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| Rev | Author | Line No. | Line |
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| 825 | - | 1 | #!/usr/bin/perl |
| 2 | #!/usr/bin/perl -d:ptkdb |
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| 3 | |||
| 4 | ############################################################################### |
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| 5 | # |
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| 6 | # libmap.pl - Conversion GPS and Map-X/Y Coordinates |
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| 7 | # |
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| 8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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| 9 | # |
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| 10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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| 11 | # |
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| 12 | # Es ist Ihnen gestattet: |
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| 13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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| 14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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| 15 | # |
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| 16 | # Zu den folgenden Bedingungen: |
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| 17 | # * Namensnennung. |
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| 18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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| 19 | # * Keine kommerzielle Nutzung. |
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| 20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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| 21 | # * Weitergabe unter gleichen Bedingungen. |
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| 22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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| 23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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| 24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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| 25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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| 26 | # |
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| 27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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| 28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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| 29 | # |
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| 30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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| 31 | # des Rechteinhabers dazu erhalten. |
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| 32 | # |
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| 33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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| 34 | # |
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| 35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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| 36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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| 37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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| 38 | # |
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| 39 | ############################################################################### |
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| 40 | # |
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| 41 | # 2009-10-10 0.0.1 rw created |
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| 42 | # 2009-12-05 0.0.2 rw check, if no WP is defined |
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| 43 | # 2010-01-27 0.0.3 rw UsedCapacity, Current |
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| 44 | # switch of logging while sim is active |
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| 45 | # 2010-09-15 0.0.4 rw Check invalid $MkSim{'Target_Heading'} >= 360 |
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| 46 | # |
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| 47 | ############################################################################### |
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| 48 | |||
| 49 | $Version{'libmksim.pl'} = "0.0.4 - 2010-09-15"; |
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| 50 | |||
| 51 | my $Simulator = "OFF"; |
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| 52 | |||
| 53 | sub MkSim() |
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| 54 | { |
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| 55 | # switch off logging |
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| 56 | $LogQueue->enqueue( "OFF" ); |
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| 57 | |||
| 58 | my $popup = $main->Toplevel(); |
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| 59 | $popup->title("MikroKopter Simulator"); |
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| 60 | |||
| 61 | # Catch delete window event and exit sim |
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| 62 | $popup->protocol( 'WM_DELETE_WINDOW' => sub |
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| 63 | { |
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| 64 | &CbSimStop(); |
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| 65 | $popup->destroy(); |
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| 66 | }); |
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| 67 | |||
| 68 | |||
| 69 | my $menu_bar = $popup->Menu; |
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| 70 | $popup->optionAdd("*tearOff", "false"); |
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| 71 | $popup->configure ('-menu' => $menu_bar); |
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| 72 | |||
| 73 | my $menu_action = $menu_bar->cascade('-label' => "Action"); |
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| 74 | $menu_action->command('-label' => "3D Fix", |
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| 75 | '-command' => [\&CbSim3DFix ], |
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| 76 | ); |
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| 77 | $menu_action->command('-label' => "Make MK Fly", |
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| 78 | '-command' => [\&CbSimMkFly ], |
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| 79 | ); |
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| 80 | $menu_action->separator; |
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| 81 | $menu_action->command('-label' => "Start Simulator", |
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| 82 | '-command' => [\&CbSimStart ], |
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| 83 | ); |
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| 84 | $menu_action->command('-label' => "Stop Simulator", |
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| 85 | '-command' => [\&CbSimStop ], |
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| 86 | ); |
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| 87 | |||
| 88 | my $frame = $popup->Frame() -> pack('-side' => 'top', |
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| 89 | '-expand' => 'y', |
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| 90 | '-anchor' => 's', |
