
566 | { |
||
567 | GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
||
568 | GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
569 | } |
||
570 | private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
||
571 | { |
||
572 | GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
573 | } |
||
574 | private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
||
575 | { |
||
576 | GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
||
577 | } |
||
578 | private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
||
579 | { |
||
580 | GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
||
581 | GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
||
582 | } |
||
583 | |||
584 | private void btnGetWP_Click(object sender, RoutedEventArgs e) |
||
585 | { |
||
586 | Thread t = new Thread(new ThreadStart(_getWP)); |
||
587 | t.Start(); |
||
588 | } |
||
589 | private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
||
590 | { |
||
2313 | - | 591 | Thread t = new Thread(new ThreadStart(_sendWPList)); |
592 | t.Start(); |
||
2287 | - | 593 | } |
594 | |||
595 | private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
||
596 | { |
||
597 | if (!serialPortCtrl.Port.IsOpen) |
||
598 | serialPortCtrl.Connect(true); |
||
599 | else |
||
600 | _readCont(!bReadContinously); |
||
601 | } |
||
602 | private void btnSetHP_Click(object sender, RoutedEventArgs e) |
||
603 | { |
||
2347 | - | 604 | _setHomePos(); |
2287 | - | 605 | } |
606 | private void btnClearHP_Click(object sender, RoutedEventArgs e) |
||
607 | { |
||
2347 | - | 608 | _clearHomePos(); |
2287 | - | 609 | } |
610 | private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
||
611 | { |
||
612 | if (home != null && MainMap.Markers.Contains(home)) |
||
613 | MainMap.Position = home.Position; |
||
614 | } |
||
2295 | - | 615 | private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
616 | { |
||
617 | _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
||
618 | } |
||
2287 | - | 619 | private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
620 | { |
||
621 | _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
||
622 | } |
||
623 | private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
||
624 | { |
||
625 | _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
||
626 | } |
||
627 | |||
2291 | - | 628 | #region thresholds |
2287 | - | 629 | private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
630 | { |
||
2424 | - | 631 | if (!_init) |
2287 | - | 632 | _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
633 | } |
||
634 | private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
635 | { |
||
2424 | - | 636 | if (!_init) |
2287 | - | 637 | _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
638 | } |
||
639 | private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
||
640 | { |
||
641 | _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
||
642 | } |
||
2291 | - | 643 | |
644 | private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
645 | { |
||
2424 | - | 646 | if (!_init) |
2291 | - | 647 | _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
648 | } |
||
649 | private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
||
650 | { |
||
651 | _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
||
652 | } |
||
653 | |||
654 | private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
||
655 | { |
||
656 | _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
||
657 | } |
||
658 | private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
||
659 | { |
||
660 | _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
||
661 | } |
||
662 | private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
||
663 | { |
||
664 | _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
||
665 | } |
||
666 | #endregion thresholds |
||
667 | |||
2287 | - | 668 | private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
669 | { |
||
670 | _switchToNC(); |
||
671 | } |
||
672 | |||
673 | private void Window_Loaded(object sender, RoutedEventArgs e) |
||
674 | { |
||
675 | stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
||
2291 | - | 676 | stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
677 | stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
||
678 | stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
||
679 | stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
||
2287 | - | 680 | _setMotorGridSize(); |
681 | } |
||
2310 | - | 682 | private void Window_Closing(object sender, CancelEventArgs e) |
683 | { |
||
684 | _writeIni(); |
||
2424 | - | 685 | if (_bGPXLog && dtGPX.Rows.Count > 0) |
2324 | - | 686 | _saveGPXLog(); |
2310 | - | 687 | } |
2379 | - | 688 | private void Window_Closed(object sender, EventArgs e) |
689 | { |
||
690 | Application.Current.Shutdown(); |
||
691 | } |
||
692 | |||
2287 | - | 693 | #endregion events |
694 | |||
695 | #region GMap |
||
696 | |||
697 | void _setupMap() |
||
698 | { |
||
699 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
700 | MainMap.MapProvider = GMapProviders.BingHybridMap; |
||
701 | MainMap.SetPositionByKeywords("Landshut"); |
||
702 | MainMap.MinZoom = 0; |
||
703 | MainMap.MaxZoom = 24; |
||
704 | MainMap.Zoom = 16; |
||
705 | MainMap.ShowCenter = true; |
||
706 | MainMap.ShowTileGridLines = false; |
||
707 | sliderMapZoom.Value = 16; |
||
708 | comboBoxMapType.ItemsSource = providerList; |
||
709 | comboBoxMapType.DisplayMemberPath = "Name"; |
||
710 | comboBoxMapType.SelectedItem = MainMap.MapProvider; |
||
711 | |||
712 | // acccess mode |
||
713 | comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
||
714 | comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
||
715 | |||
716 | } |
||
2424 | - | 717 | |
2287 | - | 718 | /// <summary> |
719 | /// selection of relevant map providers --> if You need more, You can change the line: |
||
720 | /// comboBoxMapType.ItemsSource = providerList; |
||
721 | /// to: |
||
722 | /// comboBoxMapType.ItemsSource = GMapProviders.List; |
||
723 | /// in _setupMap() |
||
724 | /// or add items here: |
||
725 | /// </summary> |
||
726 | List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
||
727 | { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
||
728 | GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
||
729 | GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
||
730 | GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
||
731 | |||
732 | private void MainMap_Loaded(object sender, RoutedEventArgs e) |
||
733 | { |
||
734 | MainMap.Manager.Mode = AccessMode.ServerAndCache; |
||
735 | copter = new GMapMarker(MainMap.Position); |
||
2318 | - | 736 | |
2424 | - | 737 | copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red"); |
2318 | - | 738 | if (comboBoxCopterColor.SelectionBoxItem != null) |
739 | { |
||
740 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2385 | - | 741 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
2318 | - | 742 | } |
2385 | - | 743 | Dispatcher.Invoke(() => { |
744 | if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
||
745 | { |
||
746 | string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
||
747 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
||
748 | } |
||
749 | }); |
||
2405 | - | 750 | copter.Offset = new System.Windows.Point(-26, -26); |
2287 | - | 751 | copter.ZIndex = int.MaxValue; |
752 | MainMap.Markers.Add(copter); |
||
753 | copter.Position = MainMap.Position; |
||
754 | } |
||
2347 | - | 755 | void _setHomePos() |
2287 | - | 756 | { |
757 | pHome = MainMap.Position; |
||
758 | if (!MainMap.Markers.Contains(home)) |
||
759 | { |
||
760 | home = new GMapMarker(MainMap.Position); |
||
761 | home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
2405 | - | 762 | home.Offset = new System.Windows.Point(-16.5, -16.5); |
2287 | - | 763 | // home.ZIndex = int.MaxValue; |
764 | MainMap.Markers.Add(home); |
||
765 | } |
||
766 | home.Position = MainMap.Position; |
||
767 | ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
||
2405 | - | 768 | |
769 | if (checkBoxShowWPMaxRange.IsChecked == true) |
||
770 | { |
||
771 | if (cWPBound != null && cWPBound.Tag != null) |
||
772 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
773 | |||
774 | createCircle(home.Position, dWPMaxRange); |
||
2408 | - | 775 | Dispatcher.Invoke(() => |
776 | { |
||
777 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
778 | { |
||
779 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
780 | cWPBound.setColor(s); |
||
781 | } |
||
782 | }); |
||
2405 | - | 783 | } |
784 | |||
2287 | - | 785 | } |
2347 | - | 786 | void _setActiveWP(int iIndex) |
2287 | - | 787 | { |
2347 | - | 788 | if (wpActiveMarker == null || !MainMap.Markers.Contains(wpActiveMarker)) |
789 | { |
||
790 | Dispatcher.Invoke(() => |
||
791 | { |
||
792 | wpActiveMarker = new GMapMarker(wpList[iIndex]); |
||
793 | wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0); |
||
794 | wpActiveMarker.Offset = new Point(-17.5, -17.5); |
||
795 | MainMap.Markers.Add(wpActiveMarker); |
||
796 | }); |
||
797 | } |
||
798 | else |
||
799 | Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]); |
||
800 | |||
2401 | - | 801 | Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m"); |
2347 | - | 802 | } |
803 | void _clearHomePos() |
||
804 | { |
||
2287 | - | 805 | MainMap.Markers.Remove(home); |
2405 | - | 806 | if (cWPBound != null && cWPBound.Tag != null) |
807 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2287 | - | 808 | } |
2335 | - | 809 | void _clearMapMarkers(Type markerType) |
810 | { |
||
811 | for (int k = 0; k < MainMap.Markers.Count;) |
||
812 | { |
||
813 | GMapMarker p = MainMap.Markers[k]; |
||
2340 | - | 814 | if (p.GetType() == markerType | (p.Shape != null && p.Shape.GetType() == markerType)) |
2335 | - | 815 | MainMap.Markers.Remove(p); |
816 | else |
||
817 | k++; |
||
818 | } |
||
2419 | - | 819 | _WPisMouseCaptured = false; |
2335 | - | 820 | } |
2369 | - | 821 | |
822 | GMapMarker _findWPMarker(string name) |
||
2368 | - | 823 | { |
824 | for (int k = 0; k < MainMap.Markers.Count;) |
||
825 | { |
||
826 | GMapMarker p = MainMap.Markers[k]; |
||
827 | if (p.GetType() == typeof(CustomMarkerWP) | (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))) |
||
2369 | - | 828 | if (((CustomMarkerWP)p.Shape).WPText == name) |
829 | return p; |
||
2368 | - | 830 | else |
831 | k++; |
||
832 | else |
||
833 | k++; |
||
834 | } |
||
2369 | - | 835 | return null; |
2368 | - | 836 | } |
2369 | - | 837 | void _clearWPMarker(string name) |
838 | { |
||
839 | GMapMarker p = _findWPMarker(name); |
||
2424 | - | 840 | if (p != null) |
2369 | - | 841 | MainMap.Markers.Remove(p); |
842 | } |
||
2368 | - | 843 | void _renameWPMarker(string s1, string s2) |
844 | { |
||
2369 | - | 845 | GMapMarker p = _findWPMarker(s1); |
846 | if (p != null) |
||
847 | ((CustomMarkerWP)p.Shape).WPText = s2; |
||
2368 | - | 848 | } |
2372 | - | 849 | void _WPMarkerSetType(string text, int type) |
850 | { |
||
851 | GMapMarker p = _findWPMarker(text); |
||
852 | if (p != null) |
||
853 | ((CustomMarkerWP)p.Shape).WPType = type; |
||
854 | } |
||
2369 | - | 855 | void _repositionWPMarker(PointLatLng point, string name) |
856 | { |
||
857 | GMapMarker p = _findWPMarker(name); |
||
858 | if (p != null) |
||
859 | p.Position = point; |
||
860 | } |
||
861 | |||
2405 | - | 862 | void createCircle(PointLatLng center, double distance) |
863 | { |
||
864 | |||
865 | GMapMarker it = new GMapMarker(center); |
||
866 | it.ZIndex = -1; |
||
2424 | - | 867 | |
2405 | - | 868 | cWPBound.Center = center; |
869 | cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance); |
||
870 | cWPBound.Tag = it; |
||
871 | cWPBound.IsHitTestVisible = false; |
||
872 | UpdateCircle(cWPBound); |
||
873 | it.Shape = cWPBound; |
||
874 | MainMap.Markers.Add(it); |
||
875 | } |
||
876 | // calculates circle radius |
||
877 | void UpdateCircle(Circle c) |
||
878 | { |
||
879 | var pxCenter = MainMap.FromLatLngToLocal(c.Center); |
||
880 | var pxBounds = MainMap.FromLatLngToLocal(c.Bound); |
||
881 | |||
882 | double a = (double)(pxBounds.X - pxCenter.X); |
||
883 | double b = (double)(pxBounds.Y - pxCenter.Y); |
||
884 | var pxCircleRadius = Math.Sqrt(a * a + b * b); |
||
885 | |||
886 | c.Width = c.Height = pxCircleRadius * 2; |
||
887 | //c.Width = 55 + pxCircleRadius * 2; |
||
888 | //c.Height = 55 + pxCircleRadius * 2; |
||
889 | (c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2); |
||
890 | } |
||
891 | |||
2287 | - | 892 | // access mode |
893 | private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
||
894 | { |
||
895 | MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
||
896 | MainMap.ReloadMap(); |
||
897 | } |
||
898 | // zoom up |
||
899 | private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
||
900 | { |
||
901 | MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
||
902 | } |
||
903 | |||
904 | // zoom down |
||
905 | private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
||
906 | { |
||
907 | MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
||
908 | } |
||
909 | |||
910 | // prefetch |
||
911 | private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
||
912 | { |
||
913 | RectLatLng area = MainMap.SelectedArea; |
||
914 | if (!area.IsEmpty) |
||
915 | { |
||
916 | for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
||
917 | { |
||
918 | MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
||
919 | |||
920 | if (res == MessageBoxResult.Yes) |
||
921 | { |
||
922 | TilePrefetcher obj = new TilePrefetcher(); |
||
923 | obj.Owner = this; |
||
924 | obj.ShowCompleteMessage = true; |
||
925 | obj.Start(area, i, MainMap.MapProvider, 100); |
||
926 | } |
||
927 | else if (res == MessageBoxResult.No) |
||
928 | { |
||
929 | continue; |
||
930 | } |
||
931 | else if (res == MessageBoxResult.Cancel) |
||
932 | { |
||
933 | break; |
||
934 | } |
||
935 | } |
||
936 | } |
||
937 | else |
||
938 | { |
||
939 | MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
940 | } |
||
941 | } |
||
942 | |||
943 | // goto by geocoder |
||
944 | private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
||
945 | { |
||
946 | _goto_byGeoCoder(); |
||
947 | } |
||
948 | // goto by geocoder |
||
949 | private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
||
950 | { |
||
951 | if (e.Key == System.Windows.Input.Key.Enter) |
||
952 | _goto_byGeoCoder(); |
||
953 | } |
||
954 | void _goto_byGeoCoder() |
||
955 | { |
||
956 | GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
||
957 | if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
||
958 | { |
||
959 | MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
||
960 | } |
||
961 | } |
||
962 | private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
||
963 | { |
||
964 | try |
||
965 | { |
||
966 | double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
967 | double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
||
968 | |||
969 | MainMap.Position = new PointLatLng(lat, lng); |
||
970 | } |
||
971 | catch (Exception ex) |
||
972 | { |
||
973 | MessageBox.Show("incorrect coordinate format: " + ex.Message); |
||
974 | } |
||
975 | |||
976 | } |
||
977 | |||
978 | private void ReloadMap_Click(object sender, RoutedEventArgs e) |
||
979 | { |
||
980 | MainMap.ReloadMap(); |
||
981 | } |
||
982 | |||
983 | private void MainMap_OnPositionChanged(PointLatLng point) |
||
984 | { |
||
985 | if (_bFollowCopter) |
||
986 | _setCopterData(MainMap.Position); |
||
987 | } |
||
988 | |||
989 | private void MainMap_OnMapZoomChanged() |
||
990 | { |
||
991 | if (_bFollowCopter) |
||
992 | _setCopterData(MainMap.Position); |
||
2424 | - | 993 | if ((int)sliderMapZoom.Value != MainMap.Zoom) |
2287 | - | 994 | sliderMapZoom.Value = MainMap.Zoom; |
2424 | - | 995 | if (cWPBound != null && cWPBound.Tag != null) |
2405 | - | 996 | UpdateCircle(cWPBound); |
2287 | - | 997 | } |
998 | |||
999 | void _setCopterData(PointLatLng p) |
||
1000 | { |
||
1001 | Dispatcher.Invoke(() => |
||
1002 | { |
||
1003 | copter.Position = p; |
||
1004 | ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
||
1005 | textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
||
1006 | textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
||
1007 | }); |
||
1008 | if (home != null && MainMap.Markers.Contains(home)) |
||
1009 | { |
||
1010 | Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
||
1011 | double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
||
1012 | Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
||
2291 | - | 1013 | |
2424 | - | 1014 | if (d * 1000 < _dThresholdDistanceWarn) |
2291 | - | 1015 | { |
1016 | _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
||
1017 | if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
||
1018 | { |
||
1019 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
||
1020 | _bAnimDistanceActive = false; |
||
1021 | } |
||
1022 | } |
||
1023 | else |
||
1024 | { |
||
1025 | if (_iDistanceJitter < 20) |
||
1026 | { _iDistanceJitter++; } |
||
1027 | if (_iDistanceJitter == 20) |
||
1028 | { |
||
1029 | if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
||
1030 | { |
||
1031 | Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
||
1032 | _bAnimDistanceActive = true; |
||
1033 | } |
||
1034 | if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
||
1035 | { |
||
2398 | - | 1036 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3"); |
1037 | //Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
||
1038 | //t.Start(); |
||
2291 | - | 1039 | _bVoiceDistanceActive = true; |
1040 | } |
||
1041 | _iDistanceJitter++; |
||
1042 | } |
||
1043 | } |
||
2287 | - | 1044 | } |
1045 | } |
||
1046 | |||
1047 | private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
||
1048 | { |
||
1049 | _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
||
1050 | } |
||
1051 | |||
1052 | private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
1053 | { |
||
1054 | if (MainMap.Zoom != sliderMapZoom.Value) |
||
1055 | MainMap.Zoom = (int)sliderMapZoom.Value; |
||
1056 | } |
||
1057 | #region Touch zooming hackattack ;) |
||
1058 | /// <summary> |
||
1059 | /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
||
1060 | /// </summary> |
||
1061 | bool bFirstAccess = true; |
||
1062 | double dDistance = 0; |
||
1063 | int iZoom; |
||
1064 | private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
||
1065 | { |
||
2419 | - | 1066 | if (!_WPisMouseCaptured) |
2287 | - | 1067 | { |
2419 | - | 1068 | var id = e.StylusDevice.Id; |
1069 | e.StylusDevice.Capture(MainMap); |
||
1070 | if (iFirstStylusID == -1) |
||
1071 | { |
||
1072 | iFirstStylusID = id; |
||
1073 | } |
||
1074 | else |
||
1075 | { |
||
2287 | - | 1076 | |
2419 | - | 1077 | MainMap.CanDragMap = false; |
1078 | } |
||
2287 | - | 1079 | } |
1080 | } |
||
1081 | private void MainMap_StylusUp(object sender, StylusEventArgs e) |
||
1082 | { |
||
1083 | MainMap.ReleaseStylusCapture(); |
||
1084 | iFirstStylusID = -1; |
||
1085 | bFirstAccess = true; |
||
1086 | MainMap.CanDragMap = true; |
||
1087 | iZoom = 0; |
||
1088 | } |
||
1089 | private void MainMap_StylusMove(object sender, StylusEventArgs e) |
||
1090 | { |
||
1091 | var id = e.StylusDevice.Id; |
||
1092 | var tp = e.GetPosition(MainMap); |
||
1093 | |||
1094 | // This is the first Stylus point; just record its position. |
||
1095 | if (id == iFirstStylusID) |
||
1096 | { |
||
1097 | pTouch1.X = tp.X; |
||
1098 | pTouch1.Y = tp.Y; |
||
1099 | } |
||
1100 | else |
||
1101 | if (iFirstStylusID > -1) |
||
1102 | { |
||
1103 | pTouch2.X = tp.X; |
||
1104 | pTouch2.Y = tp.Y; |
||
1105 | double distance = Point.Subtract(pTouch1, pTouch2).Length; |
||
1106 | if (!bFirstAccess) |
||
1107 | { |
||
1108 | if (distance > dDistance) |
||
1109 | iZoom++; |
||
1110 | else |
||
1111 | if (distance < dDistance) |
||
1112 | iZoom--; |
||
1113 | } |
||
1114 | if (iZoom > 30) |
||
1115 | { |
||
1116 | iZoom = 0; |
||
1117 | Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
||
1118 | } |
||
1119 | if (iZoom < -30) |
||
1120 | { |
||
1121 | iZoom = 0; |
||
1122 | Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
||
1123 | } |
||
1124 | dDistance = distance; |
||
1125 | bFirstAccess = false; |
||
1126 | } |
||
1127 | } |
||
1128 | #endregion Touch zooming hackattack ;) |
||
1129 | |||
1130 | #endregion GMap |
||
1131 | |||
1132 | #region settings |
||
1133 | private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
||
1134 | { |
||
2424 | - | 1135 | if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
2287 | - | 1136 | debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
1137 | } |
||
1138 | private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
||
1139 | { |
||
2424 | - | 1140 | if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
2287 | - | 1141 | navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
1142 | } |
||
