| 0,0 → 1,6239 |
|---|
| ///============================================================================ |
| /// MKLiveView |
| /// Copyright © 2016 Steph |
| /// |
| ///This file is part of MKLiveView. |
| /// |
| ///MKLiveView is free software: you can redistribute it and/or modify |
| ///it under the terms of the GNU General Public License as published by |
| ///the Free Software Foundation, either version 3 of the License, or |
| ///(at your option) any later version. |
| /// |
| ///MKLiveView is distributed in the hope that it will be useful, |
| ///but WITHOUT ANY WARRANTY; without even the implied warranty of |
| ///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| ///GNU General Public License for more details. |
| /// |
| ///You should have received a copy of the GNU General Public License |
| ///along with cssRcon. If not, see <http://www.gnu.org/licenses/>. |
| /// |
| ///============================================================================ |
| ///Credits: |
| /// radioman (http://www.codeplex.com/site/users/view/radioman) |
| /// for his really GreatMaps! (http://greatmaps.codeplex.com/) |
| /// |
| /// I made some changes to the source, so You need all files from this project here in order to compile and run |
| /// |
| /// JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology |
| /// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747) |
| /// and the sourcecode (http://hdl.lib.byu.edu/1877/2748) |
| /// By his work I finally managed to get the communication with the Mikrokopter controllers to run |
| /// Some of his code was used in this programm like the SimpelSerialPort class (with lots of changes) |
| /// and the FilghtControllerMessage class |
| /// |
| ///============================================================================ |
| /// DISCLAIMER |
| /// =========== |
| /// |
| /// I created this software with my best knowledge and belief. |
| /// |
| /// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING, |
| /// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE, |
| /// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF, |
| /// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM, |
| /// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION |
| /// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS, |
| /// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION. |
| /// |
| /// This means: use it & have fun (but @ Your own risk...) |
| /// =========================================================================== |
| using GMap.NET; |
| using GMap.NET.MapProviders; |
| using GMap.NET.WindowsPresentation; |
| using MKLiveView.GMapCustomMarkers; |
| using System; |
| using System.Collections.Generic; |
| using System.ComponentModel; |
| using System.Data; |
| using System.Diagnostics; |
| using System.IO; |
| using System.Linq; |
| using System.Linq.Expressions; |
| using System.Runtime.InteropServices; |
| using System.Text; |
| using System.Threading; |
| using System.Threading.Tasks; |
| using System.Windows; |
| using System.Windows.Controls; |
| using System.Windows.Data; |
| using System.Windows.Documents; |
| using System.Windows.Input; |
| using System.Windows.Interop; |
| using System.Windows.Media; |
| using System.Windows.Media.Animation; |
| using System.Windows.Media.Imaging; |
| using System.Windows.Navigation; |
| using System.Windows.Shapes; |
| using System.Windows.Threading; |
| using System.Globalization; |