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| 91 | '-padx' => 5, |
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| 92 | '-pady' => 5, |
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| 93 | ); |
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| 94 | |||
| 95 | my $button = $popup->Frame() -> pack('-side' => 'bottom', |
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| 96 | '-expand' => 'y', |
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| 97 | '-anchor' => 's', |
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| 98 | '-padx' => 5, |
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| 99 | '-pady' => 5, |
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| 100 | ); |
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| 101 | |||
| 102 | # Exit Button |
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| 103 | $button->Button('-text' => 'Exit', |
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| 104 | '-width' => 10, |
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| 105 | '-command' => sub |
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| 106 | { |
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| 107 | &CbSimStop(); |
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| 108 | $popup->destroy(); |
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| 109 | }) -> pack( '-anchor' => 's', |
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| 110 | '-padx' => 5, |
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| 111 | '-pady' => 5, |
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| 112 | ); |
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| 113 | |||
| 114 | |||
| 115 | # Tabs erstellen |
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| 116 | my $book = $frame->NoteBook()->pack( -fill=>'both', -expand=>1 ); |
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| 117 | |||
| 118 | # |
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| 119 | # Tab: GPS |
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| 120 | # |
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| 121 | my $GpsTab = $book->add( "GPS", -label=>"GPS" ); |
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| 122 | |||
| 123 | # canvas grid position |
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| 124 | my $GpsRow = 0; |
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| 125 | my $GpsCol = 0; |
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| 126 | my $GpsRowMap = $GpsRow + 1; |
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| 127 | my $GpsColMap = $GpsCol; |
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| 128 | my $GpsRowAlt = $GpsRow + 2; |
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| 129 | my $GpsColAlt = $GpsCol; |
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| 130 | my $GpsRowStat = $GpsRow + 4; |
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| 131 | my $GpsColStat = $GpsCol; |
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| 132 | my $GpsRowSats = $GpsRow + 5; |
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| 133 | my $GpsColSats = $GpsCol; |
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| 134 | |||
| 135 | # Create and scale Photo |
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| 136 | my $ImgWidth = "$Cfg->{'map'}->{'SimImageSize'}" || 300; |
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| 137 | my $Factor = $MapSizeX / $ImgWidth; |
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| 138 | |||
| 139 | my $Img1 = $popup->Photo( 'SimFoto', |
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| 140 | '-file' => "$Cfg->{'map'}->{'MapDir'}/$Map{'File'}", |
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| 141 | ); |
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| 142 | my $Img2 = $popup->Photo ('SimFoto-Resized'); |
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| 143 | $Img2->copy ( $Img1, |
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| 144 | '-shrink', |
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| 145 | '-subsample' => $Factor, $Factor, |
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| 146 | ); |
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| 147 | |||
| 148 | my $ImgWidth = $Img2->width; |
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| 149 | my $ImgHeight = $Img2->height; |
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| 150 | my $ImgScaleX = $MapSizeX / $ImgWidth; |
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| 151 | my $ImgScaleY = $MapSizeY / $ImgHeight; |
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| 152 | |||
| 153 | # display scaled Photo on canvas |
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| 154 | my $canvas = $GpsTab->Canvas( '-width' => $ImgWidth, |
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| 155 | '-height' => $ImgHeight, |
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| 156 | ) -> grid (-row => $GpsRowMap, |
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| 157 | -column => $GpsColMap, |
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| 158 | -columnspan => 4, |
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| 159 | ); |
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| 160 | $canvas->createImage( 0, 0, |
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| 161 | '-tags' => 'SimMap', |
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| 162 | '-anchor' => 'nw', |
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| 163 | '-image' => $Img2, |
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| 164 | ); |
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| 165 | |||
| 166 | # Circle-Icon for MK, Target, Home |
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| 167 | my $Dia = 14; |
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| 168 | my $ImgSplit = $ImgWidth / 4; |
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| 169 | my $MkX = $ImgSplit - $Dia/2; |
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| 170 | my $MkY = $ImgHeight / 2 + $Dia/2; |
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| 171 | my $TargetX = $ImgSplit * 2 - $Dia/2; |
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| 172 | my $TargetY = $ImgHeight / 2 + $Dia/2; |
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| 173 | my $HomeX = $ImgSplit * 3 - $Dia/2; |
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| 174 | my $HomeY = $ImgHeight / 2 + $Dia/2; |
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| 175 | |||
| 176 | |||
| 177 | ($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}) = &MapXY2Gps ($MkX * $ImgScaleX, $MkY * $ImgScaleY); |
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| 178 | ($MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'}) = &MapXY2Gps ($TargetX * $ImgScaleX, $TargetY * $ImgScaleY); |
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| 179 | ($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'}) = &MapXY2Gps ($HomeX * $ImgScaleX, $HomeY * $ImgScaleY); |
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| 180 | |||
| 181 | $canvas->createOval ( $HomeX, $HomeY, $HomeX + $Dia, $HomeY + $Dia, |
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| 182 | '-tags' => "SimHome", |
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| 183 | '-fill' => $Cfg->{'mkcockpit'}->{'ColorHomeLine'}, |
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| 184 | '-outline' => "white", |
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| 185 | ); |