1143 | private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
||
1144 | { |
||
1145 | if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
||
1146 | blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
||
1147 | } |
||
1148 | private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
||
1149 | { |
||
1150 | if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
||
1151 | OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
||
1152 | } |
||
1153 | private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
||
1154 | { |
||
1155 | if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
||
1156 | } |
||
1157 | private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
||
1158 | { |
||
1159 | if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
||
1160 | } |
||
1161 | private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
||
1162 | { |
||
1163 | if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
||
1164 | } |
||
1165 | private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
||
1166 | { |
||
1167 | if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
||
1168 | } |
||
1169 | |||
1170 | private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
||
1171 | { |
||
1172 | if (cBoxLiPoCells.SelectedIndex > -1) |
||
1173 | { |
||
1174 | _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
||
1175 | _LipoMinMax(); |
||
1176 | } |
||
1177 | } |
||
1178 | void _LipoMinMax() |
||
1179 | { |
||
1180 | _dLipoVMax = (double)(_LipoCells) * 4.22; |
||
1181 | _dLipoVMin = (double)_LipoCells * 3; |
||
1182 | pbTopVoltage.Maximum = _dLipoVMax; |
||
1183 | pbTopVoltage.Minimum = _dLipoVMin; |
||
1184 | sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
||
1185 | sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
||
1186 | } |
||
1187 | private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
||
1188 | { |
||
1189 | if (cBoxMotors.SelectedIndex > -1) |
||
1190 | { |
||
1191 | _iMotors = cBoxMotors.SelectedIndex + 3; |
||
1192 | Dispatcher.Invoke(() => |
||
1193 | { |
||
1194 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
||
1195 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1196 | }); |
||
1197 | } |
||
1198 | } |
||
1199 | void _setMotorGridSize() |
||
1200 | { |
||
1201 | if (dgvMotors1.Columns.Count > 2) |
||
1202 | { |
||
1203 | dgvMotors1.Columns[0].Width = 24; |
||
1204 | dgvMotors1.Columns[1].Width = 50; |
||
1205 | dgvMotors1.Columns[2].Width = 50; |
||
1206 | dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
||
1207 | GridMotors.Height = dgvMotors1.Height + 10; |
||
1208 | } |
||
1209 | |||
1210 | } |
||
1211 | #endregion settings |
||
1212 | |||
1213 | #region functions |
||
1214 | |||
1215 | #region logging |
||
1216 | /// <summary> Log data to the terminal window. </summary> |
||
1217 | /// <param name="msgtype"> The type of message to be written. </param> |
||
1218 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
1219 | private void Log(LogMsgType msgtype, string msg) |
||
1220 | { |
||
1221 | Dispatcher.Invoke(() => |
||
1222 | { |
||
2424 | - | 1223 | // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
1224 | // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1225 | // rtfTerminal.AppendText(msg + "\r"); |
||
1226 | TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd); |
||
2287 | - | 1227 | tr.Text = msg; |
1228 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1229 | rtfTerminal.AppendText("\r"); |
||
1230 | rtfTerminal.ScrollToEnd(); |
||
1231 | }); |
||
1232 | } |
||
2424 | - | 1233 | private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName) |
2287 | - | 1234 | { |
2381 | - | 1235 | |
2287 | - | 1236 | Dispatcher.Invoke(() => |
1237 | { |
||
2381 | - | 1238 | Paragraph para = new Paragraph(); |
1239 | para.Margin = new Thickness(0); // remove indent between paragraphs |
||
1240 | |||
1241 | Hyperlink link = new Hyperlink(); |
||
1242 | if (linkURL != "" && linkName != "") |
||
1243 | { |
||
1244 | link.IsEnabled = true; |
||
1245 | link.Inlines.Add(linkName); |
||
1246 | link.NavigateUri = new Uri(linkURL); |
||
1247 | link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString()); |
||
1248 | } |
||
1249 | //msg = DateTime.Now.ToLongTimeString() + msg; |
||
1250 | para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
||
1251 | Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: "); |
||
1252 | r.Foreground = new SolidColorBrush(Colors.Black); |
||
1253 | para.Inlines.Add(r); |
||
1254 | para.Inlines.Add(msg); |
||
1255 | para.Inlines.Add(link); |
||
1256 | rtfError.Document.Blocks.Add(para); |
||
1257 | //TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
||
1258 | //tr.Text = msg + link; |
||
1259 | //tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
1260 | //rtfError.AppendText("\r"); |
||
2287 | - | 1261 | rtfError.ScrollToEnd(); |
1262 | |||
2381 | - | 1263 | //_bErrorLog = true; |
2287 | - | 1264 | }); |
1265 | } |
||
1266 | /// <summary> |
||
1267 | /// Clear the line in the errorlog window |
||
1268 | /// containing the error string when error has ceased |
||
1269 | /// </summary> |
||
1270 | /// <param name="s">substring of errrormessage</param> |
||
1271 | void _clearErrorLog(string s) |
||
1272 | { |
||
1273 | Dispatcher.Invoke((Action)(() => |
||
1274 | { |
||
1275 | TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
||
1276 | TextRange foundRange = FindTextInRange(searchRange, s); |
||
1277 | |||
1278 | int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
||
1279 | |||
1280 | |||
1281 | if (iStart > -1) |
||
1282 | { |
||
1283 | int iLength = 0; |
||
1284 | int iEnd = searchRange.Text.IndexOf('\r', iStart); |
||
1285 | if (iEnd > 0) |
||
1286 | { |
||
1287 | iLength = iEnd + 1; |
||
2424 | - | 1288 | int iHttp = searchRange.Text.IndexOf("http", iEnd); |
2287 | - | 1289 | if (iHttp == iLength) |
1290 | { |
||
1291 | int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
||
1292 | if (iEnd2 > iLength) |
||
1293 | { |
||
1294 | iLength = iEnd2 + 1; |
||
2424 | - | 1295 | // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
2287 | - | 1296 | |
1297 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1298 | rtfError.Selection.Text = string.Empty; |
||
1299 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1300 | } |
||
1301 | |||
1302 | } |
||
1303 | else |
||
1304 | { |
||
1305 | rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
||
1306 | rtfError.Selection.Text = string.Empty; |
||
1307 | if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
||
1308 | } |
||
1309 | } |
||
1310 | } |
||
1311 | })); |
||
1312 | |||
1313 | } |
||
1314 | public TextRange FindTextInRange(TextRange searchRange, string searchText) |
||
1315 | { |
||
1316 | int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
||
1317 | if (offset < 0) |
||
1318 | return null; // Not found |
||
1319 | |||
1320 | var start = GetTextPositionAtOffset(searchRange.Start, offset); |
||
1321 | TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
||
1322 | |||
1323 | return result; |
||
1324 | } |
||
1325 | TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
||
1326 | { |
||
1327 | while (position != null) |
||
1328 | { |
||
1329 | if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
||
1330 | { |
||
1331 | int count = position.GetTextRunLength(LogicalDirection.Forward); |
||
1332 | if (characterCount <= count) |
||
1333 | { |
||
1334 | return position.GetPositionAtOffset(characterCount); |
||
1335 | } |
||
1336 | |||
1337 | characterCount -= count; |
||
1338 | } |
||
1339 | |||
1340 | TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
||
1341 | if (nextContextPosition == null) |
||
1342 | return position; |
||
1343 | |||
1344 | position = nextContextPosition; |
||
1345 | } |
||
1346 | |||
1347 | return position; |
||
1348 | } |
||
1349 | #endregion logging |
||
1350 | |||
1351 | #region processing received data |
||
1352 | |||
1353 | private void processMessage(byte[] message) |
||
1354 | { |
||
1355 | if (message.Length > 0) |
||
1356 | { |
||
1357 | _iLifeCounter++; |
||
1358 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
1359 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
1360 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
1361 | char cmdID; |
||
1362 | byte adr; |
||
1363 | byte[] data; |
||
1364 | byte[] tmp = null; |
||
1365 | if (message[0] != '#') |
||
1366 | { |
||
1367 | int iFound = -1; |
||
1368 | for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
1369 | { //so this is a workaround to not spam the log box |
||
1370 | if (message[i] == 35) |
||
1371 | { |
||
1372 | iFound = i; |
||
1373 | break; |
||
1374 | } |
||
1375 | } |
||
1376 | if (iFound > 0) |
||
1377 | { |
||
1378 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
||
1379 | tmp = new byte[message.Length - iFound]; |
||
1380 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
1381 | } |
||
1382 | s = s.Trim('\0', '\n', '\r'); |
||
1383 | if (s.Length > 0) |
||
1384 | Log(LogMsgType.Normal, s); |
||
1385 | if (tmp != null) |
||
1386 | { |
||
1387 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
1388 | processMessage(tmp); |
||
1389 | } |
||
1390 | } |
||
1391 | //Debug.Print(s); |
||
1392 | else |
||
1393 | { |
||
1394 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
1395 | |||
1396 | if (adr == 255) { crcError++; } |
||
1397 | else crcError = 0; |
||
1398 | Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
||
1399 | //display the active controller (FC / NC) |
||
1400 | 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...??? |
||
1401 | { |
||
1402 | _iCtrlAct = adr; |
||
1403 | switch (adr) |
||
1404 | { |
||
1405 | case 1: |
||
1406 | Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
||
2424 | - | 1407 | // Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
1408 | // Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
||
1409 | // _setFieldsNA(); //display fields NA for FC |
||
2287 | - | 1410 | break; |
1411 | case 2: |
||
1412 | Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
||
1413 | //Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
||
1414 | //Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
||
1415 | break; |
||
1416 | //case 3: |
||
1417 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
1418 | // break; |
||
1419 | //case 4: |
||
1420 | // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
1421 | // break; |
||
1422 | default: |
||
1423 | Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
||
1424 | break; |
||
1425 | } |
||
2424 | - | 1426 | // _loadLabelNames(); |
2287 | - | 1427 | } |
1428 | // else |
||
1429 | // Debug.Print("Address == 0?"); |
||
1430 | |||
1431 | if (data != null && data.Length > 0) |
||
1432 | { |
||
1433 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
1434 | s = s.Trim('\0', '\n'); |
||
1435 | |||
1436 | switch (cmdID) |
||
1437 | { |
||
1438 | //case 'A': //Label names |
||
1439 | // _processLabelNames(s); |
||
1440 | // break; |
||
1441 | |||
1442 | case 'D': //Debug data |
||
1443 | _processDebugVals(adr, data); |
||
1444 | break; |
||
1445 | |||
1446 | case 'V': //Version |
||
1447 | _processVersion(adr, data); |
||
1448 | break; |
||
1449 | |||
1450 | case 'K'://BL-CTRL data |
||
1451 | _processBLCtrl(data); |
||
1452 | break; |
||
1453 | |||
2424 | - | 1454 | case 'M'://License info |
1455 | _processLicense(data); |
||
1456 | break; |
||
1457 | |||
2287 | - | 1458 | case 'O': //NC Data |
1459 | _processNCData(data); |
||
1460 | break; |
||
1461 | |||
2381 | - | 1462 | //case 'E': //NC error-string |
1463 | // ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
1464 | // break; |
||
2287 | - | 1465 | |
1466 | case 'L': //OSD Menue (called by pagenumber) |
||
1467 | _processOSDSingle(data); |
||
1468 | break; |
||
1469 | |||
1470 | case 'H': //OSD Menue (with autoupdate - called by Key) |
||
1471 | _processOSDAuto(data); |
||
1472 | break; |
||
1473 | |||
1474 | case 'X': //Waypoint data |
||
1475 | _processWPData(data); |
||
1476 | break; |
||
1477 | |||
2313 | - | 1478 | case 'W': //return new Waypoint items count after sending waypoint to copter |
1479 | _iWPCount = data[0]; |
||
1480 | break; |
||
2287 | - | 1481 | //default: |
1482 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1483 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1484 | // break; |
||
1485 | } |
||
1486 | } |
||
1487 | //else |
||
1488 | //{ |
||
1489 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
1490 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
1491 | //} |
||
1492 | } |
||
1493 | } |
||
1494 | } |
||
1495 | /// <summary> |
||
1496 | /// Analog label names 'A' |
||
1497 | /// each label name is returned as a single string |
||
1498 | /// and added to string array sAnalogLabel[] |
||
1499 | /// and the datatable dtAnalog |
||
1500 | /// </summary> |
||
1501 | /// <param name="s">the label name</param> |
||
1502 | void _processLabelNames(string s) |
||
1503 | { |
||
1504 | //if (iLableIndex < 32) |
||
1505 | //{ |
||
1506 | // sAnalogLabel[iLableIndex] = s; |
||
1507 | // if (dtAnalog.Rows.Count < 32) |
||
1508 | // dtAnalog.Rows.Add(s, ""); |
||
1509 | // else |
||
1510 | // dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
1511 | |||
1512 | // // _getAnalogLabels(iLableIndex + 1); |
||
1513 | //} |
||
1514 | //Debug.Print(s); |
||
1515 | } |
||
1516 | /// <summary> |
||
1517 | /// Debug values 'D' |
||
1518 | /// </summary> |
||
1519 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1520 | /// <param name="data">the received byte array to process</param> |
||
1521 | void _processDebugVals(byte adr, byte[] data) |
||
1522 | { |
||
1523 | if (data.Length == 66) |
||
1524 | { |
||
2424 | - | 1525 | |
2287 | - | 1526 | double v; |
1527 | int index = 0; |
||
1528 | Int16 i16 = 0; |
||
1529 | double dTemp = 0; |
||
1530 | for (int i = 2; i < 66; i += 2) |
||
1531 | { |
||
1532 | i16 = data[i + 1]; |
||
1533 | i16 = (Int16)(i16 << 8); |
||
1534 | iAnalogData[index] = data[i] + i16; |
||
1535 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
2424 | - | 1536 | // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
2287 | - | 1537 | |
1538 | if (adr == 2) //NC |
||
1539 | { |
||
1540 | switch (index) |
||
1541 | { |
||
1542 | case 0: //pitch (German: nick) |
||
1543 | Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
||
1544 | Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1545 | break; |
||
1546 | case 1: //roll |
||
1547 | Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
||
1548 | Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
1549 | break; |
||
1550 | case 4: //altitude |
||
1551 | Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
1552 | Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
||
2424 | - | 1553 | Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; }); |
2287 | - | 1554 | break; |
1555 | case 7: //Voltage |
||
1556 | v = (double)iAnalogData[index] / (double)10; |
||
1557 | Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
||
1558 | Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
||
1559 | Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
||
1560 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
||
1561 | { |
||
1562 | if (v == _dVoltLast) |
||
2424 | - | 1563 | if (_iVoltJitter < 20) _iVoltJitter++; |
1564 | else |
||
1565 | { |
||
1566 | _iVoltJitter = 0; |
||
1567 | _dVoltLast = v; |
||
1568 | } |
||
2287 | - | 1569 | if (_iVoltJitter == 20) |
1570 | { |
||
1571 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
||
1572 | |||
1573 | if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
||
1574 | { |
||
1575 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
||
1576 | if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
||
1577 | { |
||
1578 | Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
||
1579 | _bCritAnimVoltActive = true; |
||
1580 | } |
||
1581 | if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
||
1582 | { |
||
2398 | - | 1583 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3"); |
1584 | //Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
||
1585 | //t.Start(); |
||
2287 | - | 1586 | _bCritVoiceVoltActive = true; |
1587 | } |
||
1588 | } |
||
1589 | else |
||
1590 | { |
||
1591 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1592 | { |
||
1593 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1594 | _bCritAnimVoltActive = false; |
||
1595 | } |
||
1596 | _bCritVoiceVoltActive = false; |
||
1597 | |||
2291 | - | 1598 | if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
2287 | - | 1599 | { |
2398 | - | 1600 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3"); |
1601 | //Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
||
1602 | //t.Start(); |
||
2291 | - | 1603 | _bWarnVoiceVoltActive = true; |
2287 | - | 1604 | } |
1605 | } |
||
1606 | } |
||
1607 | } |
||
1608 | else |
||
1609 | { |
||
1610 | Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
||
1611 | if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
||
1612 | { |
||
1613 | Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
||
1614 | _bCritAnimVoltActive = false; |
||
1615 | } |
||
1616 | _bCritVoiceVoltActive = false; |
||
2291 | - | 1617 | _bWarnVoiceVoltActive = false; |
2287 | - | 1618 | _iVoltJitter = 0; |
1619 | } |
||
1620 | break; |
||
1621 | case 8: // Current |
||
1622 | Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1623 | Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
||
1624 | break; |
||
1625 | case 10: //heading |
||
2291 | - | 1626 | Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
2399 | - | 1627 | if (!_Simulate) //use NavData for simulation |
1628 | { |
||
1629 | Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
||
1630 | Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]); |
||
1631 | } |
||
2287 | - | 1632 | break; |
1633 | case 12: // SPI error |
||
2291 | - | 1634 | Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
2287 | - | 1635 | break; |
1636 | case 14: //i2c error |
||
2291 | - | 1637 | Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
2287 | - | 1638 | break; |
1639 | case 20: //Earthmagnet field |
||
2291 | - | 1640 | Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
1641 | Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
||
2424 | - | 1642 | |
2291 | - | 1643 | if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
1644 | { |
||
1645 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
||
1646 | _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
||
1647 | if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
||
1648 | { |
||
1649 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
||
1650 | _bAnimMagneticFieldActive = false; |
||
1651 | } |
||
1652 | } |
||
1653 | else |
||
1654 | { |
||
1655 | Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
||
2424 | - | 1656 | if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
2291 | - | 1657 | { |
1658 | if (_iMagneticFieldJitter < 20) |
||
1659 | _iMagneticFieldJitter++; |
||
1660 | } |
||
1661 | else |
||
1662 | { |
||
1663 | _iMagneticFieldJitter = 0; |
||
1664 | _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
||
1665 | } |
||
2424 | - | 1666 | if (_iMagneticFieldJitter == 20) |
2291 | - | 1667 | { |
1668 | if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
||
1669 | { |
||
1670 | Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
||
1671 | _bAnimMagneticFieldActive = true; |
||
1672 | } |
||
1673 | if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
||
1674 | { |
||
2398 | - | 1675 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3"); |
1676 | //Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
||
1677 | //t.Start(); |
||
2291 | - | 1678 | _bVoiceMagneticFieldActive = true; |
1679 | } |
||
1680 | } |
||
1681 | } |
||
2287 | - | 1682 | break; |
1683 | case 21: //GroundSpeed |
||
2424 | - | 1684 | Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
1685 | if (!_Simulate) |
||
1686 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
2287 | - | 1687 | break; |
2291 | - | 1688 | |
1689 | ///********** needs testing --> not sure what position this is *************** |
||
2287 | - | 1690 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
2424 | - | 1691 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
1692 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
1693 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
1694 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
1695 | dTemp = Math.Sqrt(dTemp) / (double)10; |
||
1696 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
||
1697 | Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
||
2287 | - | 1698 | break; |
2291 | - | 1699 | |
2287 | - | 1700 | case 31: //Sats used |
2424 | - | 1701 | Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
1702 | // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
||
2287 | - | 1703 | break; |
1704 | } |
||
1705 | } |
||
1706 | index++; |
||
1707 | } |
||
1708 | } |
||
1709 | else |