| using System.Xml; |
| using System.Xml.Linq; |
| using Touchless.Vision.Camera; |
| |
| namespace MKLiveView |
| { |
| /// <summary> |
| /// Interaktionslogik für MainWindow.xaml |
| /// </summary> |
| public partial class MainWindow : Window |
| { |
| #region declarations |
| object lockObj = new Object(); |
| MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer(); |
| |
| GMapMarker copter; |
| GMapMarker home; |
| PointLatLng start; |
| PointLatLng end; |
| PointLatLng pHome; |
| GMapRoute mRouteWP; |
| GMapMarker wpActiveMarker; |
| List<PointLatLng> wpList = new List<PointLatLng>(); |
| List<int> wpOffset = new List<int>(); |
| Circle cWPBound = new Circle(); |
| double dWPMaxRange = 0; |
| |
| #region NC-Errors |
| String[] NC_Error = new string[44] |
| { |
| "No Error", |
| "FC not compatible", |
| "MK3Mag not compatible", |
| "no FC communication", |
| "no compass communication", |
| "no GPS communication", |
| "bad compass value", |
| "RC Signal lost", |
| "FC spi rx error", |
| "ERR: no NC communication", |
| "ERR: FC Nick Gyro", |
| "ERR: FC Roll Gyro", |
| "ERR: FC Yaw Gyro", |
| "ERR: FC Nick ACC", |
| "ERR: FC Roll ACC", |
| "ERR: FC Z-ACC", |
| "ERR: Pressure sensor", |
| "ERR: FC I2C", |
| "ERR: Bl Missing", |
| "Mixer Error", |
| "FC: Carefree Error", |
| "ERR: GPS lost", |
| "ERR: Magnet Error", |
| "Motor restart", |
| "BL Limitation", |
| "Waypoint range", |
| "ERR:No SD-Card", |
| "ERR:SD Logging aborted", |
| "ERR:Flying range!", |
| "ERR:Max Altitude", |
| "No GPS Fix", |
| "compass not calibrated", |
| "ERR:BL selftest", |
| "no ext. compass", |
| "compass sensor", |
| "FAILSAFE pos.!", |
| "ERR:Redundancy", |
| "Redundancy test", |
| "GPS Update rate", |
| "ERR:Canbus", |
| "ERR: 5V RC-Supply", |
| "ERR:Power-Supply", |
| "ACC not calibr.", |
| "ERR:Parachute!" |
| }; |
| String[] NC_Error_Link = new string[44] |
| { |
| "", |
| "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
| "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
| }; |
| |
| #endregion NC-Errors |
| [FlagsAttribute] |
| enum NC_HWError0 : short |
| { |
| None = 0, |
| SPI_RX = 1, |
| COMPASS_RX = 2, |
| FC_INCOMPATIBLE = 4, |
| COMPASS_INCOMPATIBLE = 8, |
| GPS_RX = 16, |
| COMPASS_VALUE = 32 |
| }; |
| [FlagsAttribute] |
| enum FC_HWError0 : short |
| { |
| None = 0, |
| GYRO_NICK = 1, |
| GYRO_ROLL = 2, |
| GYRO_YAW = 4, |
| ACC_NICK = 8, |
| ACC_ROLL = 16, |
| ACC_TOP = 32, |
| PRESSURE = 64, |
| CAREFREE = 128 |
| }; |
| [FlagsAttribute] |
| enum FC_HWError1 : short |
| { |
| None = 0, |
| I2C = 1, |
| BL_MISSING = 2, |
| SPI_RX = 4, |
| PPM = 8, |
| MIXER = 16, |
| RC_VOLTAGE = 32, |
| ACC_NOT_CAL = 64, |
| RES3 = 128 |
| }; |
| public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
| // Various colors for logging info |
| private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red }; |
| |
| bool _bCBInit = true; |
| bool _init = true; |
| bool check_HWError = false; |
| |
| string filePath = Directory.GetCurrentDirectory(); |
| bool bReadContinously = false; |
| bool _debugDataAutorefresh = true; |
| bool _navCtrlDataAutorefresh = true; |
| bool _blctrlDataAutorefresh = true; |
| bool _OSDAutorefresh = true; |
| bool _bErrorLog = false; |
| bool _bConnErr = false; |
| bool _bFollowCopter = true; |
| bool _bGPXLog = false; |
| bool _Simulate = false; |
| |
| bool _bSaveWinStateNormal = true; |
| bool _bSaveWinStateFull = true; |
| |
| double scaleNormalAll = 1; |