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| 186 | $canvas->createOval ( $TargetX, $TargetY, $TargetX + $Dia, $TargetY + $Dia, |
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| 187 | '-tags' => "SimTarget", |
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| 188 | '-fill' => $Cfg->{'mkcockpit'}->{'ColorTargetLine'}, |
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| 189 | '-outline' => "white", |
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| 190 | ); |
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| 191 | $canvas->createOval ( $MkX, $MkY, $MkX + $Dia, $MkY + $Dia, |
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| 192 | '-tags' => "SimMk", |
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| 193 | '-fill' => $Cfg->{'mkcockpit'}->{'ColorMkSatGood'}, |
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| 194 | '-outline' => "white", |
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| 195 | ); |
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| 196 | |||
| 197 | # GPS Alt MK |
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| 198 | $GpsTab->Label(-text => , $Translate{'CurPos_Alt'}, |
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| 199 | )->grid ('-row' => $GpsRowAlt, |
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| 200 | '-column' => $GpsColAlt, |
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| 201 | '-sticky' => 'w', |
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| 202 | ); |
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| 203 | |||
| 204 | $MkOsd{'CurPos_Alt'} = 0; |
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| 205 | $scCurPos_Alt = $GpsTab->Scale( |
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| 206 | '-orient' => 'vertical', |
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| 207 | '-from' => 400, |
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| 208 | '-to' => 0, |
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| 209 | '-tickinterval' => 50, |
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| 210 | '-resolution' => 1, |
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| 211 | '-label' => "", |
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| 212 | '-font' => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
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| 213 | '-length' => 150, |
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| 214 | '-width' => 15, |
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| 215 | '-variable' => \$MkOsd{'CurPos_Alt'}, |
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| 216 | )->grid ('-row' => $GpsRowAlt+1, |
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| 217 | '-column' => $GpsColAlt, |
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| 218 | ); |
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| 219 | |||
| 220 | $MkOsd{'CurPos_Stat'} = 0; |
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| 221 | $cbCurPos_Stat = $GpsTab->Checkbutton( |
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| 222 | -text => $Translate{'CurPos_Stat'}, |
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| 223 | -offvalue => 0x00, |
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| 224 | -onvalue => 0x01, |
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| 225 | -variable => \$MkOsd{'CurPos_Stat'}, |
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| 226 | )->grid (-row => $GpsRowStat, |
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| 227 | -column => $GpsColStat, |
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| 228 | -columnspan => 2, |
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| 229 | -sticky => 'w', |
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| 230 | ); |
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| 231 | |||
| 232 | # Altimeter |
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| 233 | $GpsTab->Label(-text => , $Translate{'Altimeter'}, |
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| 234 | )->grid ('-row' => $GpsRowAlt, |
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| 235 | '-column' => $GpsColAlt +1, |
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| 236 | ); |
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| 237 | |||
| 238 | $MkOsd{'Altimeter'} = 0; |
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| 239 | $scAltimeter = $GpsTab->Scale( |
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| 240 | -orient => 'vertical', |
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| 241 | -from => 8000, |
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| 242 | -to => 0, |
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| 243 | -tickinterval => 2000, |
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| 244 | -resolution => 1, |
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| 245 | -label => "", |
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| 246 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
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| 247 | -length => 150, |
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| 248 | -width => 15, |
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| 249 | -variable => \$MkOsd{'Altimeter'}, |
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| 250 | )->grid (-row => $GpsRowAlt +1, |
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| 251 | -column => $GpsColAlt +1, |
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| 252 | ); |
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| 253 | |||
| 254 | # GPS Alt Target |
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| 255 | $GpsTab->Label(-text => , $Translate{'TargetPos_Alt'}, |
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| 256 | )->grid ('-row' => $GpsRowAlt, |
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| 257 | '-column' => $GpsColAlt +2, |
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| 258 | ); |
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| 259 | |||
| 260 | $MkOsd{'TargetPos_Alt'} = 0; |
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| 261 | $scTargetPos_Alt = $GpsTab->Scale( |
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| 262 | '-orient' => 'vertical', |
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| 263 | '-from' => 400, |
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| 264 | '-to' => 0, |
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| 265 | '-tickinterval' => 50, |
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| 266 | '-resolution' => 1, |
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| 267 | '-label' => "", |
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| 268 | '-font' => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
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| 269 | '-length' => 150, |
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| 270 | '-width' => 15, |
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| 271 | '-variable' => \$MkOsd{'TargetPos_Alt'}, |
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| 272 | )->grid ('-row' => $GpsRowAlt +1, |
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| 273 | '-column' => $GpsColAlt +2, |
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| 274 | ); |
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| 275 | |||
| 276 | $MkOsd{'TargetPos_Stat'} = 0; |
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| 277 | $cbTargetPos_Stat = $GpsTab->Checkbutton(-text => $Translate{'TargetPos_Stat'}, |
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| 278 | -offvalue => 0x00, |