||
1710 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
1711 | } |
||
1712 | /// <summary> |
||
1713 | /// Version string 'V' |
||
1714 | /// </summary> |
||
1715 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
1716 | /// <param name="data">the received byte array to process</param> |
||
1717 | void _processVersion(byte adr, byte[] data) |
||
1718 | { |
||
1719 | if (data.Length == 12) |
||
1720 | { |
||
1721 | if (!check_HWError) |
||
1722 | { |
||
1723 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
1724 | string sVersion = ""; |
||
1725 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
1726 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
1727 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
1728 | Log(LogMsgType.Incoming, sVersion); |
||
1729 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
1730 | Log(LogMsgType.Incoming, sVersion); |
||
1731 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
1732 | } |
||
1733 | if (data[5] > 0) //error0 |
||
1734 | { |
||
1735 | if (adr == 1) |
||
2424 | - | 1736 | ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", ""); |
2287 | - | 1737 | if (adr == 2) |
2424 | - | 1738 | ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", ""); |
2287 | - | 1739 | } |
1740 | if (data[6] > 0) //error1 |
||
1741 | { |
||
1742 | if (adr == 1) |
||
2424 | - | 1743 | ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", ""); |
2287 | - | 1744 | if (adr == 2) |
2424 | - | 1745 | ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field |
2287 | - | 1746 | } |
2381 | - | 1747 | //if ((data[5] + data[6] == 0) && _bErrorLog) |
1748 | // _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
||
2287 | - | 1749 | |
1750 | } |
||
1751 | check_HWError = false; |
||
1752 | } |
||
2424 | - | 1753 | |
1754 | void _processLicense(byte[] data) |
||
1755 | { |
||
1756 | if (data.Length > 480) |
||
1757 | { |
||
1758 | Dispatcher.Invoke(() => { |
||
1759 | tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127)); |
||
1760 | tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127)); |
||
1761 | tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127)); |
||
1762 | tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11)); |
||
1763 | tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16)); |
||
1764 | }); |
||
1765 | } |
||
1766 | } |
||
2287 | - | 1767 | /// <summary> |
1768 | /// BL-Ctrl data 'K' |
||
1769 | /// for FC you have to use a customized firmware |
||
1770 | /// </summary> |
||
1771 | /// <param name="data">the received byte array to process</param> |
||
1772 | void _processBLCtrl(byte[] data) |
||
1773 | { |
||
1774 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
1775 | { |
||
1776 | bool bAvailable = false; |
||
1777 | for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
||
1778 | { |
||
1779 | |||
1780 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
1781 | bAvailable = true; |
||
1782 | else |
||
1783 | bAvailable = false; |
||
1784 | |||
1785 | if (data[i] < _iMotors) |
||
1786 | { |
||
1787 | if (bAvailable) |
||
1788 | { |
||
2315 | - | 1789 | dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
1790 | dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
2287 | - | 1791 | } |
1792 | else |
||
1793 | { |
||
2315 | - | 1794 | dtMotors.Rows[data[i]].SetField(1, "NA"); |
1795 | dtMotors.Rows[data[i]].SetField(2, "NA"); |
||
2287 | - | 1796 | } |
1797 | } |
||
1798 | //if (data[i] > 3 && data[i] < 8) |
||
1799 | //{ |
||
1800 | // if (bAvailable) |
||
1801 | // { |
||
1802 | // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
1803 | // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
1804 | // } |
||
1805 | // else |
||
1806 | // { |
||
1807 | // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
1808 | // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
1809 | // } |
||
1810 | //} |
||
1811 | } |
||
1812 | } |
||
1813 | } |
||
1814 | /// <summary> |
||
1815 | /// Navi-Ctrl data 'O' |
||
1816 | /// GPS-Position, capacatiy, flying time... |
||
1817 | /// </summary> |
||
1818 | /// <param name="data">the received byte array to process</param> |
||
1819 | void _processNCData(byte[] data) |
||
1820 | { |
||
1821 | int i_32, i_16, iVal; |
||
1822 | double d; |
||
1823 | i_32 = data[4]; |
||
1824 | iVal = i_32 << 24; |
||
1825 | i_32 = data[3]; |
||
1826 | iVal += i_32 << 16; |
||
1827 | i_32 = data[2]; |
||
1828 | iVal += i_32 << 8; |
||
1829 | iVal += data[1]; |
||
1830 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 1831 | Dispatcher.Invoke(() => { drGPX[2] = d; }); |
1832 | |||
2287 | - | 1833 | PointLatLng p = new PointLatLng(); |
1834 | |||
1835 | p.Lng = d; |
||
1836 | // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
1837 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
1838 | |||
1839 | i_32 = data[8]; |
||
1840 | iVal = i_32 << 24; |
||
1841 | i_32 = data[7]; |
||
1842 | iVal += i_32 << 16; |
||
1843 | i_32 = data[6]; |
||
1844 | iVal += i_32 << 8; |
||
1845 | iVal += data[5]; |
||
1846 | d = (double)iVal / Math.Pow(10, 7); |
||
2324 | - | 1847 | Dispatcher.Invoke(() => { drGPX[1] = d; }); |
1848 | Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
||
2287 | - | 1849 | p.Lat = d; |
2399 | - | 1850 | |
2291 | - | 1851 | if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
1852 | { |
||
1853 | _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
||
2295 | - | 1854 | if(_bAutoHome && !_bFirstSatFix) |
1855 | { |
||
1856 | if (_iFirstSatFix < 3) |
||
1857 | _iFirstSatFix++; |
||
1858 | else |
||
1859 | { |
||
1860 | _bFirstSatFix = true; |
||
2347 | - | 1861 | Dispatcher.Invoke(() => _setHomePos()); |
2295 | - | 1862 | } |
1863 | } |
||
2291 | - | 1864 | if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
1865 | { |
||
1866 | Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
||
1867 | _bAnimSatFixActive = false; |
||
1868 | } |
||
1869 | if (!_bFollowCopter) |
||
1870 | { |
||
1871 | _setCopterData(p); |
||
1872 | if (!MainMap.ViewArea.Contains(p)) |
||
1873 | Dispatcher.Invoke(() => MainMap.Position = p); |
||
2287 | - | 1874 | |
2291 | - | 1875 | } |
1876 | else |
||
2287 | - | 1877 | Dispatcher.Invoke(() => MainMap.Position = p); |
1878 | } |
||
1879 | else |
||
2291 | - | 1880 | { |
1881 | if(_bSatFix) |
||
1882 | { |
||
1883 | if (data[50] == _iSatsLast) |
||
1884 | { |
||
1885 | if (_iSatsJitter < 20) _iSatsJitter++; |
||
1886 | } |
||
1887 | else |
||
1888 | { |
||
1889 | _iSatsJitter = 0; |
||
1890 | _iSatsLast = data[50]; |
||
1891 | } |
||
2287 | - | 1892 | |
2291 | - | 1893 | if (_iSatsJitter == 20) |
1894 | { |
||
1895 | if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
||
1896 | { |
||
1897 | Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
||
1898 | _bAnimSatFixActive = true; |
||
1899 | } |
||
1900 | if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
||
1901 | { |
||
2405 | - | 1902 | _bVoiceSatFixActive = true; |
2398 | - | 1903 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3"); |
1904 | //Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
||
1905 | //th.Start(); |
||
2291 | - | 1906 | } |
1907 | |||
1908 | _bSatFix = false; |
||
1909 | } |
||
1910 | } |
||
1911 | } |
||
1912 | |||
2399 | - | 1913 | //Distance to next WP |
2287 | - | 1914 | i_16 = data[28]; |
1915 | i_16 = (Int16)(i_16 << 8); |
||
1916 | iVal = data[27] + i_16; |
||
2399 | - | 1917 | Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
1918 | Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m"))); |
||
2401 | - | 1919 | Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
2287 | - | 1920 | |
1921 | i_16 = data[45]; |
||
1922 | i_16 = (Int16)(i_16 << 8); |
||
1923 | iVal = data[44] + i_16; |
||
1924 | // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1925 | Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on |
||
1926 | |||
1927 | Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index |
||
2355 | - | 1928 | Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString())); |
2401 | - | 1929 | Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString())); |
2399 | - | 1930 | if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1) |
2342 | - | 1931 | { |
2347 | - | 1932 | _setActiveWP(data[48]-1); |
2355 | - | 1933 | if((data[67] & 2) == 2) |
1934 | Dispatcher.Invoke(() => { |
||
1935 | DataGridRow row; |
||
1936 | if (_wpIndex > -1) |
||
1937 | { |
||
1938 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex); |
||
1939 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
1940 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
1941 | row.BorderThickness = new Thickness(0); |
||
1942 | } |
||
1943 | _wpIndex = data[48] - 1; |
||
1944 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex); |
||
2366 | - | 1945 | row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
1946 | row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
||
2355 | - | 1947 | row.BorderThickness = new Thickness(2); |
1948 | dgvWP.UpdateLayout(); |
||
1949 | }); |
||
2347 | - | 1950 | _wpIndex = data[48]-1; |
2342 | - | 1951 | } |
2347 | - | 1952 | else |
1953 | { |
||
1954 | if ((data[48] == 0 || wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker)) |
||
2355 | - | 1955 | { |
2347 | - | 1956 | Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker)); |
2355 | - | 1957 | Dispatcher.Invoke(() => |
1958 | { |
||
1959 | DataGridRow row; |
||
2368 | - | 1960 | if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex) |
2355 | - | 1961 | { |
1962 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex); |
||
1963 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
1964 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
1965 | row.BorderThickness = new Thickness(0); |
||
1966 | _wpIndex = -1; |
||
1967 | } |
||
1968 | }); |
||
1969 | |||
1970 | } |
||
2347 | - | 1971 | } |
2342 | - | 1972 | |
2287 | - | 1973 | Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
2355 | - | 1974 | Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count |
2401 | - | 1975 | Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count |
2340 | - | 1976 | _wpCount = data[49]; |
2287 | - | 1977 | Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites |
1978 | |||
1979 | //--------------- Capacity used ------------------------ |
||
1980 | i_16 = data[81]; |
||
1981 | i_16 = (Int16)(i_16 << 8); |
||
1982 | iVal = data[80] + i_16; |
||
1983 | Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
||
1984 | Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
||
1985 | |||
2398 | - | 1986 | //--------------- Ground speed ------------------------ |
1987 | i_16 = data[59]; |
||
1988 | i_16 = (Int16)(i_16 << 8); |
||
1989 | iVal = data[58] + i_16; |
||
2399 | - | 1990 | Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
1991 | if(_Simulate) |
||
1992 | Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
||
2398 | - | 1993 | |
1994 | //--------------- Heading north ------------------------ |
||
1995 | i_16 = data[61]; |
||
1996 | i_16 = (Int16)(i_16 << 8); |
||
1997 | iVal = data[60] + i_16; |
||
1998 | Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °")); |
||
1999 | |||
2000 | //--------------- Heading compass ------------------------ |
||
2001 | i_16 = data[63]; |
||
2002 | i_16 = (Int16)(i_16 << 8); |
||
2003 | iVal = data[62] + i_16; |
||
2004 | Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °")); |
||
2399 | - | 2005 | if (_Simulate) |
2006 | { |
||
2007 | Dispatcher.Invoke(() => ArtHor.rotate = iVal); |
||
2008 | Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal); |
||
2009 | } |
||
2287 | - | 2010 | //--------------- Flying time ------------------------ |
2011 | i_16 = data[56]; |
||
2012 | i_16 = (Int16)(i_16 << 8); |
||
2013 | iVal = data[55] + i_16; |
||
2014 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
2015 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
2016 | Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
||
2017 | Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
||
2018 | |||
2019 | //--------------- RC quality ------------------------ |
||
2020 | Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
||
2021 | Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
||
2022 | |||
2291 | - | 2023 | if(data[66] > _iThresholdRC) |
2024 | { |
||
2025 | _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
||
2026 | if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
||
2027 | { |
||
2028 | Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
||
2029 | _bAnimRCLevelActive = false; |
||
2030 | } |
||
2031 | } |
||
2032 | else |
||
2033 | { |
||
2034 | if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
||
2035 | if (_iRCLevelJitter == 20) |
||
2036 | { |
||
2037 | if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
||
2038 | { |
||
2039 | Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
||
2040 | _bAnimRCLevelActive = true; |
||
2041 | } |
||
2042 | if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
||
2043 | { |
||
2405 | - | 2044 | _bVoiceRCLevelActive = true; |
2398 | - | 2045 | ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3"); |
2046 | //Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
||
2047 | //th.Start(); |
||
2291 | - | 2048 | } |
2049 | _iRCLevelJitter++; |
||
2050 | } |
||
2051 | } |
||
2052 | |||
2405 | - | 2053 | //Waypoint max range (by license) |
2054 | if(dWPMaxRange != (double)data[70]) |
||
2055 | { |
||
2056 | dWPMaxRange = (double)data[70]; |
||
2057 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true) |
||
2058 | { |
||
2059 | if (cWPBound != null && cWPBound.Tag != null) |
||
2060 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2061 | |||
2062 | createCircle(home.Position, dWPMaxRange); |
||
2408 | - | 2063 | Dispatcher.Invoke(() => |
2064 | { |
||
2065 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
2066 | { |
||
2067 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
2068 | cWPBound.setColor(s); |
||
2069 | } |
||
2070 | }); |
||
2405 | - | 2071 | } |
2072 | Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m")); |
||
2073 | } |
||
2399 | - | 2074 | //Target hold time |
2075 | Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s")); |
||
2401 | - | 2076 | Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s")); |
2399 | - | 2077 | |
2287 | - | 2078 | //--------------- NC Error ------------------------ |
2079 | Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
||
2080 | if (data[69] > 0) |
||
2081 | _readNCError(); |
||
2082 | if (data[69] > 0 & data[69] < 44) |
||
2381 | - | 2083 | ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]); |
2084 | //else |
||
2085 | // if (_bErrorLog) _clearErrorLog("NC Error"); |
||
2287 | - | 2086 | |
2298 | - | 2087 | //-------------FC / NC Status Flags |
2088 | Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
2089 | Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
||
2090 | Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
||
2091 | Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
||
2092 | Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2093 | Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
||
2094 | |||
2095 | Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2096 | Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2097 | Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
||
2098 | Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
||
2099 | Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
||
2100 | 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 |
||
2101 | Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
||
2102 | Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
||
2103 | |||
2104 | Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
||
2105 | Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
||
2106 | Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
||
2107 | Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
||
2108 | Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
||
2109 | Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
||
2110 | Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
||
2299 | - | 2111 | |
2112 | //Sidebar StatusSymbols |
||
2113 | Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
||
2114 | 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 |
||
2115 | 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 |
||
2116 | |||
2117 | Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
||
2118 | 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 |
||
2119 | 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 |
||
2120 | |||
2121 | Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
||
2304 | - | 2122 | 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 |
2123 | 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 | - | 2124 | |
2125 | Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
||
2126 | 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 |
||
2127 | 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 |
||
2128 | |||
2129 | Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
||
2304 | - | 2130 | 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 |
2131 | 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 |
||
2132 | 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 | - | 2133 | |
2324 | - | 2134 | _bAirborne = (data[67] & 2) == 2 ? true : false; |
2287 | - | 2135 | } |
2136 | /// <summary> |
||
2137 | /// Navi-Ctrl WP data struct 'X' |
||
2138 | /// called by index |
||
2139 | /// </summary> |
||
2140 | /// <param name="data">the received byte array to process</param> |
||
2141 | void _processWPData(byte[] data) |
||
2142 | { |
||
2313 | - | 2143 | _iWPCount = data[0]; |
2287 | - | 2144 | _bGetWPCount = false; |
2145 | if (data.Length >= 28) |
||
2146 | { |
||
2147 | Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
||
2148 | Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
||
2149 | if (_bGetWP) |
||
2150 | { |
||
2151 | if (data[1] == 1) |
||
2315 | - | 2152 | { |
2333 | - | 2153 | Dispatcher.Invoke(() => |
2154 | { |
||
2356 | - | 2155 | wpList.Clear(); |
2156 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
2157 | if (mRouteWP != null) |
||
2158 | MainMap.Markers.Remove(mRouteWP); |
||
2159 | if (wpActiveMarker != null) |
||
2160 | MainMap.Markers.Remove(wpActiveMarker); |
||
2161 | lblWPRouteDistance.Content = "0 m"; |
||
2162 | dtWaypoints.Rows.Clear(); |
||
2368 | - | 2163 | _wpEdit = -1;_wpIndex = -1; |
2318 | - | 2164 | }); |
2315 | - | 2165 | } |
2287 | - | 2166 | DataRow dr = dtWaypoints.NewRow(); |
2167 | dr = Waypoints.toDataRow(data, dr); |
||
2313 | - | 2168 | dtWaypoints.Rows.Add(dr); |
2363 | - | 2169 | _createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]); |
2313 | - | 2170 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
2171 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
||
2287 | - | 2172 | if (data[1] == data[0]) |
2173 | { |
||
2174 | _bGetWP = false; |
||
2368 | - | 2175 | _routeUpdate(); |
2287 | - | 2176 | } |
2177 | |||
2178 | } |
||
2179 | } |
||
2180 | else |
||
2181 | { |
||
2182 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
2183 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
2184 | } |
||
2185 | } |
||
2186 | /// <summary> |
||
2187 | /// OSD Menue 'L' |
||
2188 | /// single page called by pagenumber |
||
2189 | /// no autoupdate |
||
2190 | /// </summary> |
||
2191 | /// <param name="data">the received byte array to process</param> |
||
2192 | void _processOSDSingle(byte[] data) |
||
2193 | { |
||
2194 | if (data.Length == 84) |
||
2195 | { |
||
2196 | string sMessage = ""; |
||
2197 | iOSDPage = data[0]; |
||
2198 | iOSDMax = data[1]; |
||
2199 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
2200 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
2201 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
2202 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
2203 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
2204 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
2205 | Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
||
2206 | // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
2207 | |||
2208 | } |
||
2209 | //else |
||
2210 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
2211 | |||
2212 | } |
||
2213 | /// <summary> |
||
2214 | /// OSD Menue 'H' |
||
2215 | /// called by keys (0x01,0x02,0x03,0x04) |
||
2216 | /// autoupdate |
||
2217 | /// </summary> |
||
2218 | /// <param name="data">the received byte array to process</param> |
||
2219 | void _processOSDAuto(byte[] data) |
||
2220 | { |
||
2221 | if (data.Length == 81) |
||
2222 | { |
||
2223 | string sMessage = ""; |
||
2224 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
2225 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
||
2226 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
||
2227 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
||
2228 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
||
2229 | |||