| double scaleNormalTopBar = 1; |
| double scaleNormalMotors = 1; |
| double scaleNormalOSD = 1; |
| double scaleNormalLOG = 1; |
| double scaleNormalHorizon = 1; |
| |
| double scaleFullAll = 1; |
| double scaleFullTopBar = 1; |
| double scaleFullMotors = 1; |
| double scaleFullOSD = 1; |
| double scaleFullLOG = 1; |
| double scaleFullHorizon = 1; |
| |
| int _iCtrlAct = 0; |
| int iOSDPage = 0; |
| int iOSDMax = 0; |
| int _iLifeCounter = 0; |
| int crcError = 0; |
| |
| string[] _voiceLanguage = new string[] { "EN","DE"}; |
| int _iVoiceIndex = 0; |
| |
| bool _bSatFix = false; |
| Storyboard stbSatFixLostAnim; |
| bool _bAnimSatFixActive = false; |
| bool _bVoiceSatFixActive = false; |
| bool _bVoiceSatFixPlay = true; |
| int _iSatsLast = 0; |
| int _iSatsJitter = 0; |
| |
| bool _bMagneticFieldOK = false; |
| Storyboard stbMagneticFieldAnim; |
| bool _bAnimMagneticFieldActive = false; |
| bool _bVoiceMagneticFieldActive = false; |
| bool _bVoiceMagneticFieldPlay = true; |
| int _iMagneticFieldLast = 0; |
| int _iMagneticFieldJitter = 0; |
| |
| int _iThresholdBLCTRLTempWarn = 80; |
| Storyboard stbBLCTRLTempAnim; |
| bool _bAnimBLCTRLTempActive = false; |
| bool _bVoiceBLCTRLTempActive = false; |
| bool _bVoiceBLCTRLTempPlay = true; |
| int[] _iBLCTRLTempLast = new int[12]; |
| int[] _iBLCTRLTempJitter = new int[12]; |
| |
| bool _bRCLevelOK = false; |
| Storyboard stbRCLevelAnim; |
| bool _bAnimRCLevelActive = false; |
| bool _bVoiceRCLevelActive = false; |
| bool _bVoiceRCLevelPlay = true; |
| int _iRCLevelLast = 0; |
| int _iRCLevelJitter = 0; |
| |
| int _iMotors = 4; |
| int _LipoCells = 3; |
| bool _bLiPoAutoDetect = true; |
| |
| double _dLipoVMax = 16.88; |
| double _dLipoVMin = 12; |
| double _dThresholdVoltageWarn = 0; |
| double _dThresholdVoltageCrit = 0; |
| Storyboard stbVoltageCritAnim; |
| bool _bCritAnimVoltActive = false; |
| bool _bCritVoiceVoltActive = false; |
| bool _bWarnVoiceVoltActive = false; |
| bool _bVoiceVoltPlay = true; |
| double _dVoltLast = 0; |
| int _iVoltJitter = 0; |
| |
| double _dThresholdDistanceWarn = 100; |
| Storyboard stbDistanceWarnAnim; |
| bool _bAnimDistanceActive = false; |
| bool _bVoiceDistanceActive = false; |
| bool _bVoiceDistancePlay = true; |
| double _dDistanceLast = 0; |
| int _iDistanceJitter = 0; |
| |
| double _dThresholdDistanceMax = 1000; |
| int _iThresholdRC = 160; |
| int _iThresholdMagField = 15; |
| |
| bool _bAutoHome = true; |
| bool _bFirstSatFix = false; |
| int _iFirstSatFix = 0; |
| |
| double _dTopHeight = 36; |
| |
| int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
| int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
| string[] serChanTitle = new string[12]; |
| |
| string[] sAnalogLabel = new string[32]; |
| string[] sAnalogData = new string[32]; |
| int[] iAnalogData = new int[32]; |
| |
| 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 }; |
| int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 }; |
| string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" }; |
| /// <summary> |
| /// interval for sending debugdata (multiplied by 10ms) |
| /// </summary> |
| byte debugInterval = 10; //(=> 100ms) |
| /// <summary> |
| /// interval for sending BL-CTRL status (multiplied by 10ms) |
| /// </summary> |
| byte blctrlInterval = 75; |
| /// <summary> |
| /// interval for sending NAV-CTRL status (multiplied by 10ms) |
| /// </summary> |
| byte navctrlInterval = 20; |