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| 279 | -onvalue => 0x01, |
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| 280 | -variable => \$MkOsd{'TargetPos_Stat'}, |
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| 281 | )->grid (-row => $GpsRowStat, |
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| 282 | -column => $GpsColStat +2, |
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| 283 | ); |
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| 284 | |||
| 285 | # GPS Alt Home |
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| 286 | $GpsTab->Label(-text => , $Translate{'HomePos_Alt'}, |
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| 287 | )->grid ('-row' => $GpsRowAlt, |
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| 288 | '-column' => $GpsColAlt +3, |
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| 289 | ); |
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| 290 | |||
| 291 | $MkOsd{'HomePos_Alt'} = 0; |
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| 292 | $scHomePos_Alt = $GpsTab->Scale( |
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| 293 | '-orient' => 'vertical', |
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| 294 | '-from' => 400, |
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| 295 | '-to' => 0, |
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| 296 | '-tickinterval' => 50, |
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| 297 | '-resolution' => 1, |
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| 298 | '-label' => "", |
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| 299 | '-font' => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
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| 300 | '-length' => 150, |
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| 301 | '-width' => 15, |
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| 302 | '-variable' => \$MkOsd{'HomePos_Alt'}, |
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| 303 | )->grid ('-row' => $GpsRowAlt +1, |
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| 304 | '-column' => $GpsColAlt +3, |
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| 305 | ); |
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| 306 | |||
| 307 | $MkOsd{'HomePos_Stat'} = 0; |
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| 308 | $cbHomePos_Stat = $GpsTab->Checkbutton( |
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| 309 | -text => "Home Status", # $Translate{'HomePos_Stat'}, |
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| 310 | -offvalue => 0x00, |
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| 311 | -onvalue => 0x01, |
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| 312 | -variable => \$MkOsd{'HomePos_Stat'}, |
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| 313 | )->grid (-row => $GpsRowStat, |
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| 314 | -column => $GpsColStat +3, |
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| 315 | ); |
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| 316 | |||
| 317 | # Sats in Use |
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| 318 | $MkOsd{'SatsInUse'} = 0; |
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| 319 | $scSatsInUse = $GpsTab->Scale( |
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| 320 | '-orient' => 'horizontal', |
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| 321 | '-from' => 0, |
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| 322 | '-to' => 12, |
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| 323 | '-resolution' => 1, |
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| 324 | '-tickinterval' => 1, |
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| 325 | '-label' => $Translate{'SatsInUse'}, |
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| 326 | '-font' => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
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| 327 | '-length' => 300, |
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| 328 | '-width' => 15, |
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| 329 | '-variable' => \$MkOsd{'SatsInUse'}, |
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| 330 | )->grid (-row => $GpsRowSats, |
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| 331 | -column => $GpsColSats, |
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| 332 | -columnspan => 4, |
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| 333 | ); |
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| 334 | |||
| 335 | # Balloon |
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| 336 | my $simballoon = $popup->Balloon(); |
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| 337 | $simballoon->attach($canvas, |
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| 338 | '-balloonposition' => 'mouse', |
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| 339 | '-state' => 'balloon', |
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| 340 | '-msg' => { 'SimMk' => 'MikroKopter', |
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| 341 | 'SimTarget' => 'Target', |
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| 342 | 'SimHome' => 'Home', |
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| 343 | }, |
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| 344 | ); |
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| 345 | |||
| 346 | # Mouse button 1 for MK |
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| 347 | my $MkOldx = 0; |
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| 348 | my $MkOldy = 0; |
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| 349 | |||
| 350 | # Pick MK |
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| 351 | $canvas->bind('SimMk' => '<Button-1>' => sub |
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| 352 | { |
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| 353 | # prepare to move |
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| 354 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 355 | $MkOldx = $x; |
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| 356 | $MkOldy = $y; |
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| 357 | }); |
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| 358 | |||
| 359 | # Move Mk |
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| 360 | $canvas->bind('SimMk' => '<Button1-Motion>' => sub |
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| 361 | { |
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| 362 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 363 | my $id = $canvas->find('withtag', 'current'); |
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| 364 | |||
| 365 | my $Dia2 = $Dia/2; |
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| 366 | if ( $x < $Dia2 ) { $x = $Dia2 }; |
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| 367 | if ( $y < $Dia2 ) { $y = $Dia2 }; |
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| 368 | if ( $x > $ImgWidth - $Dia2 ) { $x = $ImgWidth - $Dia2 }; |
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| 369 | if ( $y > $ImgHeight - $Dia2) { $y = $ImgHeight - $Dia2 }; |
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| 370 | |||
| 371 | $canvas->move($id => $x - $MkOldx, $y - $MkOldy); |
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| 372 | $MkOldx = $x; |
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| 373 | $MkOldy = $y; |
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| 374 | |||
| 375 | ($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}) = &MapXY2Gps ($x * $ImgScaleX, $y * $ImgScaleY); |