2230 | } |
||
2231 | //else |
||
2232 | // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
2233 | } |
||
2234 | |||
2235 | #endregion processing received data |
||
2236 | |||
2237 | #region controller messages |
||
2238 | /// <summary> send message to controller to request data |
||
2239 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
2240 | /// </summary> |
||
2241 | /// <param name="CMDID"> the command ID </param> |
||
2242 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
2243 | private void _sendControllerMessage(char CMDID, byte address) |
||
2244 | { |
||
2245 | if (serialPortCtrl.Port.IsOpen) |
||
2246 | { |
||
2247 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2248 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
2249 | serialStream.Write(bytes, 0, bytes.Length); |
||
2250 | |||
2251 | } |
||
2252 | else |
||
2253 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2254 | } |
||
2255 | /// <summary> send message to controller to request data |
||
2256 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
2257 | /// </summary> |
||
2258 | /// <param name="CMDID"> the command ID </param> |
||
2259 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
2260 | /// <param name="data"> additional data for the request</param> |
||
2261 | private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
||
2262 | { |
||
2263 | if (serialPortCtrl.Port.IsOpen) |
||
2264 | { |
||
2265 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2266 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
||
2267 | serialStream.Write(bytes, 0, bytes.Length); |
||
2268 | |||
2269 | } |
||
2270 | else |
||
2271 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2272 | } |
||
2273 | |||
2274 | /// <summary> |
||
2275 | /// start/stop continous polling of controller values |
||
2276 | /// </summary> |
||
2277 | /// <param name="b">start/stop switch</param> |
||
2278 | void _readCont(bool b) |
||
2279 | { |
||
2280 | bReadContinously = b; |
||
2281 | if (bReadContinously) |
||
2282 | { |
||
2283 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
||
2284 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
2285 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
2286 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
||
2287 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
||
2288 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
||
2289 | } |
||
2290 | else |
||
2291 | { |
||
2292 | // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
||
2293 | Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
||
2294 | _bConnErr = false; |
||
2295 | } |
||
2296 | _iLifeCounter = 0; |
||
2297 | } |
||
2298 | |||
2299 | private void _getVersion() |
||
2300 | { |
||
2301 | _sendControllerMessage('v', 0); |
||
2302 | } |
||
2303 | /// <summary> |
||
2304 | /// get FC version struct via NC |
||
2305 | /// by sending '1' as data (not documented in wiki...) |
||
2306 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
2307 | /// </summary> |
||
2308 | /// <param name="ctrl">controller number 1=FC</param> |
||
2309 | private void _getVersion(byte ctrl) |
||
2310 | { |
||
2311 | _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
||
2312 | } |
||
2313 | /// <summary> |
||
2314 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
2315 | /// </summary> |
||
2316 | private void _switchToNC() |
||
2317 | { |
||
2318 | if (serialPortCtrl.Port.IsOpen) |
||
2319 | { |
||
2320 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2321 | byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
||
2322 | serialStream.Write(bytes, 0, bytes.Length); |
||
2323 | |||
2324 | Thread.Sleep(100); |
||
2325 | _getVersion(); |
||
2326 | Thread.Sleep(100); |
||
2424 | - | 2327 | _getLic(); |
2287 | - | 2328 | // _OSDMenue(0); |
2329 | } |
||
2330 | else |
||
2331 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2332 | } |
||
2333 | /// <summary> |
||
2334 | /// switch to FC |
||
2335 | /// </summary> |
||
2336 | private void _switchToFC() |
||
2337 | { |
||
2338 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
2339 | Thread.Sleep(100); |
||
2340 | _getVersion(); |
||
2341 | Thread.Sleep(100); |
||
2342 | // _OSDMenue(0); |
||
2343 | } |
||
2344 | /// <summary> |
||
2345 | /// send RESET signal to FC |
||
2346 | /// </summary> |
||
2347 | private void _resetCtrl() |
||
2348 | { |
||
2349 | _sendControllerMessage('R', 1); |
||
2350 | } |
||
2351 | /// <summary> |
||
2352 | /// poll the debug data (4sec subscription) |
||
2353 | /// </summary> |
||
2354 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2355 | private void _readDebugData(bool auto) |
||
2356 | { |
||
2357 | byte interval = auto ? debugInterval : (byte)0; |
||
2358 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
2359 | } |
||
2360 | /// <summary> |
||
2361 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
2362 | /// </summary> |
||
2363 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2364 | private void _readBLCtrl(bool auto) |
||
2365 | { |
||
2366 | byte interval = auto ? blctrlInterval : (byte)0; |
||
2367 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
2368 | } |
||
2369 | /// <summary> |
||
2370 | /// poll the NC data struct (4sec subscription) |
||
2371 | /// </summary> |
||
2372 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
2373 | private void _readNavData(bool auto) |
||
2374 | { |
||
2375 | byte interval = auto ? navctrlInterval : (byte)0; |
||
2376 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
2377 | } |
||
2378 | /// <summary> |
||
2424 | - | 2379 | /// request the license info |
2380 | /// </summary> |
||
2381 | void _getLic() |
||
2382 | { |
||
2383 | if (serialPortCtrl.Port.IsOpen) |
||
2384 | { |
||
2385 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2386 | byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 }); |
||
2387 | serialStream.Write(bytes, 0, bytes.Length); |
||
2388 | } |
||
2389 | else |
||
2390 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2391 | |||
2392 | } |
||
2393 | /// <summary> |
||
2287 | - | 2394 | /// get the errortext for pending NC error |
2395 | /// </summary> |
||
2396 | private void _readNCError() |
||
2397 | { |
||
2398 | _sendControllerMessage('e', 2); |
||
2399 | } |
||
2400 | /// <summary> |
||
2401 | /// request the Waypoint at index |
||
2402 | /// </summary> |
||
2403 | /// <param name="index"></param> |
||
2404 | void _getpWP(int index) |
||
2405 | { |
||
2406 | if (serialPortCtrl.Port.IsOpen) |
||
2407 | { |
||
2408 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2409 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
2410 | serialStream.Write(bytes, 0, bytes.Length); |
||
2411 | } |
||
2412 | else |
||
2413 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2414 | |||
2415 | } |
||
2416 | void _getWP() |
||
2417 | { |
||
2335 | - | 2418 | int iTimeout = 0; |
2287 | - | 2419 | _bGetWPCount = true; |
2315 | - | 2420 | _getpWP(1); //get the itemscount of wp |
2335 | - | 2421 | while (_bGetWPCount & iTimeout < _iWPTimeout * 5) |
2422 | { |
||
2423 | Thread.Sleep(10); |
||
2424 | iTimeout++; |
||
2425 | } |
||
2426 | if (_iWPCount > 0 & !_bGetWPCount) |
||
2287 | - | 2427 | _getWPList(); |
2428 | } |
||
2429 | void _getWPList() |
||
2430 | { |
||
2431 | _bGetWP = true; |
||
2313 | - | 2432 | int iTimeout=0; |
2433 | for (int j = 0; j < _iWPCount; j++) |
||
2287 | - | 2434 | { |
2435 | _getpWP(j + 1); |
||
2313 | - | 2436 | iTimeout = 0; |
2437 | while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
||
2438 | { |
||
2439 | Thread.Sleep(1); |
||
2440 | iTimeout++; |
||
2441 | } |
||
2287 | - | 2442 | } |
2419 | - | 2443 | Dispatcher.Invoke(() => |
2444 | { |
||
2445 | // MainMap.ZoomAndCenterMarkers(null); |
||
2446 | MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]); |
||
2447 | MainMap.Zoom = 19; |
||
2448 | }); |
||
2287 | - | 2449 | } |
2363 | - | 2450 | /// <summary> |
2451 | /// Wrapper for _clearCopterWPList() |
||
2452 | /// necessary, cause it is called by threadnew which does not like return values... |
||
2453 | /// </summary> |
||
2340 | - | 2454 | void clearCopterWPList() |
2313 | - | 2455 | { |
2340 | - | 2456 | _clearCopterWPList(); |
2457 | } |
||
2363 | - | 2458 | /// <summary> |
2459 | /// clear the WP list of the copter |
||
2460 | /// by sending 'invalid' and index '0' |
||
2461 | /// </summary> |
||
2462 | /// <returns></returns> |
||
2340 | - | 2463 | bool _clearCopterWPList() |
2464 | { |
||
2335 | - | 2465 | int iTimeout = 0; |
2313 | - | 2466 | if (serialPortCtrl.Port.IsOpen) |
2467 | { |
||
2468 | byte[] bData = new byte[30]; |
||
2469 | for (int i = 0; i < 30; i++) |
||
2470 | bData[i] = 0; |
||
2471 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2472 | byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
||
2473 | serialStream.Write(bytes, 0, bytes.Length); |
||
2287 | - | 2474 | |
2313 | - | 2475 | _iWPCount = -1; |
2340 | - | 2476 | while (_iWPCount == -1 & iTimeout < _iWPTimeout) |
2335 | - | 2477 | { |
2313 | - | 2478 | Thread.Sleep(10); |
2335 | - | 2479 | iTimeout++; |
2480 | } |
||
2313 | - | 2481 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
2335 | - | 2482 | if (_iWPCount > -1) |
2340 | - | 2483 | return true; |
2484 | else |
||
2485 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2486 | } |
||
2487 | else |
||
2488 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2489 | |||
2490 | return false; |
||
2491 | } |
||
2492 | void _sendWPList() |
||
2493 | { |
||
2362 | - | 2494 | _sendWPList(0); |
2495 | } |
||
2496 | void _sendWPList(int iStart) |
||
2497 | { |
||
2340 | - | 2498 | int iTimeout = 0; |
2499 | if (serialPortCtrl.Port.IsOpen) |
||
2500 | { |
||
2501 | if (_clearCopterWPList()) |
||
2313 | - | 2502 | { |
2362 | - | 2503 | int k = 1; |
2504 | for (int i = iStart; i < dtWaypoints.Rows.Count; i++) |
||
2335 | - | 2505 | { |
2362 | - | 2506 | k = iStart > 0 ? k : -1; |
2376 | - | 2507 | _sendWayPoint(dtWaypoints.Rows[i], k, 'w',false); |
2313 | - | 2508 | |
2335 | - | 2509 | _iWPCount = -1; |
2510 | iTimeout = 0; |
||
2511 | while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
||
2512 | { |
||
2513 | Thread.Sleep(10); |
||
2514 | iTimeout++; |
||
2515 | } |
||
2516 | if (_iWPCount == -1) |
||
2517 | { |
||
2518 | Log(LogMsgType.Error, "Timeout while sending list!"); |
||
2519 | break; |
||
2520 | } |
||
2521 | Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
||
2362 | - | 2522 | k++; |
2335 | - | 2523 | } |
2313 | - | 2524 | } |
2525 | } |
||
2526 | else |
||
2527 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2528 | |||
2529 | } |
||
2376 | - | 2530 | bool _sendWayPoint(DataRow dr, int index, char command,bool bSim) |
2340 | - | 2531 | { |
2313 | - | 2532 | |
2340 | - | 2533 | if (serialPortCtrl.Port.IsOpen) |
2534 | { |
||
2535 | byte[] bData = new byte[30]; |
||
2536 | for (int i = 0; i < 30; i++) |
||
2537 | bData[i] = 0; |
||
2538 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2539 | byte[] bytes; |
||
2540 | int iVal; |
||
2541 | double dVal; |
||
2542 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
2543 | nfi.NumberDecimalSeparator = ","; |
||
2544 | |||
2545 | //longitude |
||
2546 | dVal = Convert.ToDouble(dr[4], nfi); |
||
2547 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2548 | bData[0] = (byte)(iVal & 0xff); |
||
2549 | bData[1] = (byte)((iVal >> 8) & 0xff); |
||
2550 | bData[2] = (byte)((iVal >> 16) & 0xff); |
||
2551 | bData[3] = (byte)(iVal >> 24); |
||
2552 | //latitude |
||
2553 | dVal = Convert.ToDouble(dr[3], nfi); |
||
2554 | iVal = (int)(dVal * Math.Pow(10, 7)); |
||
2555 | bData[4] = (byte)(iVal & 0xff); |
||
2556 | bData[5] = (byte)((iVal >> 8) & 0xff); |
||
2557 | bData[6] = (byte)((iVal >> 16) & 0xff); |
||
2558 | bData[7] = (byte)(iVal >> 24); |
||
2559 | //altitude |
||
2560 | dVal = Convert.ToDouble(dr[5], nfi); |
||
2561 | iVal = (int)(dVal * 10); |
||
2562 | bData[8] = (byte)(iVal & 0xff); |
||
2563 | bData[9] = (byte)((iVal >> 8) & 0xff); |
||
2564 | bData[10] = (byte)((iVal >> 16) & 0xff); |
||
2565 | bData[11] = (byte)(iVal >> 24); |
||
2376 | - | 2566 | if(bSim) |
2567 | bData[12] = 3; //Status 'SIMULATE' |
||
2340 | - | 2568 | //Status 'NEWDATA' |
2376 | - | 2569 | else |
2570 | bData[12] = 1; |
||
2340 | - | 2571 | //heading |
2572 | iVal = Convert.ToInt16(dr[6]); |
||
2573 | bData[13] = (byte)(iVal & 0xff); |
||
2574 | bData[14] = (byte)((iVal >> 8) & 0xff); |
||
2575 | //ToleranceRadius |
||
2576 | bData[15] = Convert.ToByte(dr[9]); |
||
2577 | //HoldTime |
||
2578 | bData[16] = Convert.ToByte(dr[10]); |
||
2579 | //Event_Flag |
||
2580 | bData[17] = Convert.ToByte(dr[13]); |
||
2581 | //Index |
||
2379 | - | 2582 | bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]); |
2340 | - | 2583 | //Type |
2584 | bData[19] = Convert.ToByte(dr[1]); |
||
2585 | //WP_EventChannelValue |
||
2586 | bData[20] = Convert.ToByte(dr[14]); |
||
2587 | //AltitudeRate |
||
2588 | bData[21] = Convert.ToByte(dr[8]); |
||
2589 | //Speed |
||
2590 | bData[22] = Convert.ToByte(dr[7]); |
||
2591 | //CamAngle |
||
2592 | bData[23] = (byte)Convert.ToInt16(dr[12]); |
||
2593 | //Name |
||
2362 | - | 2594 | string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2]; |
2595 | byte[] name = ASCIIEncoding.ASCII.GetBytes(s); |
||
2340 | - | 2596 | bData[24] = name.Length > 0 ? name[0] : (byte)0; |
2597 | bData[25] = name.Length > 1 ? name[1] : (byte)0; |
||
2598 | bData[26] = name.Length > 2 ? name[2] : (byte)0; |
||
2599 | bData[27] = name.Length > 3 ? name[3] : (byte)0; |
||
2600 | //Autotrigger |
||
2601 | bData[28] = Convert.ToByte(dr[11]); |
||
2602 | |||
2356 | - | 2603 | bytes = FlightControllerMessage.CreateMessage(command, 2, bData); |
2340 | - | 2604 | serialStream.Write(bytes, 0, bytes.Length); |
2605 | |||
2606 | return true; |
||
2607 | } |
||
2608 | |||
2609 | return false; |
||
2610 | } |
||
2287 | - | 2611 | #region OSD-Menue |
2612 | |||
2613 | /// <summary> |
||
2614 | /// one time query of the OSD Menue with pagenumber |
||
2615 | /// </summary> |
||
2616 | /// <param name="iMenue">Menue page</param> |
||
2617 | void _OSDMenue(int iMenue) |
||
2618 | { |
||
2619 | if (serialPortCtrl.Port.IsOpen) |
||
2620 | { |
||
2621 | if (iMenue > iOSDMax) |
||
2622 | iMenue = 0; |
||
2623 | Stream serialStream = serialPortCtrl.Port.BaseStream; |
||
2624 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
2625 | serialStream.Write(bytes, 0, bytes.Length); |
||
2626 | } |
||
2627 | else |
||
2628 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
2629 | |||
2630 | } |
||
2631 | /// <summary> |
||
2632 | /// call the OSDMenue and start autorefresh |
||
2633 | /// usually by sending a menuekey |
||
2634 | /// 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) |
||
2635 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
2636 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
2637 | /// </summary> |
||
2638 | void _OSDMenueAutoRefresh() |
||
2639 | { |
||
2640 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
||
2641 | } |
||
2642 | void _OSDMenueAutoRefresh(byte key) |
||
2643 | { |
||
2644 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
2645 | } |
||
2646 | /// <summary> |
||
2647 | /// initialize the OSD menue combobox |
||
2648 | /// combox is filled by numbers from 0 to max pagenumber |
||
2649 | /// </summary> |
||
2650 | void _initOSDCB() |
||
2651 | { |
||
2652 | _bCBInit = true; |
||
2653 | if (iOSDMax == 0) |
||
2654 | { |
||
2655 | _OSDMenue(0); |
||
2656 | Thread.Sleep(10); |
||
2657 | } |
||
2658 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
||
2659 | for (int i = 0; i <= iOSDMax; i++) |
||
2660 | { |
||
2661 | Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
2662 | } |
||
2663 | Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
2664 | _bCBInit = false; |
||
2665 | } |
||
2666 | private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
||
2667 | { |
||
2668 | iOSDPage++; |
||
2669 | if (iOSDPage > iOSDMax) |
||
2670 | iOSDPage = 0; |
||
2671 | |||
2672 | _OSDMenue(iOSDPage); |
||
2673 | } |
||
2674 | private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
||
2675 | { |
||
2676 | iOSDPage--; |
||
2677 | if (iOSDPage < 0) |
||
2678 | iOSDPage = iOSDMax; |
||
2679 | |||
2680 | _OSDMenue(iOSDPage); |
||
2681 | } |
||
2682 | private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
||
2683 | { |
||
2684 | _OSDMenueAutoRefresh(8); |
||
2685 | } |
||
2686 | private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
||
2687 | { |
||
2688 | _OSDMenueAutoRefresh(4); |
||
2689 | } |
||
2690 | private void cbOSD_DropDownClosing(object sender, EventArgs e) |
||
2691 | { |
||
2692 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
||
2693 | _OSDMenue(cbOSD.SelectedIndex); |
||
2694 | } |
||
2695 | private void OSD(LogMsgType msgtype, string msg, bool bNew) |
||
2696 | { |
||
2697 | Dispatcher.Invoke(() => |
||
2698 | { |
||
2699 | TextRange tr; |
||
2700 | if (bNew) |
||
2701 | { |
||
2702 | rtfOSD.SelectAll(); |
||
2703 | rtfOSD.Selection.Text = string.Empty; |
||
2704 | } |
||
2705 | tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
||
2706 | tr.Text = msg; |
||
2707 | tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
||
2708 | // rtfOSD.AppendText("\r"); |
||
2709 | rtfOSD.ScrollToEnd(); |
||
2710 | |||
2711 | }); |
||
2712 | } |
||
2713 | |||
2714 | #endregion OSD-Menue |
||
2715 | |||
2716 | #endregion controller messages |
||
2717 | |||
2398 | - | 2718 | void _mediaPlayer(object file) |
2295 | - | 2719 | { |
2405 | - | 2720 | Monitor.TryEnter(lockObj); |
2721 | try |
||
2295 | - | 2722 | { |
2405 | - | 2723 | if (File.Exists((string)file)) |
2724 | { |
||
2725 | |||
2726 | mediaPlayer.Open((string)file); |
||
2727 | mediaPlayer.Play(); |
||
2728 | } |
||
2729 | |||
2295 | - | 2730 | } |
2405 | - | 2731 | finally |
2732 | { |
||
2733 | Monitor.Exit(lockObj); |
||
2734 | } |
||
2295 | - | 2735 | } |
2310 | - | 2736 | |
2362 | - | 2737 | #region ui |
2310 | - | 2738 | /// <summary> |
2739 | /// Switch between fullscreen and normal window mode |
||
2740 | /// save & restore scaling settings |
||
2741 | /// </summary> |
||
2742 | /// <param name="sender"></param> |
||
2743 | /// <param name="e"></param> |
||
2287 | - | 2744 | private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
2745 | { |
||
2746 | if (winState.isMaximized) |
||
2747 | { |
||
2748 | winState.Restore(this); |
||
2749 | imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
||
2750 | if(_bSaveWinStateFull) |
||
2751 | _saveScaleSliders(true); |
||
2752 | if(_bSaveWinStateNormal) |
||
2753 | _setScaleSliders(false); |
||
2754 | } |
||
2755 | else |
||
2756 | { |
||
2757 | winState.Maximize(this); |
||
2758 | imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
||
2759 | if(_bSaveWinStateNormal) |
||
2760 | _saveScaleSliders(false); |
||
2761 | if(_bSaveWinStateFull) |
||
2762 | _setScaleSliders(true); |
||
2763 | } |
||
2764 | } |
||
2765 | |||
2766 | /// <summary> |
||
2767 | /// reset the scaling of all UI elements to default |
||
2768 | /// </summary> |
||
2769 | /// <param name="sender"></param> |
||
2770 | /// <param name="e"></param> |
||
2771 | private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
||
2772 | { |
||
2773 | UIScaleHorizonSlider.Value = |
||
2774 | UIScaleLOGSlider.Value = |
||
2775 | UIScaleMotorsSlider.Value = |
||
2776 | UIScaleOSDSlider.Value = |
||
2777 | UIScaleSlider.Value = |
||
2778 | UIScaleTopSlider.Value = 1; |
||
2779 | } |
||
2780 | /// <summary> |
||
2781 | /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
||
2782 | /// </summary> |
||
2783 | /// <param name="sender"></param> |
||
2784 | /// <param name="e"></param> |
||
2785 | private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
2786 | { |
||
2787 | GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
||
2788 | if (GridMotors != null) |
||
2789 | GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
||
2790 | if (GridSideBar != null) |
||
2791 | GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
||
2401 | - | 2792 | if (WPStatus != null) |
2793 | WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom); |
||
2287 | - | 2794 | if (GridOSD != null) |
2401 | - | 2795 | { |
2796 | if(WPStatus.Visibility == Visibility.Visible) |
||
2797 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2798 | else |
||
2799 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2800 | } |
||
2287 | - | 2801 | if (GridData != null) |
2802 | GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
||
2803 | if (GridWP != null) |
||
2804 | GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
||
2805 | } |
||
2419 | - | 2806 | private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
2807 | { |
||
2808 | if (!_init) |
||
2809 | { |
||
2810 | if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible)) |
||
2811 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2812 | else |
||
2813 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
2814 | } |
||
2815 | } |
||
2816 | |||
2310 | - | 2817 | /// <summary> |
2818 | /// restore the saved scalings for the fullscreen/normal window mode |
||
2819 | /// </summary> |
||
2820 | /// <param name="bFull">the mode the window is set to</param> |
||
2287 | - | 2821 | void _setScaleSliders(bool bFull) |
2822 | { |
||
2823 | if(bFull) |
||
2824 | { |
||
2825 | UIScaleSlider.Value = scaleFullAll; |
||
2826 | UIScaleTopSlider.Value = scaleFullTopBar; |
||
2827 | UIScaleMotorsSlider.Value = scaleFullMotors; |
||
2828 | UIScaleOSDSlider.Value = scaleFullOSD; |
||
2829 | UIScaleLOGSlider.Value = scaleFullLOG; |
||
2830 | UIScaleHorizonSlider.Value = scaleFullHorizon; |
||
2831 | } |
||
2832 | else |
||
2833 | { |
||
2834 | UIScaleSlider.Value = scaleNormalAll; |
||
2835 | UIScaleTopSlider.Value = scaleNormalTopBar; |
||
2836 | UIScaleMotorsSlider.Value = scaleNormalMotors; |
||
2837 | UIScaleOSDSlider.Value = scaleNormalOSD; |
||
2838 | UIScaleLOGSlider.Value = scaleNormalLOG; |
||
2839 | UIScaleHorizonSlider.Value = scaleNormalHorizon; |
||
2840 | } |
||
2841 | } |
||
2842 | |||
2310 | - | 2843 | /// <summary> |
2844 | /// save the scalings for the actual window mode |
||
2845 | /// </summary> |
||
2846 | /// <param name="bFull">the actual window mode</param> |
||
2287 | - | 2847 | void _saveScaleSliders(bool bFull) |
2848 | { |
||
2849 | |||
2850 | if (bFull) |
||
2851 | { |
||
2852 | scaleFullAll = UIScaleSlider.Value; |
||
2853 | scaleFullTopBar = UIScaleTopSlider.Value; |
||
2854 | scaleFullMotors = UIScaleMotorsSlider.Value; |
||
2855 | scaleFullOSD = UIScaleOSDSlider.Value; |
||
2856 | scaleFullLOG = UIScaleLOGSlider.Value; |
||
2857 | scaleFullHorizon = UIScaleHorizonSlider.Value; |
||
2858 | } |
||
2859 | else |
||
2860 | { |
||
2861 | scaleNormalAll = UIScaleSlider.Value; |
||
2862 | scaleNormalTopBar = UIScaleTopSlider.Value; |
||
2863 | scaleNormalMotors = UIScaleMotorsSlider.Value; |
||
2864 | scaleNormalOSD = UIScaleOSDSlider.Value; |
||
2865 | scaleNormalLOG = UIScaleLOGSlider.Value; |
||
2866 | scaleNormalHorizon = UIScaleHorizonSlider.Value; |
||
2867 | } |
||
2868 | } |
||
2362 | - | 2869 | #endregion ui |
2287 | - | 2870 | |
2871 | /// <summary> |
||
2872 | /// read settings from ini-file |
||
2873 | /// </summary> |
||
2874 | void _readIni() |
||
2875 | { |
||
2876 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
2877 | _writeIni(); |
||
2878 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
2879 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
2312 | - | 2880 | try |
2881 | { |
||
2287 | - | 2882 | |
2312 | - | 2883 | string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
2884 | if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
2885 | sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
||
2886 | if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2887 | sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
||
2888 | if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
2889 | sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
||
2890 | if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
2287 | - | 2891 | |
2312 | - | 2892 | sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
2893 | if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
||
2894 | sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
||
2895 | if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2896 | sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
||
2897 | if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
2898 | sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
||
2899 | if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2287 | - | 2900 | |
2312 | - | 2901 | sVal = ini.IniReadValue("topBar", "voltage"); |
2902 | if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
||
2903 | sVal = ini.IniReadValue("topBar", "capacity"); |
||
2904 | if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
||
2905 | sVal = ini.IniReadValue("topBar", "current"); |
||
2906 | if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
||
2907 | sVal = ini.IniReadValue("topBar", "flightTime"); |
||
2908 | if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
||
2909 | sVal = ini.IniReadValue("topBar", "distanceHP"); |
||
2910 | if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
||
2911 | sVal = ini.IniReadValue("topBar", "height"); |
||
2912 | if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
||
2913 | sVal = ini.IniReadValue("topBar", "speed"); |
||
2914 | if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
||
2915 | sVal = ini.IniReadValue("topBar", "magneticField"); |
||
2916 | if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
||
2917 | sVal = ini.IniReadValue("topBar", "satellites"); |
||
2918 | if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
||
2919 | sVal = ini.IniReadValue("topBar", "rc"); |
||
2920 | if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2921 | |
2312 | - | 2922 | sVal = ini.IniReadValue("style", "saveFullScreen"); |
2923 | if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
||
2924 | sVal = ini.IniReadValue("style", "saveNormalState"); |
||
2925 | if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
||
2287 | - | 2926 | |
2312 | - | 2927 | sVal = ini.IniReadValue("style", "scaleNormalAll"); |
2928 | if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
||
2929 | sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
||
2930 | if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
||
2931 | sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
||
2932 | if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
||
2933 | sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
||
2934 | if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
||
2935 | sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
||
2936 | if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
||
2937 | sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
||
2938 | if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2939 | |
2312 | - | 2940 | sVal = ini.IniReadValue("style", "scaleFullAll"); |
2941 | if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
||
2942 | sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
||
2943 | if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
||
2944 | sVal = ini.IniReadValue("style", "scaleFullMotors"); |
||
2945 | if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
||
2946 | sVal = ini.IniReadValue("style", "scaleFullOSD"); |
||
2947 | if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
||
2948 | sVal = ini.IniReadValue("style", "scaleFullLOG"); |
||
2949 | if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
||
2950 | sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
||
2951 | if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
||
2287 | - | 2952 | |
2312 | - | 2953 | sVal = ini.IniReadValue("general", "LiPoCells"); |
2954 | _LipoCells = Convert.ToInt16(sVal); |
||
2955 | sVal = ini.IniReadValue("general", "Motors"); |
||
2956 | if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
||
2287 | - | 2957 | |
2312 | - | 2958 | sVal = ini.IniReadValue("map", "followMe"); |
2959 | if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
||
2960 | sVal = ini.IniReadValue("map", "AutoSetHome"); |
||
2961 | if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
||
2324 | - | 2962 | sVal = ini.IniReadValue("map", "GPXLog"); |
2963 | if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal); |
||
2287 | - | 2964 | |
2312 | - | 2965 | sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
2966 | if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
||
2967 | sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
||
2968 | if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
||
2969 | sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
||
2970 | if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
||
2971 | sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
||
2972 | if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
||
2973 | sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
||
2974 | if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
||
2975 | sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
||
2976 | if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
||
2977 | sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
||
2978 | if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
||
2979 | sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
||
2980 | if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
||
2981 | sVal = ini.IniReadValue("threshold", "MaxDistance"); |
||
2982 | if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
||
2983 | sVal = ini.IniReadValue("threshold", "RCThreshold"); |
||
2984 | if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
||
2985 | sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
||
2986 | if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
||
2321 | - | 2987 | |
2988 | sVal = ini.IniReadValue("waypoints", "wpcolor"); |
||
2989 | if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2990 | sVal = ini.IniReadValue("waypoints", "poicolor"); |
||
2991 | if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2992 | sVal = ini.IniReadValue("waypoints", "fscolor"); |
||
2993 | if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2994 | sVal = ini.IniReadValue("waypoints", "coptercolor"); |
||
2995 | if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2385 | - | 2996 | sVal = ini.IniReadValue("waypoints", "copterheadingcolor"); |
2997 | if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2379 | - | 2998 | sVal = ini.IniReadValue("waypoints", "landingcolor"); |
2999 | if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2328 | - | 3000 | sVal = ini.IniReadValue("waypoints", "routecolor"); |
3001 | if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal); |
||
3002 | sVal = ini.IniReadValue("waypoints", "showWPRoute"); |
||
3003 | if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal); |
||
2408 | - | 3004 | sVal = ini.IniReadValue("waypoints", "showWPMaxRange"); |
3005 | if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal); |
||
3006 | sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor"); |
||
3007 | if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal); |
||
2349 | - | 3008 | |
3009 | for (int i = 0; i < 12; i++) |
||
3010 | { |
||
3011 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val"); |
||
3012 | if (sVal != "") |
||
3013 | serChan[i] = Convert.ToInt16(sVal); |
||
3014 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title"); |
||
3015 | if (sVal != "") |
||
3016 | serChanTitle[i] = sVal; |
||
3017 | for (int y = 0; i < 4 && y < 3; y++) |
||
3018 | { |
||
3019 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString()); |
||
3020 | if (sVal != "") |
||
3021 | serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal); |
||
3022 | } |
||
3023 | } |
||
3024 | |||
2312 | - | 3025 | } |
3026 | catch (Exception e) |
||
3027 | { |
||
2287 | - | 3028 | |
2312 | - | 3029 | MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
3030 | } |
||
3031 | |||
2287 | - | 3032 | } |
3033 | |||
3034 | /// <summary> |
||
3035 | /// save settings to ini-file |
||
3036 | /// </summary> |
||
3037 | void _writeIni() |
||
3038 | { |
||
3039 | |||
3040 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
3041 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
3042 | |||
2312 | - | 3043 | try |
3044 | { |
||
2287 | - | 3045 | |
2312 | - | 3046 | ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
3047 | ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
||
3048 | ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
||
3049 | ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
||
2287 | - | 3050 | |
2312 | - | 3051 | ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
3052 | ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
3053 | ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
3054 | ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
||
2287 | - | 3055 | |
2312 | - | 3056 | ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
3057 | ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
||
2287 | - | 3058 | |
2312 | - | 3059 | ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
3060 | ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
||
2324 | - | 3061 | ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString()); |
2287 | - | 3062 | |
2312 | - | 3063 | ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
3064 | ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
||
3065 | ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
||
3066 | ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
||
3067 | ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
||
3068 | ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
||
3069 | ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
||
3070 | ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
||
3071 | ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
||
3072 | ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
||
2287 | - | 3073 | |
2312 | - | 3074 | ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
3075 | ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
||
2287 | - | 3076 | |
2312 | - | 3077 | ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
3078 | ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
||
3079 | ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
||
3080 | ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
||
3081 | ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
||
3082 | ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
||
2287 | - | 3083 | |
2312 | - | 3084 | ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
3085 | ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
||
3086 | ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
||
3087 | ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
||
3088 | ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
||
3089 | ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
||
2287 | - | 3090 | |
2312 | - | 3091 | ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
3092 | |||
3093 | ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
||
3094 | ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
||
3095 | ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
||
3096 | ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
||
3097 | ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
||
3098 | ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
||
3099 | ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
||
3100 | ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
||
3101 | ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
||
3102 | ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
||
3103 | ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
||
2321 | - | 3104 | |
3105 | ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString()); |
||
3106 | ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString()); |
||
3107 | ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString()); |
||
3108 | ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString()); |
||
2385 | - | 3109 | ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString()); |
2379 | - | 3110 | ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString()); |
2328 | - | 3111 | ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString()); |
3112 | ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString()); |
||
2408 | - | 3113 | ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString()); |
3114 | ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString()); |
||
2349 | - | 3115 | |
3116 | for (int i = 0; i < 12; i++) |
||
3117 | { |
||
3118 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString()); |
||
3119 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]); |
||
3120 | for (int y = 0; i < 4 && y < 3; y++) |
||
3121 | { |
||
3122 | ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString()); |
||
3123 | } |
||
3124 | } |
||
3125 | |||
2312 | - | 3126 | } |
3127 | catch (Exception e) |
||
3128 | { |
||
3129 | |||
3130 | 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); |
||
3131 | } |
||
2287 | - | 3132 | } |
2350 | - | 3133 | |
2349 | - | 3134 | #region serial channels |
3135 | /// <summary> |
||
3136 | /// Sending the serial channel values |
||
3137 | /// </summary> |
||
3138 | void _sendSerialData() |
||
3139 | { |
||
3140 | byte[] serData = new byte[12]; |
||
3141 | for (int i = 0; i < 12; i++) |
||
3142 | { |
||
3143 | serData[i] = unchecked((byte)(serChan[i] - 127)); |
||
3144 | } |
||
3145 | _sendControllerMessage('y', 1, serData); |
||
3146 | } |
||
3147 | /// <summary> |
||
3148 | /// init the controls for displaying |
||
3149 | /// and setting serial control channels |
||
3150 | /// </summary> |
||
3151 | void _initSerialCtrl() |
||
3152 | { |
||
3153 | SerChan1ScaleSlider.Value = serChan[0]; |
||
3154 | textBoxSerial1.Text = serChanTitle[0]; |
||
3155 | SerChan2ScaleSlider.Value = serChan[1]; |
||
3156 | textBoxSerial2.Text = serChanTitle[1]; |
||
2350 | - | 3157 | SerChan3ScaleSlider.Value = serChan[2]; |
3158 | textBoxSerial3.Text = serChanTitle[2]; |
||
2349 | - | 3159 | //SerChan4ScaleSlider.Value = serChan[3]; |
3160 | //textBoxSerial4.Text = serChanTitle[3]; |
||
3161 | //trckbarSerial5.Value = serChan[4]; |
||
3162 | //textBoxSerial5.Text = serChanTitle[4]; |
||
3163 | //trckbarSerial6.Value = serChan[5]; |
||
3164 | //textBoxSerial6.Text = serChanTitle[5]; |
||
3165 | //trckbarSerial7.Value = serChan[6]; |
||
3166 | //textBoxSerial7.Text = serChanTitle[6]; |
||
3167 | //trckbarSerial8.Value = serChan[7]; |
||
3168 | //textBoxSerial8.Text = serChanTitle[7]; |
||
2312 | - | 3169 | |
2349 | - | 3170 | textBoxSerial1_val1.Text = serChan_sub[0].ToString(); |
3171 | textBoxSerial1_val2.Text = serChan_sub[1].ToString(); |
||
3172 | textBoxSerial1_val3.Text = serChan_sub[2].ToString(); |
||
3173 | textBoxSerial2_val1.Text = serChan_sub[3].ToString(); |
||
3174 | textBoxSerial2_val2.Text = serChan_sub[4].ToString(); |
||
3175 | textBoxSerial2_val3.Text = serChan_sub[5].ToString(); |
||
2350 | - | 3176 | textBoxSerial3_val1.Text = serChan_sub[6].ToString(); |
3177 | textBoxSerial3_val2.Text = serChan_sub[7].ToString(); |
||
3178 | textBoxSerial3_val3.Text = serChan_sub[8].ToString(); |
||
2349 | - | 3179 | //textBoxSerial4_val1.Text = serChan_sub[9].ToString(); |
3180 | //textBoxSerial4_val2.Text = serChan_sub[10].ToString(); |
||
3181 | //textBoxSerial4_val3.Text = serChan_sub[11].ToString(); |
||
3182 | } |
||
3183 | private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3184 | { |
||
3185 | if (!_init) |
||
3186 | { |
||
3187 | serChan[0] = (int)SerChan1ScaleSlider.Value; |
||
3188 | _sendSerialData(); |
||
3189 | } |
||
3190 | } |
||
3191 | private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e) |
||
3192 | { |
||
3193 | if (!_init) |
||
3194 | { |
||
3195 | serChanTitle[0] = textBoxSerial1.Text; |
||
3196 | } |
||
3197 | } |
||
3198 | private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3199 | { |
||
3200 | if (textBoxSerial1_val1.Text.Length > 0 & !_init) |
||
3201 | { |
||
3202 | serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text); |
||
3203 | } |
||
3204 | } |
||
3205 | private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3206 | { |
||
3207 | if (textBoxSerial1_val2.Text.Length > 0 & !_init) |
||
3208 | { |
||
3209 | serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text); |
||
3210 | } |
||
3211 | } |
||
3212 | private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3213 | { |
||
3214 | if (textBoxSerial1_val3.Text.Length > 0 & !_init) |
||
3215 | { |
||
3216 | serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text); |
||
3217 | } |
||
3218 | } |
||
3219 | private void btnSer1_val1_Click(object sender, RoutedEventArgs e) |
||
3220 | { |
||
3221 | if (textBoxSerial1_val1.Text.Length > 0) |
||
3222 | { |
||
3223 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text); |
||
3224 | } |
||
3225 | } |
||
3226 | private void btnSer1_0_Click(object sender, RoutedEventArgs e) |
||
3227 | { |
||
3228 | SerChan1ScaleSlider.Value = 0; |
||
3229 | } |
||
3230 | private void btnSer1_127_Click(object sender, RoutedEventArgs e) |
||
3231 | { |
||
3232 | SerChan1ScaleSlider.Value = 127; |
||
3233 | } |
||
3234 | private void btnSer1_254_Click(object sender, RoutedEventArgs e) |
||
3235 | { |
||
3236 | SerChan1ScaleSlider.Value = 254; |
||
3237 | } |
||
3238 | private void btnSer1_val2_Click(object sender, RoutedEventArgs e) |
||
3239 | { |
||
3240 | if (textBoxSerial1_val2.Text.Length > 0) |
||
3241 | { |
||
3242 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text); |
||
3243 | } |
||
3244 | } |
||
3245 | private void btnSer1_val3_Click(object sender, RoutedEventArgs e) |