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| 376 | }); |
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| 377 | |||
| 378 | # Mouse button 1 for Target |
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| 379 | my $TargetOldx = 0; |
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| 380 | my $TargetOldy = 0; |
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| 381 | |||
| 382 | # Pick Target |
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| 383 | $canvas->bind('SimTarget' => '<Button-1>' => sub |
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| 384 | { |
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| 385 | # prepare to move |
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| 386 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 387 | $TargetOldx = $x; |
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| 388 | $TargetOldy = $y; |
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| 389 | }); |
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| 390 | |||
| 391 | # Move Target |
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| 392 | $canvas->bind('SimTarget' => '<Button1-Motion>' => sub |
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| 393 | { |
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| 394 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 395 | my $id = $canvas->find('withtag', 'current'); |
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| 396 | |||
| 397 | my $Dia2 = $Dia/2; |
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| 398 | if ( $x < $Dia2 ) { $x = $Dia2 }; |
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| 399 | if ( $y < $Dia2 ) { $y = $Dia2 }; |
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| 400 | if ( $x > $ImgWidth - $Dia2 ) { $x = $ImgWidth - $Dia2 }; |
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| 401 | if ( $y > $ImgHeight - $Dia2) { $y = $ImgHeight - $Dia2 }; |
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| 402 | |||
| 403 | $canvas->move($id => $x - $TargetOldx, $y - $TargetOldy); |
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| 404 | $TargetOldx = $x; |
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| 405 | $TargetOldy = $y; |
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| 406 | |||
| 407 | ($MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'}) = &MapXY2Gps ($x * $ImgScaleX, $y * $ImgScaleY); |
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| 408 | }); |
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| 409 | |||
| 410 | # Mouse button 1 for Home |
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| 411 | my $HomeOldx = 0; |
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| 412 | my $HomeOldy = 0; |
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| 413 | |||
| 414 | # Pick Home |
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| 415 | $canvas->bind('SimHome' => '<Button-1>' => sub |
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| 416 | { |
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| 417 | # prepare to move |
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| 418 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 419 | $HomeOldx = $x; |
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| 420 | $HomeOldy = $y; |
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| 421 | }); |
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| 422 | |||
| 423 | # Move Home |
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| 424 | $canvas->bind('SimHome' => '<Button1-Motion>' => sub |
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| 425 | { |
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| 426 | my ($x, $y) = ($Tk::event->x, $Tk::event->y); |
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| 427 | my $id = $canvas->find('withtag', 'current'); |
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| 428 | |||
| 429 | my $Dia2 = $Dia/2; |
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| 430 | if ( $x < $Dia2 ) { $x = $Dia2 }; |
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| 431 | if ( $y < $Dia2 ) { $y = $Dia2 }; |
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| 432 | if ( $x > $ImgWidth - $Dia2 ) { $x = $ImgWidth - $Dia2 }; |
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| 433 | if ( $y > $ImgHeight - $Dia2) { $y = $ImgHeight - $Dia2 }; |
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| 434 | |||
| 435 | $canvas->move($id => $x - $HomeOldx, $y - $HomeOldy); |
||
| 436 | $HomeOldx = $x; |
||
| 437 | $HomeOldy = $y; |
||
| 438 | |||
| 439 | ($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'}) = &MapXY2Gps ($x * $ImgScaleX, $y * $ImgScaleY); |
||
| 440 | }); |
||
| 441 | |||
| 442 | |||
| 443 | # |
||
| 444 | # Tab: Navigation |
||
| 445 | # |
||
| 446 | my $NavTab = $book->add( "Navigation", -label=>"Navigation", ); |
||
| 447 | |||
| 448 | my $Row = 0; |
||
| 449 | my $Col = 0; |
||
| 450 | |||
| 451 | # Waypoint Index |
||
| 452 | $MkOsd{'WaypointIndex'} = 0; |
||
| 453 | $scWaypointIndex = $NavTab->Scale( |
||
| 454 | -orient => 'horizontal', |
||
| 455 | -from => 0, |
||
| 456 | -to => 20, |
||
| 457 | -tickinterval => 5, |
||
| 458 | -resolution => 1, |
||
| 459 | -label => $Translate{'WaypointIndex'}, |
||
| 460 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 461 | -length => 300, |
||
| 462 | -width => 15, |
||
| 463 | -variable => \$MkOsd{'WaypointIndex'}, |
||
| 464 | )->grid (-row => $Row + 1, |
||
| 465 | -column => $Col, |
||
| 466 | ); |
||
| 467 | |||
| 468 | # Waypoint Number |
||
| 469 | $MkOsd{'WaypointNumber'} = 0; |
||
| 470 | $scWaypointNumber = $NavTab->Scale( |
||
| 471 | -orient => 'horizontal', |
||
| 472 | -from => 0, |
||
| 473 | -to => 20, |
||
| 474 | -tickinterval => 5, |
||
| 475 | -resolution => 1, |
||
| 476 | -label => $Translate{'WaypointNumber'}, |
||
| 477 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 478 | -length => 300, |
||
| 479 | -width => 15, |
||
| 480 | -variable => \$MkOsd{'WaypointNumber'}, |
||
| 481 | )->grid (-row => $Row + 2, |
||
| 482 | -column => $Col, |
||
| 483 | ); |
||
| 484 | |||
| 485 | # Operating Radius |
||
| 486 | $MkOsd{'OperatingRadius'} = 250; |
||
| 487 | $scOperatingRadius = $NavTab->Scale( |
||
| 488 | -orient => 'horizontal', |
||
| 489 | -from => 0, |
||
| 490 | -to => 250, |
||
| 491 | -tickinterval => 50, |
||
| 492 | -resolution => 1, |
||
| 493 | -label => "$Translate{'OperatingRadius'} (m)", |
||
| 494 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 495 | -length => 300, |
||
| 496 | -width => 15, |
||
| 497 | -variable => \$MkOsd{'OperatingRadius'}, |
||
| 498 | )->grid (-row => $Row + 3, |
||
| 499 | -column => $Col, |
||
| 500 | ); |
||
| 501 | |||
| 502 | # TargetPosDev_Dist |
||
| 503 | $MkOsd{'TargetPosDev_Dist'} = 250; |
||
| 504 | $scTargetPosDev_Dist = $NavTab->Scale( |
||
| 505 | -orient => 'horizontal', |
||
| 506 | -from => 0, |
||
| 507 | -to => 500, |
||
| 508 | -tickinterval => 100, |
||
| 509 | -resolution => 1, |
||
| 510 | -label => "$Translate{'TargetPosDev_Dist'} (dm)", |
||
| 511 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 512 | -length => 300, |
||
| 513 | -width => 15, |
||
| 514 | -variable => \$MkOsd{'TargetPosDev_Dist'}, |
||
| 515 | )->grid (-row => $Row + 4, |
||
| 516 | -column => $Col, |
||
| 517 | ); |
||
| 518 | |||
| 519 | |||
| 520 | # |
||
| 521 | # Tab: MK |
||
| 522 | # |
||
| 523 | my $MkTab = $book->add( "MikroKopter1", -label=>"MikroKopter 1", ); |
||
| 524 | |||
| 525 | my $Row = 0; |
||
| 526 | my $Col = 0; |
||
| 527 | |||
| 528 | # Battery |
||
| 529 | $MkOsd{'UBat'} = 12.6; |
||
| 530 | $scUBat = $MkTab->Scale( |
||
| 531 | -orient => 'horizontal', |
||
| 532 | -from => 6.0, |
||
| 533 | -to => 18.0, |
||
| 534 | -tickinterval => 2, |
||
| 535 | -resolution => 0.1, |
||
| 536 | -label => "$Translate{'UBat'} (V)", |
||
| 537 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 538 | -length => 200, |
||
| 539 | -width => 15, |
||
| 540 | -variable => \$MkOsd{'UBat'}, |
||
| 541 | )->grid (-row => $Row, |
||
| 542 | -column => $Col, |
||
| 543 | ); |
||
| 544 | |||
| 545 | # RC Quality |
||
| 546 | $MkOsd{'RC_Quality'} = 190; |
||
| 547 | $scRC_Quality = $MkTab->Scale( |
||
| 548 | -orient => 'horizontal', |
||
| 549 | -from => 0, |
||
| 550 | -to => 200, |
||
| 551 | -tickinterval => 50, |
||
| 552 | -resolution => 1, |
||
| 553 | -label => $Translate{'RC_Quality'}, |
||
| 554 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 555 | -length => 200, |
||
| 556 | -width => 15, |
||
| 557 | -variable => \$MkOsd{'RC_Quality'}, |
||
| 558 | )->grid (-row => $Row +1, |
||
| 559 | -column => $Col, |
||
| 560 | ); |
||
| 561 | # CompassHeading |
||
| 562 | $MkOsd{'CompassHeading'} = 0; |
||
| 563 | $scCompassHeading = $MkTab->Scale( |
||
| 564 | -orient => 'horizontal', |
||
| 565 | -from => 0, |
||
| 566 | -to => 360, |
||
| 567 | -tickinterval => 45, |
||
| 568 | -resolution => 1, |
||
| 569 | -label => $Translate{'CompassHeading'}, |
||
| 570 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 571 | -length => 200, |
||
| 572 | -width => 15, |
||
| 573 | -variable => \$MkOsd{'CompassHeading'}, |
||
| 574 | )->grid (-row => $Row +2, |
||
| 575 | -rowspan => 4, |
||
| 576 | -column => $Col, |
||
| 577 | ); |
||
| 578 | |||
| 579 | # GPS Groundspeed |
||
| 580 | $MkOsd{'GroundSpeed'} = 0; |
||
| 581 | $scGroundSpeed = $MkTab->Scale( |
||
| 582 | -orient => 'horizontal', |
||
| 583 | -from => 0, |
||
| 584 | -to => 1000, |
||
| 585 | -tickinterval => 200, |
||
| 586 | -resolution => 1, |
||
| 587 | -label => "$Translate{'GroundSpeed'} (dm/s)", |
||
| 588 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 589 | -length => 200, |
||
| 590 | -width => 15, |
||
| 591 | -variable => \$MkOsd{'GroundSpeed'}, |
||
| 592 | )->grid (-row => $Row + 6, |
||
| 593 | -rowspan => 4, |
||
| 594 | -column => $Col, |
||
| 595 | ); |
||
| 596 | |||
| 597 | # GPS Speed North |
||
| 598 | $MkNcDebug{'Analog_21'} = 0; |
||
| 599 | $scAnalog_21 = $MkTab->Scale( |
||
| 600 | -orient => 'horizontal', |
||
| 601 | -from => -1000, |
||
| 602 | -to => 1000, |
||
| 603 | -tickinterval => 400, |
||
| 604 | -resolution => 1, |
||
| 605 | -label => "$Translate{'Analog_21'} (dm/s)", |
||
| 606 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 607 | -length => 200, |
||
| 608 | -width => 15, |
||
| 609 | -variable => \$MkNcDebug{'Analog_21'}, |
||
| 610 | )->grid (-row => $Row + 10, |
||
| 611 | -rowspan => 4, |
||
| 612 | -column => $Col, |
||
| 613 | ); |
||
| 614 | |||
| 615 | # GPS Speed East |
||
| 616 | $MkNcDebug{'Analog_22'} = 0; |
||
| 617 | $scAnalog_22 = $MkTab->Scale( |
||
| 618 | -orient => 'horizontal', |
||
| 619 | -from => -1000, |
||
| 620 | -to => 1000, |
||
| 621 | -tickinterval => 400, |
||
| 622 | -resolution => 1, |
||
| 623 | -label => "$Translate{'Analog_22'} (dm/s)", |
||
| 624 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 625 | -length => 200, |
||
| 626 | -width => 15, |
||
| 627 | -variable => \$MkNcDebug{'Analog_22'}, |
||
| 628 | )->grid (-row => $Row + 14, |
||
| 629 | -rowspan => 4, |
||
| 630 | -column => $Col, |
||
| 631 | ); |
||
| 632 | |||
| 633 | # Variometer |
||
| 634 | $MkOsd{'Variometer'} = 0; |
||
| 635 | $scVariometer = $MkTab->Scale( |
||
| 636 | -orient => 'vertical', |
||
| 637 | -from => 30, |
||
| 638 | -to => -30, |
||
| 639 | -tickinterval => 10, |
||
| 640 | -resolution => 1, |
||
| 641 | -label => $Translate{'Variometer'}, |
||
| 642 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 643 | -length => 100, |
||
| 644 | -width => 15, |
||
| 645 | -variable => \$MkOsd{'Variometer'}, |
||
| 646 | )->grid (-row => $Row, |
||
| 647 | -rowspan => 2, |
||
| 648 | -column => $Col + 1, |
||
| 649 | ); |
||
| 650 | |||
| 651 | my $DataLink = 1; |
||
| 652 | $cbDataLink = $MkTab->Checkbutton( |
||
| 653 | -text => $Translate{'DataLink'}, |
||
| 654 | -offvalue => 0x00, |
||
| 655 | -onvalue => 0x01, |
||
| 656 | -variable => \$DataLink, |
||
| 657 | )->grid (-row => $Row + 2, |
||
| 658 | -column => $Col +1, |
||
| 659 | -sticky=>'w', |
||
| 660 | -ipadx => 10, |
||
| 661 | ); |
||
| 662 | |||
| 663 | $MkTab->Label(-text => "", # space |
||
| 664 | )->grid (-row => $Row +3, |
||
| 665 | -column => $Col +1, |
||
| 666 | -sticky=>'w', |
||
| 667 | -ipadx => 10, |
||
| 668 | ); |
||
| 669 | |||
| 670 | $MkTab->Label(-text => "$Translate{'MKFlags'}: --------", |
||
| 671 | )->grid (-row => $Row +4, |
||
| 672 | -column => $Col +1, |
||
| 673 | -sticky=>'w', |
||
| 674 | -ipadx => 10, |
||
| 675 | ); |
||
| 676 | my $MkMotorRun = 0; |
||
| 677 | $cbMkMotorRun = $MkTab->Checkbutton( |
||
| 678 | -text => $Translate{'MkMotorRun'}, |
||
| 679 | -offvalue => 0x00, |
||
| 680 | -onvalue => 0x01, |
||
| 681 | -variable => \$MkMotorRun, |
||
| 682 | )->grid (-row => $Row + 5, |
||
| 683 | -column => $Col +1, |
||
| 684 | -sticky=>'w', |
||
| 685 | -ipadx => 10, |
||
| 686 | ); |
||
| 687 | my $MkFly = 0; |
||
| 688 | $cbMkFly = $MkTab->Checkbutton( |
||
| 689 | -text => $Translate{'MkFly'}, |
||
| 690 | -variable => \$MkFly, |
||
| 691 | -offvalue => 0x00, |
||
| 692 | -onvalue => 0x02, |
||
| 693 | )->grid (-row => $Row + 6, |
||
| 694 | -column => $Col +1, |
||
| 695 | -sticky=>'w', |
||
| 696 | -ipadx => 10, |
||
| 697 | ); |
||
| 698 | my $MkCalibrate = 0; |
||
| 699 | $cbMkCalibrate = $MkTab->Checkbutton( |
||
| 700 | -text => $Translate{'MkCalibrate'}, |
||
| 701 | -variable => \$MkCalibrate, |
||
| 702 | -offvalue => 0x00, |
||
| 703 | -onvalue => 0x04, |
||
| 704 | )->grid (-row => $Row + 7, |
||
| 705 | -column => $Col +1, |
||
| 706 | -sticky=>'w', |
||
| 707 | -ipadx => 10, |
||
| 708 | ); |
||
| 709 | my $MkStart = 0; |
||
| 710 | $cbMkStart = $MkTab->Checkbutton( |
||
| 711 | -text => $Translate{'MkStart'}, |
||
| 712 | -variable => \$MkStart, |
||
| 713 | -offvalue => 0x00, |
||
| 714 | -onvalue => 0x08, |
||
| 715 | )->grid (-row => $Row + 8, |
||
| 716 | -column => $Col + 1, |
||
| 717 | -sticky=>'w', |
||
| 718 | -ipadx => 10, |
||
| 719 | ); |
||
| 720 | my $MkEmergency = 0; |
||
| 721 | $cbMkEmergency = $MkTab->Checkbutton( |
||
| 722 | -text => $Translate{'MkEmergency'}, |
||
| 723 | -variable => \$MkEmergency, |
||
| 724 | -offvalue => 0x00, |
||
| 725 | -onvalue => 0x10, |
||
| 726 | )->grid (-row => $Row + 9, |
||
| 727 | -column => $Col + 1, |
||
| 728 | -sticky=>'w', |
||
| 729 | -ipadx => 10, |
||
| 730 | ); |
||
| 731 | |||
| 732 | $MkTab->Label(-text => "$Translate{'NCFlags'}: --------", |
||
| 733 | )->grid (-row => $Row + 10, |
||
| 734 | -column => $Col + 1, |
||
| 735 | -sticky=>'w', |
||
| 736 | -ipadx => 10, |
||
| 737 | ); |
||
| 738 | my $NcFlagFree = 0; |
||
| 739 | $cbNcFlagFree = $MkTab->Checkbutton( |
||
| 740 | -text => $Translate{'NcFlagFree'}, |
||
| 741 | -offvalue => 0x00, |
||
| 742 | -onvalue => 0x01, |
||
| 743 | -variable => \$NcFlagFree, |
||
| 744 | )->grid (-row => $Row + 11, |
||
| 745 | -column => $Col + 1, |
||
| 746 | -sticky=>'w', |
||
| 747 | -ipadx => 10, |
||
| 748 | ); |
||
| 749 | my $NcFlagPH = 0; |
||
| 750 | $cbNcFlagPH = $MkTab->Checkbutton( |
||
| 751 | -text => $Translate{'NcFlagPH'}, |
||
| 752 | -offvalue => 0x00, |
||