||
3246 | { |
||
3247 | if (textBoxSerial1_val3.Text.Length > 0) |
||
3248 | { |
||
3249 | SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text); |
||
3250 | } |
||
3251 | } |
||
3252 | |||
3253 | private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3254 | { |
||
3255 | if (!_init) |
||
3256 | { |
||
3257 | serChan[1] = (int)SerChan2ScaleSlider.Value; |
||
3258 | _sendSerialData(); |
||
3259 | } |
||
3260 | } |
||
3261 | private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e) |
||
3262 | { |
||
3263 | if (!_init) |
||
3264 | { |
||
3265 | serChanTitle[1] = textBoxSerial2.Text; |
||
3266 | } |
||
3267 | } |
||
3268 | private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3269 | { |
||
3270 | if (textBoxSerial2_val1.Text.Length > 0 & !_init) |
||
3271 | { |
||
3272 | serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text); |
||
3273 | } |
||
3274 | } |
||
3275 | private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3276 | { |
||
3277 | if (textBoxSerial2_val2.Text.Length > 0 & !_init) |
||
3278 | { |
||
3279 | serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text); |
||
3280 | } |
||
3281 | } |
||
3282 | private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3283 | { |
||
3284 | if (textBoxSerial2_val3.Text.Length > 0 & !_init) |
||
3285 | { |
||
3286 | serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text); |
||
3287 | } |
||
3288 | } |
||
3289 | private void btnSer2_0_Click(object sender, RoutedEventArgs e) |
||
3290 | { |
||
3291 | SerChan2ScaleSlider.Value = 0; |
||
3292 | } |
||
3293 | private void btnSer2_127_Click(object sender, RoutedEventArgs e) |
||
3294 | { |
||
3295 | SerChan2ScaleSlider.Value = 127; |
||
3296 | } |
||
3297 | private void btnSer2_254_Click(object sender, RoutedEventArgs e) |
||
3298 | { |
||
3299 | SerChan2ScaleSlider.Value = 254; |
||
3300 | } |
||
3301 | private void btnSer2_val1_Click(object sender, RoutedEventArgs e) |
||
3302 | { |
||
3303 | if (textBoxSerial2_val1.Text.Length > 0) |
||
3304 | { |
||
3305 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text); |
||
3306 | } |
||
3307 | } |
||
3308 | private void btnSer2_val2_Click(object sender, RoutedEventArgs e) |
||
3309 | { |
||
3310 | if (textBoxSerial2_val2.Text.Length > 0) |
||
3311 | { |
||
3312 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text); |
||
3313 | } |
||
3314 | } |
||
3315 | private void btnSer2_val3_Click(object sender, RoutedEventArgs e) |
||
3316 | { |
||
3317 | if (textBoxSerial2_val3.Text.Length > 0) |
||
3318 | { |
||
3319 | SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text); |
||
3320 | } |
||
3321 | } |
||
2350 | - | 3322 | |
3323 | private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
||
3324 | { |
||
3325 | if (!_init) |
||
3326 | { |
||
3327 | serChan[2] = (int)SerChan3ScaleSlider.Value; |
||
3328 | _sendSerialData(); |
||
3329 | } |
||
3330 | } |
||
3331 | private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e) |
||
3332 | { |
||
3333 | if (!_init) |
||
3334 | { |
||
3335 | serChanTitle[2] = textBoxSerial3.Text; |
||
3336 | } |
||
3337 | } |
||
3338 | private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e) |
||
3339 | { |
||
3340 | if (textBoxSerial3_val1.Text.Length > 0 & !_init) |
||
3341 | { |
||
3342 | serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text); |
||
3343 | } |
||
3344 | } |
||
3345 | private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e) |
||
3346 | { |
||
3347 | if (textBoxSerial3_val2.Text.Length > 0 & !_init) |
||
3348 | { |
||
3349 | serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text); |
||
3350 | } |
||
3351 | } |
||
3352 | private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e) |
||
3353 | { |
||
3354 | if (textBoxSerial3_val3.Text.Length > 0 & !_init) |
||
3355 | { |
||
3356 | serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text); |
||
3357 | } |
||
3358 | } |
||
3359 | private void btnSer3_0_Click(object sender, RoutedEventArgs e) |
||
3360 | { |
||
3361 | SerChan3ScaleSlider.Value = 0; |
||
3362 | } |
||
3363 | private void btnSer3_127_Click(object sender, RoutedEventArgs e) |
||
3364 | { |
||
3365 | SerChan3ScaleSlider.Value = 127; |
||
3366 | } |
||
3367 | private void btnSer3_254_Click(object sender, RoutedEventArgs e) |
||
3368 | { |
||
3369 | SerChan3ScaleSlider.Value = 254; |
||
3370 | } |
||
3371 | private void btnSer3_val1_Click(object sender, RoutedEventArgs e) |
||
3372 | { |
||
3373 | if (textBoxSerial3_val1.Text.Length > 0) |
||
3374 | { |
||
3375 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text); |
||
3376 | } |
||
3377 | } |
||
3378 | private void btnSer3_val2_Click(object sender, RoutedEventArgs e) |
||
3379 | { |
||
3380 | if (textBoxSerial3_val2.Text.Length > 0) |
||
3381 | { |
||
3382 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text); |
||
3383 | } |
||
3384 | } |
||
3385 | private void btnSer3_val3_Click(object sender, RoutedEventArgs e) |
||
3386 | { |
||
3387 | if (textBoxSerial3_val3.Text.Length > 0) |
||
3388 | { |
||
3389 | SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text); |
||
3390 | } |
||
3391 | } |
||
2349 | - | 3392 | /// <summary> |
3393 | /// checks the input of a textbox |
||
3394 | /// for valid data |
||
3395 | /// in this case values 0-254 |
||
3396 | /// </summary> |
||
3397 | /// <param name="sender"></param> |
||
3398 | /// <param name="e"></param> |
||
3399 | private void textBox_serial_KeyPress(object sender, KeyEventArgs e) |
||
3400 | { |
||
3401 | if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b) |
||
3402 | e.Handled = true; |
||
3403 | else |
||
3404 | if ("\b".IndexOf(e.Key.ToString()) < 0) |
||
3405 | if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number |
||
3406 | e.Handled = true; |
||
3407 | else |
||
3408 | { |
||
3409 | int i = -1; |
||
3410 | switch (((TextBox)sender).Name) |
||
3411 | { |
||
3412 | case "textBoxSerial1_val1": |
||
3413 | i = 0; |
||
3414 | break; |
||
3415 | case "textBoxSerial1_val2": |
||
3416 | i = 1; |
||
3417 | break; |
||
3418 | case "textBoxSerial1_val3": |
||
3419 | i = 2; |
||
3420 | break; |
||
3421 | case "textBoxSerial2_val1": |
||
3422 | i = 3; |
||
3423 | break; |
||
3424 | case "textBoxSerial2_val2": |
||
3425 | i = 4; |
||
3426 | break; |
||
3427 | case "textBoxSerial2_val3": |
||
3428 | i = 5; |
||
3429 | break; |
||
3430 | case "textBoxSerial3_val1": |
||
3431 | i = 6; |
||
3432 | break; |
||
3433 | case "textBoxSerial3_val2": |
||
3434 | i = 7; |
||
3435 | break; |
||
3436 | case "textBoxSerial3_val3": |
||
3437 | i = 8; |
||
3438 | break; |
||
3439 | case "textBoxSerial4_val1": |
||
3440 | i = 9; |
||
3441 | break; |
||
3442 | case "textBoxSerial4_val2": |
||
3443 | i = 10; |
||
3444 | break; |
||
3445 | case "textBoxSerial4_val3": |
||
3446 | i = 11; |
||
3447 | break; |
||
3448 | } |
||
3449 | if (i > -1) |
||
3450 | serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString()); |
||
3451 | } |
||
3452 | } |
||
3453 | |||
3454 | #endregion serial channels |
||
2315 | - | 3455 | #region WP |
2312 | - | 3456 | void _readWPLFile() |
3457 | { |
||
3458 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
3459 | fd.Filter = "Waypointlists | *.wpl"; |
||
3460 | fd.Multiselect = false; |
||
3461 | if (fd.ShowDialog().Value) |
||
3462 | { |
||
3463 | string file = fd.SafeFileName; |
||
3464 | IniFile ini = new IniFile(fd.SafeFileName); |
||
3465 | ini.path = fd.FileName; |
||
3466 | |||
3467 | try |
||
3468 | { |
||
3469 | string sVal = ini.IniReadValue("General", "FileVersion"); |
||
3470 | if (sVal == "") |
||
3471 | MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3472 | else |
||
3473 | { |
||
3474 | if (Convert.ToInt16(sVal) < 3) |
||
3475 | MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3476 | else |
||
3477 | { |
||
3478 | sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
||
3479 | if (sVal == "") |
||
3480 | MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3481 | else |
||
3482 | { |
||
3483 | int wpnum = Convert.ToInt16(sVal); |
||
3484 | string wp; |
||
3485 | int i; |
||
2313 | - | 3486 | NumberFormatInfo nfi = new NumberFormatInfo(); |
3487 | nfi.NumberDecimalSeparator = "."; |
||
2312 | - | 3488 | dtWaypoints.Rows.Clear(); |
2368 | - | 3489 | _wpEdit = -1;_wpIndex = -1; |
2327 | - | 3490 | _clearMapMarkers(typeof(CustomMarkerWP)); |
2363 | - | 3491 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2328 | - | 3492 | wpList.Clear(); |
3493 | if (mRouteWP != null) |
||
3494 | MainMap.Markers.Remove(mRouteWP); |
||
2363 | - | 3495 | //if (wpActiveMarker != null) |
3496 | // MainMap.Markers.Remove(wpActiveMarker); |
||
2328 | - | 3497 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
3498 | |||
2312 | - | 3499 | for (int k = 1; k <= wpnum; k++) |
3500 | { |
||
3501 | DataRow dr = dtWaypoints.NewRow(); |
||
3502 | dr.ItemArray = new object[16]; |
||
3503 | object[] o = new object[16]; |
||
3504 | i = 0; |
||
3505 | wp = "Point" + k.ToString(); |
||
3506 | o[i] = k; |
||
3507 | i++; |
||
3508 | sVal = ini.IniReadValue(wp, "Type"); |
||
3509 | if (sVal != "") |
||
2315 | - | 3510 | o[i] = Convert.ToInt16(sVal) - 1; |
2312 | - | 3511 | i++; |
3512 | sVal = ini.IniReadValue(wp, "Prefix"); |
||
3513 | if (sVal != "") |
||
2350 | - | 3514 | o[i] = sVal + k.ToString(); |
3515 | // o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString(); |
||
2312 | - | 3516 | i++; |
2313 | - | 3517 | sVal = ini.IniReadValue(wp, "Latitude"); |
2312 | - | 3518 | if (sVal != "") |
2313 | - | 3519 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3520 | i++; |
2313 | - | 3521 | sVal = ini.IniReadValue(wp, "Longitude"); |
2312 | - | 3522 | if (sVal != "") |
2313 | - | 3523 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3524 | i++; |
3525 | sVal = ini.IniReadValue(wp, "Altitude"); |
||
3526 | if (sVal != "") |
||
2313 | - | 3527 | o[i] = Convert.ToDouble(sVal, nfi); |
2312 | - | 3528 | i++; |
3529 | sVal = ini.IniReadValue(wp, "Heading"); |
||
3530 | if (sVal != "") |
||
3531 | o[i] = Convert.ToInt16(sVal); |
||
3532 | i++; |
||
3533 | sVal = ini.IniReadValue(wp, "Speed"); |
||
3534 | if (sVal != "") |
||
2315 | - | 3535 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 3536 | i++; |
3537 | sVal = ini.IniReadValue(wp, "ClimbRate"); |
||
3538 | if (sVal != "") |
||
3539 | o[i] = Convert.ToInt16(sVal); |
||
3540 | i++; |
||
3541 | sVal = ini.IniReadValue(wp, "Radius"); |
||
3542 | if (sVal != "") |
||
3543 | o[i] = Convert.ToInt16(sVal); |
||
3544 | i++; |
||
3545 | sVal = ini.IniReadValue(wp, "DelayTime"); |
||
3546 | if (sVal != "") |
||
3547 | o[i] = Convert.ToInt16(sVal); |
||
3548 | i++; |
||
3549 | sVal = ini.IniReadValue(wp, "AutoTrigger"); |
||
3550 | if (sVal != "") |
||
3551 | o[i] = Convert.ToInt16(sVal); ; |
||
3552 | i++; |
||
3553 | sVal = ini.IniReadValue(wp, "CAM-Nick"); |
||
3554 | if (sVal != "") |
||
2313 | - | 3555 | o[i] = Convert.ToInt16(sVal); |
2312 | - | 3556 | i++; |
3557 | o[i] = 0; |
||
3558 | i++; |
||
3559 | sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
||
3560 | if (sVal != "") |
||
3561 | o[i] = Convert.ToInt16(sVal); |
||
3562 | i++; |
||
3563 | o[i] = "New"; |
||
3564 | |||
3565 | dr.ItemArray = o; |
||
3566 | dtWaypoints.Rows.Add(dr); |
||
2363 | - | 3567 | _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]); |
2315 | - | 3568 | |
2312 | - | 3569 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
3570 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
||
3571 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
2419 | - | 3572 | Thread.Sleep(1); |
2312 | - | 3573 | } |
2419 | - | 3574 | Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4])); |
3575 | Dispatcher.Invoke(() => MainMap.Zoom = 19); |
||
3576 | // Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null)); |
||
3577 | Dispatcher.Invoke(() => _routeUpdate()); |
||
2312 | - | 3578 | } |
3579 | } |
||
3580 | } |
||
3581 | |||
3582 | } |
||
3583 | catch (Exception e) |
||
3584 | { |
||
3585 | |||
3586 | MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
||
3587 | } |
||
3588 | |||
3589 | } |
||
3590 | } |
||
2350 | - | 3591 | void _saveWPLFile() |
3592 | { |
||
3593 | if (dtWaypoints.Rows.Count > 0) |
||
3594 | { |
||
3595 | Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog(); |
||
3596 | fd.Filter = "Waypointlists | *.wpl"; |
||
3597 | fd.AddExtension = true; |
||
3598 | if (fd.ShowDialog().Value) |
||
3599 | { |
||
3600 | string file = fd.SafeFileName; |
||
3601 | IniFile ini = new IniFile(fd.SafeFileName); |
||
3602 | ini.path = fd.FileName; |
||
3603 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
3604 | nfi.NumberDecimalSeparator = "."; |
||
3605 | |||
3606 | try |
||
3607 | { |
||
3608 | ini.IniWriteValue("General", "FileVersion", "3"); |
||
3609 | ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString()); |
||
3610 | ini.IniWriteValue("General", "Mapfile", ""); |
||
3611 | for(int i = 1; i<=dtWaypoints.Rows.Count; i++) |
||
3612 | { |
||
3613 | ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi)); |
||
3614 | ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi)); |
||
3615 | ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString()); |
||
3616 | ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString()); |
||
3617 | ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString()); |
||
3618 | ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString()); |
||
3619 | ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString()); |
||
3620 | ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString()); |
||
3621 | ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString()); |
||
3622 | ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString()); |
||
3623 | ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString()); |
||
3624 | ini.IniWriteValue("Point" + i.ToString(), "Prefix", dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); // == "!" ? "0" : dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); |
||
3625 | ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString()); |
||
3626 | } |
||
3627 | MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information); |
||
3628 | } |
||
3629 | catch { } |
||
3630 | } |
||
3631 | } |
||
3632 | else |
||
3633 | MessageBox.Show("Nothing to save..."); |
||
3634 | } |
||
3635 | private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e) |
||
3636 | { |
||
3637 | _saveWPLFile(); |
||
3638 | } |
||
3639 | /// <summary> |
||
3640 | /// set the selected color for the route |
||
3641 | /// </summary> |
||
3642 | /// <param name="color"></param> |
||
3643 | /// <returns></returns> |
||
2328 | - | 3644 | Brush _getBrush(string color) |
3645 | { |
||
3646 | switch (color) |
||
3647 | { |
||
3648 | case "red": |
||
3649 | return Brushes.Red; |
||
3650 | case "green": |
||
3651 | return Brushes.Lime; |
||
3652 | case "blue": |
||
3653 | return Brushes.Aqua; |
||
3654 | case "pink": |
||
3655 | return Brushes.Magenta; |
||
3656 | case "yellow": |
||
3657 | return Brushes.Yellow; |
||
3658 | default: |
||
3659 | return Brushes.Magenta; |
||
3660 | } |
||
3661 | } |
||
2359 | - | 3662 | void _routeUpdate() |
3663 | { |
||
3664 | Dispatcher.Invoke(() => |
||
3665 | { |
||
3666 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
3667 | { |
||
3668 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
3669 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
3670 | } |
||
3671 | else |
||
3672 | mRouteWP = new GMapRoute(wpList, null); |
||
3673 | |||
3674 | if (_bShowWPRoute) |
||
2368 | - | 3675 | MainMap.Markers.Add(mRouteWP); |
2359 | - | 3676 | }); |
3677 | |||
3678 | MapRoute mr = new MapRoute(wpList, "WPList"); |
||
3679 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
||
3680 | } |
||
2363 | - | 3681 | GMapMarker _createWP(PointLatLng p, string name, int type) |
3682 | { |
||
3683 | GMapMarker wpMarker = new GMapMarker(p); |
||
2385 | - | 3684 | Dispatcher.Invoke(()=> |
3685 | { |
||
3686 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type); |
||
2419 | - | 3687 | wpMarker.Tag = name; |
2385 | - | 3688 | wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
3689 | wpMarker.ZIndex = 100; |
||
3690 | _setMarkerColor(wpMarker, type); |
||
3691 | MainMap.Markers.Add(wpMarker); |
||
3692 | if (type == 0 || type == 3) |
||
3693 | wpList.Add(p); |
||
2419 | - | 3694 | ((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos; |
3695 | ((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin; |
||
2421 | - | 3696 | ((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured; |
2385 | - | 3697 | }); |
2363 | - | 3698 | return wpMarker; |
3699 | } |
||
2419 | - | 3700 | bool _WPisMouseCaptured = false; |
2421 | - | 3701 | void _WPMouseCaptured(bool isCaptured) |
2419 | - | 3702 | { |
3703 | _WPisMouseCaptured = isCaptured; |
||
3704 | MainMap.CanDragMap = !isCaptured; |
||
3705 | } |
||
3706 | void _updateDTWPPos(CustomMarkerWP wp) |
||
3707 | { |
||
3708 | string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
||
3709 | int index = Convert.ToInt16(sIndex) -1; |
||
3710 | GMapMarker p = ((GMapMarker)wp.DataContext); |
||
3711 | if (p != null && index < dtWaypoints.Rows.Count) |
||
3712 | { |
||
3713 | //Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
||
3714 | if(wp.WPType == 0 | wp.WPType == 3) |
||
2424 | - | 3715 | { |
3716 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
3717 | int wpListIndex = wpList.IndexOf(x); |
||
3718 | if (wpListIndex > -1) |
||
3719 | { |
||
3720 | wpList[wpListIndex] = p.Position; |
||
3721 | MainMap.Markers.Remove(mRouteWP); |
||
3722 | _routeUpdate(); |
||
3723 | } |
||
2419 | - | 3724 | } |
2424 | - | 3725 | dtWaypoints.Rows[index][3] = p.Position.Lat; |
3726 | dtWaypoints.Rows[index][4] = p.Position.Lng; |
||
2419 | - | 3727 | } |
3728 | } |
||
3729 | void _updateDTWPPosFin(CustomMarkerWP wp) |
||
3730 | { |
||
3731 | string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
||
3732 | int index = Convert.ToInt16(sIndex) -1; |
||
3733 | GMapMarker p = ((GMapMarker)wp.DataContext); |
||
3734 | if (p != null && index < dtWaypoints.Rows.Count) |
||
3735 | { |
||
3736 | dtWaypoints.Rows[index][3] = p.Position.Lat; |
||
3737 | dtWaypoints.Rows[index][4] = p.Position.Lng; |
||
2421 | - | 3738 | Dispatcher.Invoke(() => |
3739 | { |
||
3740 | dgvWP.Items.Refresh(); |
||
3741 | dgvWP.SelectedIndex = index; |
||
3742 | _dgvWPselectEditRow(); |
||
3743 | }); |
||
3744 | |||
2419 | - | 3745 | } |
3746 | |||
3747 | } |
||
3748 | |||
2315 | - | 3749 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
3750 | { |
||
2369 | - | 3751 | if(wpMarker != null) |
2315 | - | 3752 | Dispatcher.Invoke(() => |
3753 | { |
||
3754 | switch (iType) |
||
3755 | { |
||
3756 | case 0: |
||
3757 | if (comboBoxWPColor.SelectionBoxItem != null) |
||
3758 | { |
||
3759 | string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
||
3760 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
3761 | } |
||
3762 | else |
||
2372 | - | 3763 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("green"); |
2315 | - | 3764 | break; |
3765 | case 1: |
||
3766 | if (comboBoxPOIColor.SelectionBoxItem != null) |
||
3767 | { |
||
3768 | string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
||
3769 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
3770 | } |
||
3771 | else |
||
2372 | - | 3772 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("pink"); |
2315 | - | 3773 | break; |
3774 | case 2: |
||
3775 | if (comboBoxFSColor.SelectionBoxItem != null) |
||
3776 | { |
||
3777 | string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
||
3778 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
3779 | } |
||
3780 | else |
||
3781 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
3782 | break; |
||
2372 | - | 3783 | case 3: |
3784 | if (comboBoxLandingColor.SelectionBoxItem != null) |
||
3785 | { |
||
3786 | string s = comboBoxLandingColor.SelectionBoxItem.ToString(); |
||
3787 | ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
||
3788 | } |
||
3789 | else |
||
3790 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("blue"); |
||
3791 | break; |
||
2315 | - | 3792 | default: |
3793 | ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
||
3794 | break; |
||
3795 | } |
||
3796 | }); |
||
2312 | - | 3797 | |
2315 | - | 3798 | } |
2372 | - | 3799 | void _MarkerColorSelection(object sender,int type) |
3800 | { |
||
2315 | - | 3801 | Dispatcher.Invoke(() => |
3802 | { |
||
2372 | - | 3803 | if (((ComboBox)sender).SelectionBoxItem != null) |
2315 | - | 3804 | { |
3805 | for (int k = 0; k < MainMap.Markers.Count; k++) |
||
3806 | { |
||
3807 | GMapMarker p = MainMap.Markers[k]; |
||
2372 | - | 3808 | if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)) |
2315 | - | 3809 | { |
2372 | - | 3810 | if (((CustomMarkerWP)p.Shape).WPType == type) |
2315 | - | 3811 | { |