| 753 | -onvalue => 0x02, |
||
| 754 | -variable => \$NcFlagPH, |
||
| 755 | )->grid (-row => $Row + 12, |
||
| 756 | -column => $Col + 1, |
||
| 757 | -sticky=>'w', |
||
| 758 | -ipadx => 10, |
||
| 759 | ); |
||
| 760 | my $NcFlagCH = 0; |
||
| 761 | $cbNcFlagCH = $MkTab->Checkbutton( |
||
| 762 | -text => $Translate{'NcFlagCH'}, |
||
| 763 | -offvalue => 0x00, |
||
| 764 | -onvalue => 0x04, |
||
| 765 | -variable => \$NcFlagCH, |
||
| 766 | )->grid (-row => $Row + 13, |
||
| 767 | -column => $Col + 1, |
||
| 768 | -sticky=>'w', |
||
| 769 | -ipadx => 10, |
||
| 770 | ); |
||
| 771 | my $NcFlagRangeLimit = 0; |
||
| 772 | $cbNcFlagRangeLimit = $MkTab->Checkbutton( |
||
| 773 | -text => $Translate{'NcFlagRangeLimit'}, |
||
| 774 | -offvalue => 0x00, |
||
| 775 | -onvalue => 0x08, |
||
| 776 | -variable => \$NcFlagRangeLimit, |
||
| 777 | )->grid (-row => $Row + 14, |
||
| 778 | -column => $Col + 1, |
||
| 779 | -sticky=>'w', |
||
| 780 | -ipadx => 10, |
||
| 781 | ); |
||
| 782 | my $NcFlagNoSerialLink = 0; |
||
| 783 | $cbNcFlagNoSerialLink = $MkTab->Checkbutton( |
||
| 784 | -text => $Translate{'NcFlagNoSerialLink'}, |
||
| 785 | -offvalue => 0x00, |
||
| 786 | -onvalue => 0x10, |
||
| 787 | -variable => \$NcFlagNoSerialLink, |
||
| 788 | )->grid (-row => $Row + 15, |
||
| 789 | -column => $Col + 1, |
||
| 790 | -sticky=>'w', |
||
| 791 | -ipadx => 10, |
||
| 792 | ); |
||
| 793 | my $NcFlagTargetReached = 0; |
||
| 794 | $cbNcFlagTargetReached = $MkTab->Checkbutton( |
||
| 795 | -text => $Translate{'NcFlagTargetReached'}, |
||
| 796 | -offvalue => 0x00, |
||
| 797 | -onvalue => 0x20, |
||
| 798 | -variable => \$NcFlagTargetReached, |
||
| 799 | )->grid (-row => $Row + 16, |
||
| 800 | -column => $Col + 1, |
||
| 801 | -sticky=>'w', |
||
| 802 | -ipadx => 10, |
||
| 803 | ); |
||
| 804 | |||
| 805 | my $NcFlagManualControl = 0; |
||
| 806 | $cbNcFlagManualControl = $MkTab->Checkbutton( |
||
| 807 | -text => $Translate{'NcFlagManualControl'}, |
||
| 808 | -offvalue => 0x00, |
||
| 809 | -onvalue => 0x40, |
||
| 810 | -variable => \$NcFlagManualControl |
||
| 811 | )->grid (-row => $Row + 17, |
||
| 812 | -column => $Col + 1, |
||
| 813 | -sticky=>'w', |
||
| 814 | -ipadx => 10, |
||
| 815 | ); |
||
| 816 | |||
| 817 | # |
||
| 818 | # Tab: MK 2 |
||
| 819 | # |
||
| 820 | my $Mk2Tab = $book->add( "MikroKopter2", -label=>"MikroKopter 2", ); |
||
| 821 | |||
| 822 | my $Row = 0; |
||
| 823 | my $Col = 0; |
||
| 824 | |||
| 825 | # Current |
||
| 826 | $MkOsd{'Current'} = 0; |
||
| 827 | $scCurrent = $Mk2Tab->Scale( |
||
| 828 | -orient => 'horizontal', |
||
| 829 | -from => 0, |
||
| 830 | -to => 50, |
||
| 831 | -tickinterval => 10, |
||
| 832 | -resolution => 1, |
||
| 833 | -label => "$Translate{'Current'} (A)", |
||
| 834 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 835 | -length => 300, |
||
| 836 | -width => 15, |
||
| 837 | -variable => \$MkOsd{'Current'}, |
||
| 838 | )->grid (-row => $Row, |
||
| 839 | -column => $Col, |
||
| 840 | ); |
||
| 841 | |||
| 842 | # Used Capacity |
||
| 843 | $MkOsd{'UsedCapacity'} = 0; |
||
| 844 | $scUsedCapacity = $Mk2Tab->Scale( |
||
| 845 | -orient => 'horizontal', |
||
| 846 | -from => 0, |
||
| 847 | -to => 5000, |
||
| 848 | -tickinterval => 1000, |
||
| 849 | -resolution => 50, |
||
| 850 | -label => "$Translate{'UsedCapacity'} (mAh)", |
||
| 851 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 852 | -length => 300, |
||
| 853 | -width => 15, |
||
| 854 | -variable => \$MkOsd{'UsedCapacity'}, |
||
| 855 | )->grid (-row => $Row + 1, |
||
| 856 | -column => $Col, |
||
| 857 | ); |
||
| 858 | |||
| 859 | # |
||
| 860 | # Tab: Simulator |
||
| 861 | # |
||
| 862 | my $MkTab = $book->add( "Simulator", -label=>"Simulator", ); |
||
| 863 | |||
| 864 | my $Row = 0; |
||
| 865 | my $Col = 0; |
||
| 866 | |||
| 867 | # Speed |
||
| 868 | my $SimSpeed = 20; # km/h |
||
| 869 | $scSimSpeed = $MkTab->Scale( |
||
| 870 | -orient => 'horizontal', |
||
| 871 | -from => 0, |
||
| 872 | -to => 50, |
||
| 873 | -tickinterval => 5, |
||
| 874 | -resolution => 1, |
||
| 875 | -label => "Speed (km/h)", |
||
| 876 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 877 | -length => 300, |
||
| 878 | -width => 15, |
||
| 879 | -variable => \$SimSpeed, |
||
| 880 | )->grid (-row => $Row, |
||
| 881 | -column => $Col, |
||
| 882 | ); |
||
| 883 | |||
| 884 | # Acceleration |
||
| 885 | my $SimAcc = 10; # m/s**2 |
||
| 886 | $scSimAcc = $MkTab->Scale( |
||
| 887 | -orient => 'horizontal', |
||
| 888 | -from => 0, |
||
| 889 | -to => 30, |
||
| 890 | -tickinterval => 5, |
||
| 891 | -resolution => 0.5, |
||
| 892 | -label => "Acceleration (m/s**2)", |
||
| 893 | -font => '-adobe-helvetica-medium-r-normal--10-100-75-75-p-56-iso8859-1', |
||
| 894 | -length => 300, |
||
| 895 | -width => 15, |
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| 896 | -variable => \$SimAcc, |
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| 897 | )->grid (-row => $Row +1, |
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| 898 | -column => $Col, |
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| 899 | ); |
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| 900 | |||
| 901 | |||
| 902 | my $Speed = 0; # Current Mk Speed |
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| 903 | my $SpeedN = 0; # Speed North |
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| 904 | my $SpeedE = 0; # Speed East |
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| 905 | |||
| 906 | |||
| 907 | # |
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| 908 | # Timer |
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| 909 | # |
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| 910 | my $SimTimebase = 100; # Simulator Timebase in ms |
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| 911 | $popup->repeat ($SimTimebase, sub |
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| 912 | { |
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| 913 | lock (%MkOsd); # until end of block |
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| 914 | |||
| 915 | $MkOsd{'MKFlags'} = $MkMotorRun | $MkFly | $MkCalibrate | $MkStart | $MkEmergency; |
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| 916 | $MkOsd{'NCFlags'} = $NcFlagFree | $NcFlagPH | $NcFlagCH | $NcFlagRangeLimit | |
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| 917 | $NcFlagNoSerialLink | $NcFlagTargetReached | $NcFlagManualControl; |
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| 918 | |||
| 919 | # Calibration sequence |
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| 920 | if ( $CalibCount > 0 ) |
||
| 921 | { |
||
| 922 | $CalibCount ++; |
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| 923 | } |
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| 924 | if ( $CalibCount > 2 * 1000 / $SimTimebase ) # 2s |
||
| 925 | { |
||
| 926 | $cbMkCalibrate-> deselect(); |
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| 927 | $cbMkStart->deselect(); |
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| 928 | |||
| 929 | $cbMkMotorRun->select(); |
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| 930 | $cbMkFly->select(); |
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| 931 | |||
| 932 | $CalibCount = 0; |
||
| 933 | } |
||
| 934 | |||
| 935 | # |
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| 936 | # Simulator |
||
| 937 | # |
||
| 938 | if ( $Simulator =~ /ON/i and |
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| 939 | $MkSim{'Target_Lat'} ne "" and $MkSim{'Target_Lon'} ne "" ) |
||
| 940 | { |