2372 | - | 3812 | string s = ((ComboBox)sender).SelectionBoxItem.ToString(); |
2315 | - | 3813 | ((CustomMarkerWP)(p.Shape)).setColor(s); |
3814 | } |
||
3815 | } |
||
3816 | } |
||
3817 | } |
||
3818 | }); |
||
2287 | - | 3819 | } |
2379 | - | 3820 | private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e) |
2318 | - | 3821 | { |
2376 | - | 3822 | _MarkerColorSelection(sender, 0); |
3823 | } |
||
3824 | private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e) |
||
3825 | { |
||
3826 | _MarkerColorSelection(sender, 1); |
||
3827 | } |
||
3828 | private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e) |
||
3829 | { |
||
3830 | _MarkerColorSelection(sender, 2); |
||
3831 | } |
||
3832 | private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e) |
||
3833 | { |
||
3834 | _MarkerColorSelection(sender,3); |
||
3835 | } |
||
2385 | - | 3836 | private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e) |
2376 | - | 3837 | { |
2318 | - | 3838 | Dispatcher.Invoke(() => { |
3839 | if (comboBoxCopterColor.SelectionBoxItem != null) |
||
3840 | { |
||
3841 | string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
||
2385 | - | 3842 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
2318 | - | 3843 | } |
3844 | else |
||
2385 | - | 3845 | ((CustomMarkerCopter)(copter.Shape)).setCopterColor("red"); |
2318 | - | 3846 | }); |
3847 | } |
||
2385 | - | 3848 | private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e) |
3849 | { |
||
3850 | Dispatcher.Invoke(() => { |
||
3851 | if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
||
3852 | { |
||
3853 | string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
||
3854 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
||
3855 | } |
||
3856 | else |
||
3857 | ((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red"); |
||
3858 | }); |
||
3859 | } |
||
2328 | - | 3860 | private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e) |
3861 | { |
||
3862 | Dispatcher.Invoke(() => |
||
3863 | { |
||
3864 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
3865 | { |
||
3866 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
3867 | MainMap.Markers.Remove(mRouteWP); |
||
3868 | mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
||
3869 | if (_bShowWPRoute) |
||
3870 | MainMap.Markers.Add(mRouteWP); |
||
3871 | } |
||
3872 | }); |
||
3873 | } |
||
2408 | - | 3874 | private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e) |
3875 | { |
||
3876 | Dispatcher.Invoke(() => |
||
3877 | { |
||
3878 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
||
3879 | { |
||
3880 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
||
3881 | { |
||
3882 | if (cWPBound != null && cWPBound.Tag != null) |
||
3883 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
3884 | |||
3885 | createCircle(home.Position, dWPMaxRange); |
||
3886 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
3887 | cWPBound.setColor(s); |
||
3888 | |||
3889 | } |
||
3890 | } |
||
3891 | }); |
||
3892 | |||
3893 | } |
||
2328 | - | 3894 | private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e) |
3895 | { |
||
3896 | _bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked; |
||
3897 | if (_bShowWPRoute) |
||
3898 | { |
||
3899 | if (mRouteWP != null) |
||
3900 | MainMap.Markers.Add(mRouteWP); |
||
3901 | } |
||
3902 | else |
||
3903 | { |
||
3904 | if (mRouteWP != null) |
||
3905 | MainMap.Markers.Remove(mRouteWP); |
||
3906 | } |
||
3907 | } |
||
2315 | - | 3908 | private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
2287 | - | 3909 | { |
2315 | - | 3910 | _readWPLFile(); |
2287 | - | 3911 | } |
2335 | - | 3912 | private void btnClearWPList_Click(object sender, RoutedEventArgs e) |
3913 | { |
||
3914 | _clearMapMarkers(typeof(CustomMarkerWP)); |
||
2347 | - | 3915 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2335 | - | 3916 | wpList.Clear(); |
3917 | if (mRouteWP != null) |
||
3918 | MainMap.Markers.Remove(mRouteWP); |
||
2347 | - | 3919 | //if (wpActiveMarker != null) |
3920 | // MainMap.Markers.Remove(wpActiveMarker); |
||
2335 | - | 3921 | dtWaypoints.Rows.Clear(); |
2356 | - | 3922 | _wpEdit = -1; |
2368 | - | 3923 | _wpIndex = -1; |
2335 | - | 3924 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
3925 | Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
||
3926 | Dispatcher.Invoke(() => lblWPCount.Content = 0); |
||
3927 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
||
3928 | } |
||
2340 | - | 3929 | private void btnClearCopterList_Click(object sender, RoutedEventArgs e) |
3930 | { |
||
3931 | Thread t = new Thread(new ThreadStart(clearCopterWPList)); |
||
3932 | t.Start(); |
||
3933 | } |
||
2355 | - | 3934 | private void btnSendActiveWP_Click(object sender, RoutedEventArgs e) |
2340 | - | 3935 | { |
3936 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
3937 | { |
||
2372 | - | 3938 | if (_wpCount > 0) |
2376 | - | 3939 | _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false); |
2372 | - | 3940 | else |
2376 | - | 3941 | _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false); |
2363 | - | 3942 | |
2372 | - | 3943 | //int index = dgvWP.SelectedIndex; |
3944 | //Thread t = new Thread(() => _sendWPList(index)); |
||
3945 | //t.Start(); |
||
2354 | - | 3946 | |
3947 | Dispatcher.Invoke(() => { |
||
3948 | DataGridRow row; |
||
2368 | - | 3949 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
2354 | - | 3950 | { |
2368 | - | 3951 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
2354 | - | 3952 | row.Background = new SolidColorBrush(Colors.Transparent); |
3953 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
3954 | row.BorderThickness = new Thickness(0); |
||
2376 | - | 3955 | dgvWP.UpdateLayout(); |
2354 | - | 3956 | } |
2376 | - | 3957 | //_wpEdit = dgvWP.SelectedIndex; |
3958 | //row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
3959 | //row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
||
3960 | //row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
||
3961 | //row.BorderThickness = new Thickness(2); |
||
2354 | - | 3962 | }); |
2340 | - | 3963 | } |
3964 | } |
||
2385 | - | 3965 | private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e) |
3966 | { |
||
3967 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
3968 | { |
||
3969 | |||
3970 | object[] o = new object[16]; |
||
3971 | o[0] = dgvWP.SelectedIndex + 1; |
||
3972 | o[1] = cbWPEditType.SelectedIndex; |
||
3973 | o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
||
3974 | o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
||
3975 | o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
||
3976 | o[5] = tbWPEditAlt.Text; |
||
3977 | switch (cbWPEditHeading.SelectedIndex) |
||
3978 | { |
||
3979 | case 0: |
||
3980 | o[6] = "0"; |
||
3981 | break; |
||
3982 | case 1: |
||
3983 | o[6] = "-" + tbWPEditHeading.Text; |
||
3984 | break; |
||
3985 | case 2: |
||
3986 | o[6] = tbWPEditHeading.Text; |
||
3987 | break; |
||
3988 | } |
||
3989 | switch (cbWPEditSpeed.SelectedIndex) |
||
3990 | { |
||
3991 | case 0: |
||
3992 | o[7] = "0"; |
||
3993 | break; |
||
3994 | case 1: |
||
3995 | o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0"); |
||
3996 | break; |
||
3997 | case 2: |
||
3998 | o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString(); |
||
3999 | break; |
||
4000 | } |
||
4001 | switch (cbWPEditClimbrate.SelectedIndex) |
||
4002 | { |
||
4003 | case 0: |
||
4004 | o[8] = "255"; |
||
4005 | break; |
||
4006 | case 1: |
||
4007 | o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0"); |
||
4008 | break; |
||
4009 | } |
||
4010 | o[9] = tbWPEditRadius.Text; |
||
4011 | o[10] = tbWPEditHoldtime.Text; |
||
4012 | o[11] = tbWPEditAutoTrigger.Text; |
||
4013 | switch (cbWPEditCamAngle.SelectedIndex) |
||
4014 | { |
||
4015 | case 0: |
||
4016 | o[12] = "0"; |
||
4017 | break; |
||
4018 | case 1: |
||
4019 | o[12] = "255"; |
||
4020 | break; |
||
4021 | case 2: |
||
4022 | o[12] = tbWPEditCamAngle.Text; |
||
4023 | break; |
||
4024 | } |
||
4025 | o[13] = 0; |
||
4026 | o[14] = tbWPEditOut1.Text; |
||
4027 | DataRow dr = dtWaypoints.NewRow(); |
||
4028 | dr.ItemArray = o; |
||
4029 | |||
4030 | if (_wpCount > 0) |
||
4031 | _sendWayPoint(dr, -1, 'w', false); |
||
4032 | else |
||
4033 | _sendWayPoint(dr, 1, 'w', false); |
||
2399 | - | 4034 | |
4035 | if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count) |
||
4036 | _sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false); |
||
2385 | - | 4037 | } |
4038 | } |
||
2376 | - | 4039 | private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e) |
4040 | { |
||
4041 | _Simulate = !_Simulate; |
||
4042 | if (dtWaypoints.Rows.Count > 0) |
||
4043 | { |
||
4044 | DataRow dr = dtWaypoints.Rows[0]; |
||
4045 | dr[13] = _Simulate ? 3 : 0; |
||
2379 | - | 4046 | _sendWayPoint(dr, 0, 's', true); |
2381 | - | 4047 | rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden; |
2376 | - | 4048 | } |
4049 | } |
||
2355 | - | 4050 | private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e) |
4051 | { |
||
2359 | - | 4052 | _dgvWPselectEditRow(); |
4053 | } |
||
4054 | private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e) |
||
4055 | { |
||
4056 | } |
||
4057 | void _dgvWPselectEditRow() |
||
4058 | { |
||
2355 | - | 4059 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4060 | { |
||
2368 | - | 4061 | Dispatcher.Invoke(() => { |
2355 | - | 4062 | DataGridRow row; |
2421 | - | 4063 | dgvWP.UpdateLayout(); |
2368 | - | 4064 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
2355 | - | 4065 | { |
4066 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4067 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
4068 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
4069 | row.BorderThickness = new Thickness(0); |
||
4070 | } |
||
4071 | _wpEdit = dgvWP.SelectedIndex; |
||
4072 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4073 | row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255)); |
||
4074 | row.BorderBrush = new SolidColorBrush(Colors.Aqua); |
||
4075 | row.BorderThickness = new Thickness(2); |
||
4076 | dgvWP.UpdateLayout(); |
||
2340 | - | 4077 | |
2355 | - | 4078 | _setWPEditFields(_wpEdit); |
4079 | }); |
||
4080 | } |
||
4081 | } |
||
4082 | void _setWPEditFields(int index) |
||
4083 | { |
||
4084 | int iVal; |
||
2421 | - | 4085 | lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString(); |
2355 | - | 4086 | cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1]; |
4087 | tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1); |
||
4088 | tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString(); |
||
4089 | tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString(); |
||
4090 | tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString(); |
||
4091 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]); |
||
4092 | if (iVal == 0) |
||
4093 | { |
||
4094 | cbWPEditHeading.SelectedIndex = 0; |
||
4095 | tbWPEditHeading.Text = " - - -"; |
||
4096 | tbWPEditHeading.IsReadOnly = true; |
||
4097 | } |
||
4098 | if (iVal > 0 && iVal < 360) |
||
4099 | { |
||
4100 | cbWPEditHeading.SelectedIndex = 2; |
||
4101 | tbWPEditHeading.Text = iVal.ToString(); |
||
4102 | tbWPEditHeading.IsReadOnly = false; |
||
4103 | } |
||
4104 | if (iVal < 0) |
||
4105 | { |
||
4106 | cbWPEditHeading.SelectedIndex = 1; |
||
4107 | tbWPEditHeading.Text = (Math.Abs(iVal).ToString()); |
||
4108 | tbWPEditHeading.IsReadOnly = false; |
||
4109 | } |
||
4110 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]); |
||
4111 | if (iVal == 0) |
||
4112 | { |
||
4113 | cbWPEditSpeed.SelectedIndex = 0; |
||
4114 | tbWPEditSpeed.Text = "MAX"; |
||
4115 | tbWPEditSpeed.IsReadOnly = true; |
||
4116 | } |
||
4117 | if (iVal > 0 && iVal < 248) |
||
4118 | { |
||
4119 | cbWPEditSpeed.SelectedIndex = 1; |
||
4120 | tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString(); |
||
4121 | tbWPEditSpeed.IsReadOnly = false; |
||
4122 | } |
||
4123 | if (iVal > 247) |
||
4124 | { |
||
4125 | cbWPEditSpeed.SelectedIndex = 256 - iVal + 1; |
||
4126 | tbWPEditSpeed.Text = ""; |
||
4127 | tbWPEditSpeed.IsReadOnly = true; |
||
4128 | } |
||
4129 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]); |
||
4130 | if (iVal == 255) |
||
4131 | { |
||
4132 | cbWPEditClimbrate.SelectedIndex = 0; |
||
4133 | tbWPEditClimbrate.Text = "AUTO"; |
||
4134 | tbWPEditClimbrate.IsReadOnly = true; |
||
4135 | } |
||
4136 | else |
||
4137 | { |
||
4138 | cbWPEditClimbrate.SelectedIndex = 1; |
||
4139 | tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0"); |
||
4140 | tbWPEditClimbrate.IsReadOnly = false; |
||
4141 | } |
||
4142 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]); |
||
4143 | tbWPEditRadius.Text = iVal.ToString(); |
||
4144 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]); |
||
4145 | tbWPEditHoldtime.Text = iVal.ToString(); |
||
4146 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]); |
||
4147 | tbWPEditAutoTrigger.Text = iVal.ToString(); |
||
4148 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]); |
||
4149 | if (iVal == 0) |
||
4150 | { |
||
4151 | cbWPEditCamAngle.SelectedIndex = 0; |
||
4152 | tbWPEditCamAngle.Text = " - - - "; |
||
4153 | tbWPEditCamAngle.IsReadOnly = true; |
||
4154 | } |
||
4155 | if (iVal < 0 | iVal == 255) |
||
4156 | { |
||
4157 | cbWPEditCamAngle.SelectedIndex = 1; |
||
4158 | tbWPEditCamAngle.Text = "AUTO"; |
||
4159 | tbWPEditCamAngle.IsReadOnly = true; |
||
4160 | } |
||
4161 | if (iVal > 0 & iVal < 255) |
||
4162 | { |
||
4163 | cbWPEditCamAngle.SelectedIndex = 2; |
||
4164 | tbWPEditCamAngle.Text = iVal.ToString(); |
||
4165 | tbWPEditCamAngle.IsReadOnly = false; |
||
4166 | } |
||
4167 | iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]); |
||
4168 | tbWPEditOut1.Text = iVal.ToString(); |
||
4169 | |||
4170 | } |
||
2421 | - | 4171 | private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e) |
4172 | { |
||
4173 | if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
||
4174 | { |
||
4175 | int index = dgvWP.SelectedIndex; |
||
4176 | DataRow dr = dtWaypoints.Rows[index]; |
||
4177 | DataRow newRow = dtWaypoints.NewRow(); |
||
4178 | newRow.ItemArray = dr.ItemArray; |
||
4179 | dtWaypoints.Rows.Remove(dr); |
||
4180 | dtWaypoints.Rows.InsertAt(newRow, index - 1); |
||
4181 | dtWaypoints.Rows[index][0] = 100; |
||
4182 | dtWaypoints.Rows[index - 1][0] = index; |
||
4183 | GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString()); |
||
4184 | GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
||
4185 | dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString(); |
||
4186 | ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString(); |
||
4187 | dtWaypoints.Rows[index][0] = index + 1; |
||
4188 | dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
||
4189 | ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
||
4190 | dgvWP.Items.Refresh(); |
||
4191 | dgvWP.SelectedIndex = index - 1; |
||
4192 | _dgvWPselectEditRow(); |
||
2424 | - | 4193 | if (((int)dtWaypoints.Rows[index][1] == 0 | (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index - 1][1] == 0 | (int)dtWaypoints.Rows[index - 1][1] == 3))// && wpList.Count > index) |
4194 | { |
||
4195 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
4196 | int wpListIndex = wpList.IndexOf(x); |
||
4197 | if (wpListIndex > 0) |
||
4198 | { |
||
4199 | wpList.RemoveAt(wpListIndex); |
||
4200 | wpList.Insert(wpListIndex - 1, x); |
||
4201 | MainMap.Markers.Remove(mRouteWP); |
||
4202 | _routeUpdate(); |
||
4203 | } |
||
4204 | } |
||
2421 | - | 4205 | } |
4206 | } |
||
2355 | - | 4207 | |
2421 | - | 4208 | private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e) |
4209 | { |
||
4210 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1) |
||
4211 | { |
||
4212 | int index = dgvWP.SelectedIndex; |
||
4213 | DataRow dr = dtWaypoints.Rows[index]; |
||
4214 | DataRow newRow = dtWaypoints.NewRow(); |
||
4215 | newRow.ItemArray = dr.ItemArray; |
||
4216 | dtWaypoints.Rows.Remove(dr); |
||
4217 | dtWaypoints.Rows.InsertAt(newRow, index + 1); |
||
4218 | dtWaypoints.Rows[index][0] = 100; |
||
4219 | dtWaypoints.Rows[index + 1][0] = index + 2; |
||
4220 | GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString()); |
||
4221 | GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
||
4222 | dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString(); |
||
4223 | ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString(); |
||
4224 | dtWaypoints.Rows[index][0] = index + 1; |
||
4225 | dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
||
4226 | ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
||
4227 | dgvWP.Items.Refresh(); |
||
4228 | dgvWP.SelectedIndex = index + 1; |
||
4229 | _dgvWPselectEditRow(); |
||
2424 | - | 4230 | if (((int)dtWaypoints.Rows[index][1] == 0 | (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index+1][1] == 0 | (int)dtWaypoints.Rows[index+1][1] == 3))// && wpList.Count > index) |
4231 | { |
||
4232 | PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
||
4233 | int wpListIndex = wpList.IndexOf(x); |
||
4234 | if (wpListIndex > -1) |
||
4235 | { |
||
4236 | wpList.RemoveAt(wpListIndex); |
||
4237 | if (wpList.Count > wpListIndex) |
||
4238 | wpList.Insert(wpListIndex + 1, x); |
||
4239 | else |
||
4240 | wpList.Add(x); |
||
4241 | MainMap.Markers.Remove(mRouteWP); |
||
4242 | _routeUpdate(); |
||
4243 | } |
||
4244 | } |
||
2421 | - | 4245 | } |
4246 | |||
4247 | } |
||
4248 | |||
2361 | - | 4249 | private void btnEditWPSave_Click(object sender, RoutedEventArgs e) |
4250 | { |
||
2363 | - | 4251 | if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4252 | { |
||
2369 | - | 4253 | string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]; |
2372 | - | 4254 | int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]; |
4255 | PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]); |
||
4256 | int i = wpList.IndexOf(pOld); |
||
2363 | - | 4257 | dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex; |
4258 | dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
||
4259 | dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
||
4260 | dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
||
2372 | - | 4261 | if (i > -1) |
4262 | { |
||
4263 | if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
||
4264 | wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
||
4265 | else |
||
4266 | wpList.Remove(pOld); |
||
4267 | } |
||
4268 | else |
||
4269 | { |
||
4270 | if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
||
4271 | { |
||
4272 | int found = 0; |
||
4273 | for (int k = 0; k < dgvWP.SelectedIndex; k++) |
||
4274 | if ((int)dtWaypoints.Rows[k][1] == 0) |
||
4275 | found++; |
||
4276 | wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
||
4277 | } |
||
4278 | } |
||
2363 | - | 4279 | dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text; |
4280 | switch (cbWPEditHeading.SelectedIndex) |
||
4281 | { |
||
4282 | case 0: |
||
4283 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0"; |
||
4284 | break; |
||
4285 | case 1: |
||
4286 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text; |
||
4287 | break; |
||
4288 | case 2: |
||
4289 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text; |
||
4290 | break; |
||
4291 | } |
||
4292 | switch (cbWPEditSpeed.SelectedIndex) |
||
4293 | { |
||
4294 | case 0: |
||
4295 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0"; |
||
4296 | break; |
||
4297 | case 1: |
||
4298 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0"); |
||
4299 | break; |
||
4300 | case 2: |
||
4301 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString(); |
||
4302 | break; |
||
4303 | } |
||
4304 | switch (cbWPEditClimbrate.SelectedIndex) |
||
4305 | { |
||
4306 | case 0: |
||
4307 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255"; |
||
4308 | break; |
||
4309 | case 1: |
||
4310 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0"); |
||
4311 | break; |
||
4312 | } |
||
4313 | dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text; |
||
4314 | dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text; |
||
4315 | dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text; |
||
4316 | switch (cbWPEditCamAngle.SelectedIndex) |
||
4317 | { |
||
4318 | case 0: |
||
4319 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0"; |
||
4320 | break; |
||
4321 | case 1: |
||
4322 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255"; |
||
4323 | break; |
||
4324 | case 2: |
||
4325 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text; |
||
4326 | break; |
||
4327 | } |
||
4328 | dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text; |
||
2361 | - | 4329 | |
2369 | - | 4330 | // _clearMapMarkers(typeof(CustomMarkerWP)); |
4331 | _repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName); |
||
4332 | _renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]); |
||