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| 941 | # Set Target-Pos |
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| 942 | $MkOsd{'TargetPos_Lat'} = $MkSim{'Target_Lat'}; |
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| 943 | $MkOsd{'TargetPos_Lon'} = $MkSim{'Target_Lon'}; |
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| 944 | $MkOsd{'TargetPos_Alt'} = $MkSim{'Target_Alt'}; |
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| 945 | $MkOsd{'TargetPos_Stat'} = 1; |
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| 946 | |||
| 947 | my ($HomeDist, $HomeBearing) = &MapGpsTo($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'}, |
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| 948 | $MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'} ); |
||
| 949 | if ( $HomeDist > $MkOsd{'OperatingRadius'} ) |
||
| 950 | { |
||
| 951 | # Target entsprechend Operation Radius neu berechnen |
||
| 952 | $HomeDist = $MkOsd{'OperatingRadius'}; |
||
| 953 | ($MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'}) = &MapGpsAt($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'}, |
||
| 954 | $HomeDist, $HomeBearing); |
||
| 955 | $cbNcFlagRangeLimit->select; |
||
| 956 | } |
||
| 957 | else |
||
| 958 | { |
||
| 959 | $cbNcFlagRangeLimit->deselect; |
||
| 960 | } |
||
| 961 | |||
| 962 | # |
||
| 963 | # Mk physics |
||
| 964 | # Move MK to Target with constant acceleration |
||
| 965 | # |
||
| 966 | my ($Dist, $Bearing) = &MapGpsTo($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}, |
||
| 967 | $MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'} ); |
||
| 968 | |||
| 969 | $MkOsd{'TargetPosDev_Dist'} = $Dist * 10; # in dm |
||
| 970 | $MkOsd{'TargetPosDev_Bearing'} = $Bearing; |
||
| 971 | |||
| 972 | my $AccN = $SimAcc * cos (deg2rad $Bearing); # Acceleration North |
||
| 973 | my $AccE = $SimAcc * sin (deg2rad $Bearing); # Acceleration East |
||
| 974 | my $t = $SimTimebase / 1000; |
||
| 975 | |||
| 976 | $SpeedN = $SpeedN + $AccN * $t; # Speed North |
||
| 977 | $SpeedE = $SpeedE + $AccE * $t; # Speed East |
||
| 978 | $Speed = sqrt ($SpeedN * $SpeedN + $SpeedE * $SpeedE); |
||
| 979 | |||
| 980 | if ( $Speed >= $SimSpeed/3.6 ) |
||
| 981 | { |
||
| 982 | # Limit maximum Speed |
||
| 983 | my $SpeedBearing = rad2deg (atan2 ($SpeedE, $SpeedN)); |
||
| 984 | |||
| 985 | $SpeedN = $SimSpeed/3.6 * cos (deg2rad $SpeedBearing); |
||
| 986 | $SpeedE = $SimSpeed/3.6 * sin (deg2rad $SpeedBearing); |
||
| 987 | $Speed = $SimSpeed/3.6; |
||
| 988 | } |
||
| 989 | |||
| 990 | my $BreakDist = 5; |
||
| 991 | if ( $Dist <= $BreakDist ) |
||
| 992 | { |
||
| 993 | $Speed = $SimSpeed/3.6 - $SimSpeed/3.6 * (1 - $Dist/$BreakDist); |
||
| 994 | my $SpeedBearing = rad2deg (atan2 ($SpeedE, $SpeedN)); |
||
| 995 | $SpeedN = $Speed * cos (deg2rad $SpeedBearing); |
||
| 996 | $SpeedE = $Speed * sin (deg2rad $SpeedBearing); |
||
| 997 | $AccN = 0; |
||
| 998 | $AccE = 0; |
||
| 999 | } |
||
| 1000 | |||
| 1001 | # Distance to go in this loop |
||
| 1002 | my $GoDistN = $SpeedN * $t + 0.5 * $AccN * $t * $t; |
||
| 1003 | my $GoDistE = $SpeedE * $t + 0.5 * $AccE * $t * $t; |
||
| 1004 | my $GoDist = sqrt ( $GoDistN * $GoDistN + $GoDistE * $GoDistE); |
||
| 1005 | my $GoBearing = rad2deg (atan2 ($GoDistE, $GoDistN)); |
||
| 1006 | |||
| 1007 | if ($GoDist > 0 ) |
||
| 1008 | { |
||
| 1009 | ($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}) = &MapGpsAt($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}, |
||
| 1010 | $GoDist, $GoBearing); |
||
| 1011 | } |
||
| 1012 | |||
| 1013 | if ( $Dist < $MkSim{'Target_ToleranceRadius'} ) |
||
| 1014 | { |
||
| 1015 | $cbNcFlagTargetReached -> select(); |
||
| 1016 | } |
||
| 1017 | else |
||
| 1018 | { |
||
| 1019 | $cbNcFlagTargetReached -> deselect(); |
||
| 1020 | } |
||
| 1021 | |||
| 1022 | # GPS Groundspeed, North, East |
||
| 1023 | $MkOsd{'GroundSpeed'} = $Speed * 100; # dm/s |
||
| 1024 | $MkNcDebug{'Analog_21'} = $SpeedN * 100; |
||
| 1025 | $MkNcDebug{'Analog_22'} = $SpeedE * 100; |
||
| 1026 | |||
| 1027 | # Heading |
||
| 1028 | if ( $MkSim{'Target_Heading'} != 0 and $MkSim{'Target_Heading'} < 360 ) |
||
| 1029 | { |
||
| 1030 | $scCompassHeading -> set($MkSim{'Target_Heading'}); |
||
| 1031 | } |
||
| 1032 | |||
| 1033 | } |
||
| 1034 | |||
| 1035 | # update display |
||
| 1036 | $scAnalog_21 -> set($MkNcDebug{'Analog_21'}); |
||
| 1037 | $scAnalog_22 -> set($MkNcDebug{'Analog_22'}); |
||
| 1038 | $scTargetPos_Alt -> set($MkOsd{'TargetPos_Alt'}); |
||
| 1039 | $scTargetPosDev_Dist -> set ($MkOsd{'TargetPosDev_Dist'}); |
||
| 1040 | $scGroundSpeed -> set($MkOsd{'GroundSpeed'}); |
||
| 1041 | $scWaypointNumber -> set ($MkOsd{'WaypointNumber'}); |
||
| 1042 | $scWaypointIndex -> set ($MkOsd{'WaypointIndex'}); |
||
| 1043 | |||
| 1044 | # move MK symbol on canvas |
||
| 1045 | my ($x, $y) = &MapGps2XY ($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
||
| 1046 | $x = $x / $ImgScaleX; |
||
| 1047 | $y = $y / $ImgScaleY; |
||
| 1048 | $canvas->coords ('SimMk', $x, $y, $x + $Dia, $y + $Dia); |
||
| 1049 | |||
| 1050 | # move Home symbol on canvas |
||
| 1051 | my ($x, $y) = &MapGps2XY ($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'}); |
||
| 1052 | $x = $x / $ImgScaleX; |
||
| 1053 | $y = $y / $ImgScaleY; |
||
| 1054 | $canvas->coords ('SimHome', $x, $y, $x + $Dia, $y + $Dia); |
||
| 1055 | |||
| 1056 | # move Target symbol on canvas |
||
| 1057 | my ($x, $y) = &MapGps2XY ($MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'}); |
||
| 1058 | $x = $x / $ImgScaleX; |
||
| 1059 | $y = $y / $ImgScaleY; |
||
| 1060 | $canvas->coords ('SimTarget', $x, $y, $x + $Dia, $y + $Dia); |
||
| 1061 | |||
| 1062 | if ( $DataLink) |
||
| 1063 | { |
||
| 1064 | # Timestamp, wann der Datensatz geschrieben wurde |
||
| 1065 | $MkOsd{'_Timestamp'} = time; |
||
| 1066 | } |
||
| 1067 | |||
| 1068 | }); |
||
| 1069 | } |
||
| 1070 | |||
| 1071 | # Make MK Fly |
||
| 1072 | sub CbSimMkFly |
||
| 1073 | { |
||
| 1074 | $scWaypointIndex->set(5); |
||
| 1075 | $scWaypointNumber->set(10); |
||
| 1076 | $cbNcFlagCH->select(); |
||
| 1077 | |||
| 1078 | # start calibration sequence |
||
| 1079 | $cbMkCalibrate-> select(); |
||
| 1080 | $cbMkStart->select(); |
||
| 1081 | $CalibCount = 1; |
||
| 1082 | } |
||
| 1083 | |||
| 1084 | |||
| 1085 | # 3D Fix |
||
| 1086 | sub CbSim3DFix |
||
| 1087 | { |
||
| 1088 | my $Alt = 50; |
||
| 1089 | $scCurPos_Alt->set($Alt); |
||
| 1090 | $scAltimeter->set($Alt * $Cfg->{'map'}->{'AltFactor'}); |
||
| 1091 | |||
| 1092 | $scSatsInUse->set(10); |
||
| 1093 | $cbCurPos_Stat->select(); |
||
| 1094 | $cbTargetPos_Stat->select(); |
||
| 1095 | $cbHomePos_Stat->select(); |
||
| 1096 | |||
| 1097 | # Set Home-Pos to Cur-Pos |
||
| 1098 | $MkOsd{'HomePos_Lat'} = $MkOsd{'CurPos_Lat'}; |
||
| 1099 | $MkOsd{'HomePos_Lon'} = $MkOsd{'CurPos_Lon'}; |
||
| 1100 | |||
| 1101 | $scGroundSpeed->set(400); |
||
| 1102 | $scAnalog_21->set(10); |
||
| 1103 | $scAnalog_22->set(10); |
||
| 1104 | } |
||
| 1105 | |||
| 1106 | # Switch Simulator ON |
||
| 1107 | sub CbSimStart |
||
| 1108 | { |
||
| 1109 | $Simulator = "ON"; |
||
| 1110 | |||
| 1111 | # Only one Target from Player |
||
| 1112 | $MkOsd{'WaypointNumber'} = 1; |
||
| 1113 | $MkOsd{'WaypointIndex'} = 0; |
||
| 1114 | } |
||
| 1115 | |||
| 1116 | |||
| 1117 | # Switch Simulator OFF |
||
| 1118 | sub CbSimStop |
||
| 1119 | { |
||
| 1120 | $Simulator = "OFF"; |
||
| 1121 | |||
| 1122 | # switch on logging |
||
| 1123 | $MkOsd{'_Timestamp'} = 0; |
||
| 1124 | $LogQueue->enqueue( "LOG" ); |
||
| 1125 | } |
||
| 1126 | |||
| 1127 | |||
| 1128 | 1; |
||
| 1129 | |||
| 1130 | __END__ |