2363 | - | 4333 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
2369 | - | 4334 | _setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
2372 | - | 4335 | _WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
2369 | - | 4336 | // wpList.Clear(); |
2363 | - | 4337 | if (mRouteWP != null) |
4338 | MainMap.Markers.Remove(mRouteWP); |
||
4339 | |||
2369 | - | 4340 | //for (int k = 0; k < dtWaypoints.Rows.Count; k++) |
4341 | //{ |
||
4342 | // _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]); |
||
4343 | //} |
||
2363 | - | 4344 | _routeUpdate(); |
4345 | dgvWP.Items.Refresh(); |
||
4346 | |||
4347 | } |
||
4348 | |||
2361 | - | 4349 | } |
4350 | private void btnEditWPDel_Click(object sender, RoutedEventArgs e) |
||
4351 | { |
||
2368 | - | 4352 | if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
4353 | { |
||
4354 | int index = dgvWP.SelectedIndex; |
||
4355 | Dispatcher.Invoke(() => { |
||
4356 | DataGridRow row; |
||
4357 | if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
||
4358 | { |
||
4359 | row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
||
4360 | row.Background = new SolidColorBrush(Colors.Transparent); |
||
4361 | row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
||
4362 | row.BorderThickness = new Thickness(0); |
||
4363 | } |
||
2372 | - | 4364 | if ((int)dtWaypoints.Rows[index][1] == 0 || (int)dtWaypoints.Rows[index][1] == 3) |
2368 | - | 4365 | wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4])); |
4366 | _clearWPMarker((string)dtWaypoints.Rows[index][2]); |
||
2369 | - | 4367 | if (wpActiveMarker != null) |
4368 | MainMap.Markers.Remove(wpActiveMarker); |
||
2368 | - | 4369 | dtWaypoints.Rows[index].Delete(); |
4370 | _wpIndex = -1; |
||
4371 | _wpEdit = -1; |
||
4372 | for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index |
||
4373 | { |
||
4374 | dtWaypoints.Rows[i][0] = i + 1; |
||
4375 | string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index) |
||
4376 | string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP |
||
4377 | _renameWPMarker(s1, s2); |
||
4378 | dtWaypoints.Rows[i][2] = s2; |
||
4379 | } |
||
4380 | lblWPCount.Content = dtWaypoints.Rows.Count; |
||
4381 | if (mRouteWP != null) |
||
4382 | MainMap.Markers.Remove(mRouteWP); |
||
4383 | _routeUpdate(); |
||
2361 | - | 4384 | |
2368 | - | 4385 | dgvWP.UpdateLayout(); |
4386 | }); |
||
4387 | } |
||
2361 | - | 4388 | } |
2366 | - | 4389 | private void tbWPEdit_TouchDown(object sender, TouchEventArgs e) |
4390 | { |
||
4391 | _wpWEdit(sender); |
||
4392 | } |
||
2361 | - | 4393 | private void tbWPEdit_KeyDown(object sender, KeyEventArgs e) |
4394 | { |
||
2366 | - | 4395 | _wpWEdit(sender); |
4396 | } |
||
2369 | - | 4397 | private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e) |
4398 | { |
||
4399 | _wpWEdit(sender); |
||
4400 | } |
||
2366 | - | 4401 | void _wpWEdit(object sender) |
4402 | { |
||
2369 | - | 4403 | // if (!((TextBox)sender).IsReadOnly) |
2361 | - | 4404 | { |
4405 | KeyPad.Keypad k = new KeyPad.Keypad(this); |
||
4406 | |||
2363 | - | 4407 | switch (((TextBox)sender).Name) |
4408 | { |
||
4409 | case "tbWPEditLat": |
||
4410 | k.Title = "Latitude"; |
||
4411 | k.LENGTH = 17; |
||
4412 | k.MAX = 359.9; |
||
4413 | break; |
||
4414 | case "tbWPEditLon": |
||
4415 | k.Title = "Longitude"; |
||
4416 | k.LENGTH = 17; |
||
4417 | k.MAX = 359.9; |
||
4418 | break; |
||
4419 | case "tbWPEditAlt": |
||
4420 | k.Title = "Altitude"; |
||
4421 | k.LENGTH = 3; |
||
4422 | k.MAX = 254; |
||
4423 | k.disableDecimal(); |
||
4424 | break; |
||
4425 | case "tbWPEditHeading": |
||
4426 | k.Title = "Heading"; |
||
4427 | k.LENGTH = 3; |
||
4428 | k.MAX = 359; |
||
4429 | k.MIN = 1; |
||
4430 | k.disableDecimal(); |
||
4431 | break; |
||
4432 | case "tbWPEditSpeed": |
||
4433 | k.Title = "Speed"; |
||
4434 | k.LENGTH = 4; |
||
4435 | k.MAX = 24.7; |
||
4436 | k.MIN = 0.1; |
||
4437 | break; |
||
4438 | case "tbWPEditClimbrate": |
||
4439 | k.Title = "Climbrate"; |
||
4440 | k.LENGTH = 4; |
||
4441 | k.MAX = 25.4; |
||
4442 | k.MIN = 0.1; |
||
4443 | break; |
||
4444 | case "tbWPEditRadius": |
||
4445 | k.Title = "Radius"; |
||
4446 | k.LENGTH = 3; |
||
4447 | k.MAX = 254; |
||
4448 | k.disableDecimal(); |
||
4449 | break; |
||
4450 | case "tbWPEditHoldtime": |
||
4451 | k.Title = "Holdtime"; |
||
4452 | k.LENGTH = 3; |
||
4453 | k.MAX = 254; |
||
4454 | break; |
||
4455 | case "tbWPEditAutoTrigger": |
||
4456 | k.Title = "Autotrigger"; |
||
4457 | k.LENGTH = 3; |
||
4458 | k.MAX = 254; |
||
4459 | k.disableDecimal(); |
||
4460 | break; |
||
4461 | case "tbWPEditCamAngle": |
||
4462 | k.Title = "Camera angle"; |
||
4463 | k.LENGTH = 3; |
||
4464 | k.MAX = 254; |
||
4465 | k.MIN = 1; |
||
4466 | k.disableDecimal(); |
||
4467 | break; |
||
4468 | case "tbWPEditOut1": |
||
4469 | k.Title = "OUT1 timer interval"; |
||
4470 | k.LENGTH = 3; |
||
4471 | k.MAX = 254; |
||
4472 | k.disableDecimal(); |
||
4473 | break; |
||
4474 | } |
||
4475 | k.Result = ((TextBox)sender).Text; |
||
2366 | - | 4476 | if (k.ShowDialog() == true && k.Result.Length > 0) |
2363 | - | 4477 | ((TextBox)sender).Text = k.Result; |
2361 | - | 4478 | } |
2366 | - | 4479 | |
2361 | - | 4480 | } |
4481 | private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e) |
||
2356 | - | 4482 | { |
2359 | - | 4483 | object[] o = new object[16]; |
2356 | - | 4484 | |
2359 | - | 4485 | o[0] = dgvWP.ItemContainerGenerator.Items.Count+1; |
4486 | o[1] = 0; |
||
4487 | // cbWPEditType.SelectedIndex = 0; |
||
4488 | // tbWPEditPrefix.Text = "P"; |
||
4489 | o[2] = "P" + o[0].ToString(); |
||
4490 | // tbWPEditLat.Text = copter.Position.Lat.ToString(); |
||
4491 | o[3] = copter.Position.Lat; |
||
4492 | // tbWPEditLon.Text = copter.Position.Lng.ToString(); |
||
4493 | o[4] = copter.Position.Lng; |
||
4494 | // tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString(); |
||
4495 | o[5] = iAnalogData[4].ToString(); |
||
2356 | - | 4496 | |
2359 | - | 4497 | // cbWPEditHeading.SelectedIndex = 2; |
4498 | o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString(); |
||
4499 | // tbWPEditHeading.IsReadOnly = false; |
||
2356 | - | 4500 | |
2359 | - | 4501 | // cbWPEditSpeed.SelectedIndex = 1; |
4502 | // tbWPEditSpeed.Text = "5.0"; |
||
4503 | // tbWPEditSpeed.IsReadOnly = false; |
||
2372 | - | 4504 | o[7] = "10"; |
2356 | - | 4505 | |
2359 | - | 4506 | // cbWPEditClimbrate.SelectedIndex = 1; |
4507 | // tbWPEditClimbrate.Text = "5.0"; |
||
4508 | // tbWPEditClimbrate.IsReadOnly = false; |
||
2372 | - | 4509 | o[8] = "10"; |
2356 | - | 4510 | |
2359 | - | 4511 | // tbWPEditRadius.Text = "10"; |
2372 | - | 4512 | o[9] = "5"; |
2359 | - | 4513 | // tbWPEditHoldtime.Text = "5"; |
4514 | o[10] = "5"; |
||
4515 | // tbWPEditAutoTrigger.Text = "0"; |
||
4516 | o[11] = "0"; |
||
4517 | // cbWPEditCamAngle.SelectedIndex = 1; |
||
4518 | // tbWPEditCamAngle.Text = "AUTO"; |
||
4519 | // tbWPEditCamAngle.IsReadOnly = true; |
||
4520 | o[12] = "255"; |
||
2356 | - | 4521 | |
2359 | - | 4522 | o[13] = "0"; |
4523 | // tbWPEditOut1.Text = "0"; |
||
4524 | o[14] = "0"; |
||
4525 | o[15] = "0"; |
||
4526 | |||
4527 | dtWaypoints.Rows.Add(o); |
||
2368 | - | 4528 | _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]); |
2359 | - | 4529 | Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString()); |
4530 | if (mRouteWP != null) |
||
4531 | MainMap.Markers.Remove(mRouteWP); |
||
4532 | _routeUpdate(); |
||
4533 | Dispatcher.Invoke(() => { |
||
4534 | dgvWP.Items.Refresh(); |
||
4535 | dgvWP.SelectedIndex = (int)o[0] -1; |
||
4536 | dgvWP.UpdateLayout(); |
||
4537 | _dgvWPselectEditRow(); |
||
4538 | }); |
||
2356 | - | 4539 | } |
2405 | - | 4540 | private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e) |
4541 | { |
||
4542 | if (WPStatus.Visibility == Visibility.Visible) |
||
4543 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
4544 | else |
||
4545 | GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
||
4546 | } |
||
4547 | private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e) |
||
4548 | { |
||
4549 | if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
||
4550 | { |
||
4551 | if (cWPBound != null && cWPBound.Tag != null) |
||
4552 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
2356 | - | 4553 | |
2408 | - | 4554 | createCircle(home.Position, dWPMaxRange); |
2419 | - | 4555 | if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
4556 | { |
||
4557 | string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
||
4558 | cWPBound.setColor(s); |
||
4559 | } |
||
2405 | - | 4560 | } |
2408 | - | 4561 | |
2405 | - | 4562 | if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null)) |
4563 | MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
||
4564 | } |
||
2315 | - | 4565 | #endregion WP |
2324 | - | 4566 | #region GPX |
4567 | private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
||
4568 | { |
||
4569 | _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
||
4570 | } |
||
4571 | void _gpxAdd(double lat,double lon, int elevation) |
||
4572 | { |
||
4573 | DataRow dr = dtGPX.NewRow(); |
||
4574 | dr[0] = dtGPX.Rows.Count - 1; |
||
4575 | dr[1] = lat; |
||
4576 | dr[2] = lon; |
||
4577 | dr[3] = elevation; |
||
4578 | dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z |
||
4579 | dtGPX.Rows.Add(dr); |
||
4580 | } |
||
4581 | void _saveGPXLog() |
||
4582 | { |
||
4583 | if (!Directory.Exists("GPXLog")) |
||
4584 | Directory.CreateDirectory("GPXLog"); |
||
4585 | string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx"; |
||
4586 | XmlTextWriter myXmlTextWriter = null; |
||
4587 | myXmlTextWriter = new XmlTextWriter(SaveFileName, null); |
||
4588 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
4589 | nfi.NumberDecimalSeparator = "."; |
||
2315 | - | 4590 | |
2324 | - | 4591 | try |
4592 | { |
||
4593 | myXmlTextWriter.Formatting = Formatting.Indented; |
||
4594 | |||
4595 | myXmlTextWriter.WriteStartDocument(); |
||
4596 | |||
4597 | myXmlTextWriter.WriteStartElement("gpx"); |
||
4598 | |||
4599 | myXmlTextWriter.WriteAttributeString("version", "1.0"); |
||
4600 | myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0"); |
||
4601 | myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance"); |
||
4602 | myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1"); |
||
4603 | myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd"); |
||
4604 | |||
4605 | myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture)); |
||
4606 | |||
4607 | myXmlTextWriter.WriteStartElement("trk"); |
||
4608 | myXmlTextWriter.WriteStartElement("trkseg"); |
||
4609 | for(int i = 0; i< dtGPX.Rows.Count;i++) |
||
4610 | { |
||
4611 | myXmlTextWriter.WriteStartElement("trkpt"); |
||
4612 | myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : ""); |
||
4613 | myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : ""); |
||
4614 | myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString()); |
||
4615 | myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString()); |
||
4616 | myXmlTextWriter.WriteEndElement(); |
||
4617 | } |
||
4618 | myXmlTextWriter.WriteEndElement(); |
||
4619 | myXmlTextWriter.WriteEndElement(); |
||
4620 | myXmlTextWriter.WriteEndElement(); |
||
4621 | } |
||
4622 | catch (Exception e) |
||
4623 | { |
||
4624 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
4625 | } |
||
4626 | finally |
||
4627 | { |
||
4628 | if (myXmlTextWriter != null) |
||
4629 | { |
||
4630 | myXmlTextWriter.Close(); |
||
4631 | } |
||
4632 | } |
||
4633 | } |
||
4634 | private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e) |
||
4635 | { |
||
4636 | _loadGPXLog(); |
||
4637 | } |
||
2327 | - | 4638 | private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
4639 | { |
||
4640 | _clearMapMarkers(typeof(GMapRoute)); |
||
4641 | } |
||
2324 | - | 4642 | void _loadGPXLog() |
4643 | { |
||
4644 | |||
4645 | Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
||
4646 | fd.Filter = "GPX-Logfile | *.gpx"; |
||
4647 | fd.Multiselect = false; |
||
4648 | if (fd.ShowDialog().Value) |
||
4649 | { |
||
4650 | string file = fd.FileName; |
||
4651 | try |
||
4652 | { |
||
4653 | XDocument gpxDoc = XDocument.Load(file); |
||
4654 | XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1"); |
||
4655 | |||
4656 | NumberFormatInfo nfi = new NumberFormatInfo(); |
||
4657 | nfi.NumberDecimalSeparator = "."; |
||
4658 | |||
4659 | var tracks = from track in gpxDoc.Descendants(gpx + "trk") |
||
4660 | select new |
||
4661 | { |
||
4662 | Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null, |
||
4663 | Segs = ( |
||
4664 | from trackpoint in track.Descendants(gpx + "trkpt") |
||
4665 | select new |
||
4666 | { |
||
4667 | Latitude = trackpoint.Attribute("lat").Value, |
||
4668 | Longitude = trackpoint.Attribute("lon").Value, |
||
4669 | Elevation = trackpoint.Element(gpx + "ele") != null ? |
||
4670 | trackpoint.Element(gpx + "ele").Value : null, |
||
4671 | Time = trackpoint.Element(gpx + "time") != null ? |
||
4672 | trackpoint.Element(gpx + "time").Value : null |
||
4673 | } |
||
4674 | ) |
||
4675 | }; |
||
4676 | |||
4677 | List<PointLatLng> wpl = new List<PointLatLng>(); |
||
4678 | foreach(var trk in tracks) |
||
4679 | { |
||
4680 | foreach(var trkseg in trk.Segs) |
||
4681 | { |
||
4682 | if(trkseg.Latitude != "" && trkseg.Longitude !="") |
||
4683 | wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi))); |
||
4684 | } |
||
4685 | |||
4686 | } |
||
4687 | if(wpl.Count() > 0) |
||
4688 | { |
||
2327 | - | 4689 | _clearMapMarkers(typeof(GMapRoute)); |
2324 | - | 4690 | MapRoute mr = new MapRoute(wpl, "flying"); |
2328 | - | 4691 | Dispatcher.Invoke(() => |
4692 | { |
||
4693 | GMapRoute mRoute; |
||
4694 | if (comboBoxRouteColor.SelectionBoxItem != null) |
||
4695 | { |
||
4696 | string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
||
2366 | - | 4697 | mRoute = new GMapRoute(wpl, _getBrush(s)); |
2328 | - | 4698 | } |
4699 | else |
||
2366 | - | 4700 | mRoute = new GMapRoute(wpl, null); |
2324 | - | 4701 | |
2328 | - | 4702 | MainMap.Markers.Add(mRoute); |
4703 | }); |
||
2324 | - | 4704 | } |
4705 | |||
4706 | } |
||
4707 | catch (Exception e) |
||
4708 | { |
||
4709 | Console.WriteLine("Exception: {0}", e.ToString()); |
||
4710 | } |
||
4711 | } |
||
4712 | } |
||
4713 | #endregion GPX |
||
2315 | - | 4714 | #endregion functions |
2287 | - | 4715 | } |
2315 | - | 4716 | /// <summary> |
4717 | /// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter |
||
4718 | /// </summary> |
||
2313 | - | 4719 | public class waypointsConverter : IValueConverter |
4720 | { |
||
4721 | public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
||
4722 | { |
||
4723 | if (value != null) |
||
4724 | { |
||
4725 | switch ((string)parameter) |
||
4726 | { |
||
4727 | case "Latitude": |
||
4728 | return value.ToString() + " °"; |
||
4729 | case "Longitude": |
||
4730 | return value.ToString() + " °"; |
||
4731 | case "Radius": |
||
4732 | return value.ToString() + " m"; |
||
4733 | case "Altitude": |
||
4734 | return value.ToString() + " m"; |
||
4735 | case "ClimbRate": |
||
4736 | return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
||
4737 | case "DelayTime": |
||
4738 | return value.ToString() + " s"; |
||
4739 | case "Heading": |
||
4740 | return Waypoints.Heading(System.Convert.ToInt32(value)); |
||
4741 | case "Speed": |
||
4742 | return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
||
4743 | case "CamAngle": |
||
4744 | return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
||
4745 | case "Type": |
||
4746 | return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
||
4747 | case "AutoTrigger": |
||
4748 | return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
||
4749 | case "Status": |
||
2355 | - | 4750 | return (Waypoints.status)(System.Convert.ToInt16(value)); |
2313 | - | 4751 | } |
4752 | |||
4753 | return value.ToString(); |
||
4754 | } |
||
4755 | else return value; |
||
4756 | } |
||
4757 | |||
4758 | public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
||
4759 | { |
||
4760 | throw new NotImplementedException(); |
||
4761 | } |
||
4762 | } |
||
4763 | |||
2287 | - | 4764 | public class IniFile |
4765 | { |
||
4766 | public string path; |
||
4767 | |||
4768 | [DllImport("kernel32")] |
||
4769 | private static extern long WritePrivateProfileString(string section, |
||
4770 | string key, string val, string filePath); |
||
4771 | |||
4772 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
4773 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
4774 | uint nSize, string lpFileName); |
||
4775 | |||
4776 | [DllImport("kernel32")] |
||
4777 | private static extern int GetPrivateProfileString(string section, |
||
4778 | string key, string def, StringBuilder retVal, |
||
4779 | int size, string filePath); |
||
4780 | |||
4781 | public IniFile(string INIPath) |
||
4782 | { |
||
4783 | path = INIPath; |
||
4784 | } |
||
4785 | |||
4786 | public void IniWriteValue(string Section, string Key, string Value) |
||
4787 | { |
||
4788 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
4789 | } |
||
4790 | |||
4791 | public string IniReadValue(string Section, string Key) |
||
4792 | { |
||
4793 | StringBuilder temp = new StringBuilder(255); |
||
4794 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
4795 | return temp.ToString(); |
||
4796 | } |
||
4797 | //Ini_sections auslesen in String-Array |
||
4798 | public string[] IniSectionNames() |
||
4799 | { |
||
4800 | |||
4801 | // uint MAX_BUFFER = 32767; |
||
4802 | uint MAX_BUFFER = 8388608; |
||
4803 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
4804 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
4805 | if (bytesReturned == 0) |
||
4806 | { |
||
4807 | Marshal.FreeCoTaskMem(pReturnedString); |
||
4808 | return null; |
||
4809 | } |
||
4810 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
4811 | Marshal.FreeCoTaskMem(pReturnedString); |
||
4812 | //use of Substring below removes terminating null for split |
||
4813 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
4814 | |||
4815 | |||
4816 | } |
||
4817 | } |
||
4818 | |||
4819 | /// <summary> |
||
4820 | /// Selected Win AI Function Calls |
||
4821 | /// </summary> |
||
4822 | public class WinApi |
||
4823 | { |
||
4824 | [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
||
4825 | public static extern int GetSystemMetrics(int which); |
||
4826 | [DllImport("user32.dll")] |
||
4827 | public static extern void |
||
4828 | SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
||
4829 | int X, int Y, int width, int height, uint flags); |
||
4830 | |||
4831 | private const int SM_CXSCREEN = 0; |
||
4832 | private const int SM_CYSCREEN = 1; |
||
4833 | private static IntPtr HWND_TOP = IntPtr.Zero; |
||
4834 | private const int SWP_SHOWWINDOW = 64; // 0x0040 |
||
4835 | |||
4836 | public static int ScreenX |
||
4837 | { |
||
4838 | get { return GetSystemMetrics(SM_CXSCREEN); } |
||
4839 | } |
||
4840 | |||
4841 | public static int ScreenY |
||
4842 | { |
||
4843 | get { return GetSystemMetrics(SM_CYSCREEN); } |
||
4844 | } |
||
4845 | |||
4846 | public static void SetWinFullScreen(IntPtr hwnd) |
||
4847 | { |
||
4848 | SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
||
4849 | } |
||
4850 | } |
||
4851 | /// <summary> |
||
4852 | /// Class used to preserve / restore state of the window |
||
4853 | /// </summary> |
||
4854 | public class WinState |
||
4855 | { |
||
4856 | private WindowState winState; |
||
4857 | private WindowStyle brdStyle; |
||
4858 | private bool topMost; |
||
4859 | private Rect restore; |
||
4860 | private bool IsMaximized = false; |
||
4861 | |||
4862 | public bool isMaximized |
||
4863 | { |
||
4864 | get { return IsMaximized; } |
||
4865 | } |
||
4866 | public void Maximize(Window targetForm) |
||
4867 | { |
||
4868 | if (!IsMaximized) |
||
4869 | { |
||
4870 | IsMaximized = true; |
||
4871 | Save(targetForm); |
||
4872 | targetForm.WindowState = WindowState.Maximized; |
||
4873 | targetForm.WindowStyle = WindowStyle.None; |
||
4874 | targetForm.Topmost = true; |
||
4875 | WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
||
4876 | } |
||
4877 | } |
||
4878 | |||
4879 | public void Save(Window targetForm) |
||
4880 | { |
||
4881 | winState = targetForm.WindowState; |
||
4882 | brdStyle = targetForm.WindowStyle; |
||
4883 | topMost = targetForm.Topmost; |
||
4884 | restore = targetForm.RestoreBounds; |
||
4885 | } |
||
4886 | public void Restore(Window targetForm) |
||
4887 | { |
||
4888 | targetForm.WindowState = winState; |
||
4889 | targetForm.WindowStyle = brdStyle; |
||
4890 | targetForm.Topmost = topMost; |
||
4891 | |||
4892 | targetForm.Left = restore.Left; |
||
4893 | targetForm.Top = restore.Top; |
||
4894 | targetForm.Height = restore.Height; |
||
4895 | targetForm.Width = restore.Width; |
||
4896 | IsMaximized = false; |
||
4897 | } |
||
4898 | } |
||
4899 | |||
4900 | } |