| /// <summary> |
| /// interval for sending OSD page update (multiplied by 10ms) |
| /// </summary> |
| byte OSDInterval = 85; |
| /// <summary> |
| /// datatable for the debug data array - displayed on settings tabpage in datagridview |
| /// </summary> |
| DataTable dtAnalog = new DataTable(); |
| /// <summary> |
| /// datatable for motordata (current,temp) |
| /// </summary> |
| DataTable dtMotors = new DataTable(); |
| |
| DataTable dtWaypoints = new DataTable(); |
| static volatile int _iWPCount = -1; |
| static volatile int _iWPIndex = -1; |
| int _iWPTimeout = 1000; |
| bool _bGetWP = false; |
| bool _bShowWPRoute = true; |
| bool _bAutoWPEdit = true; |
| static volatile bool _bGetWPCount = false; |
| DataTable dtGPX = new DataTable(); |
| DataRow drGPX; |
| bool _bAirborne = false; |
| int _wpIndex = -1, _wpCount = 0, _wpEdit = -1; |
| |
| string _wpDefPrefix = "P"; |
| int _wpDefAltitude = 20; |
| int _wpDefHeading = 0; |
| int _wpDefCBoxHeading = 0; |
| int _wpDefSpeed = 10; |
| int _wpDefCBoxSpeed = 0; |
| int _wpDefClimb = 10; |
| int _wpDefCBoxClimb = 0; |
| int _wpDefRadius = 5; |
| int _wpDefHoldtime = 5; |
| int _wpDefAutotrig = 0; |
| int _wpDefCamangle = 0; |
| int _wpDefCBoxCamangle = 0; |
| int _wpDefOut1 = 0; |
| |
| bool _wpAddCopterHeight = true; |
| bool _wpAddCopterHeading = true; |
| |
| DispatcherTimer timer = new DispatcherTimer(); |
| DispatcherTimer camTimer = new DispatcherTimer(); |
| BitmapSource _camImageSource; |
| Storyboard stbCamActiveAnim; |
| bool _bCamAnim; |
| /// <summary> |
| /// stuff for enabeling touch zoom for the map |
| /// </summary> |
| Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0); |
| int iFirstStylusID = -1; |
| |
| public string connectButtonText |
| { |
| get |
| { |
| return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter"; |
| } |
| } |
| |
| WinState winState = new WinState(); |
| |
| #endregion declarations |
| public MainWindow() |
| { |
| String path = Environment.ExpandEnvironmentVariables("%SystemRoot%") + "\\System32\\VCRUNTIME140.DLL"; |
| if (!File.Exists(path)) |
| { |
| MessageBoxResult dr = MessageBox.Show("Visual C++ Redistributable for Visual Studio 2015 seems not to be installed..." + |
| Environment.NewLine + "Please download the file for x86 (32bit) @ https://www.microsoft.com/de-de/download/details.aspx?id=48145" + |
| Environment.NewLine + Environment.NewLine + "Do You want me to take You there, now?", "Visual C++ Redistributable for Visual Studio 2015 missing ...", |
| MessageBoxButton.YesNo, |
| MessageBoxImage.Stop,MessageBoxResult.No, MessageBoxOptions.DefaultDesktopOnly); |
| |
| if (dr == MessageBoxResult.Yes) |
| System.Diagnostics.Process.Start("https://www.microsoft.com/de-de/download/details.aspx?id=48145"); |
| |
| Application.Current.Shutdown(); |
| } |
| InitializeComponent(); |
| _initForm(); |
| _dataTablesInit(); |
| _setupMap(); |
| _init = false; |
| timer.Tick += new EventHandler(timerEvent); |
| timer.Interval = new TimeSpan(0, 0, 1); |
| timer.Start(); |
| camTimer.Tick += new EventHandler(camTimer_Tick); |
| camTimer.Interval = new TimeSpan(0, 0, 0, 0, 5); |
| // camTimer.Start(); |
| } |
| |
| #region init |
| void _initForm() |
| { |
| _readIni(); |
| if (_bSaveWinStateNormal) |
| _setScaleSliders(false); |
| cBoxTimingsDebug.ItemsSource = |
| cBoxTimingsNav.ItemsSource = |
| cBoxTimingsBl.ItemsSource = |
| cBoxTimingsOSD.ItemsSource = |
| iTimings; |
| cBoxLiPoCells.ItemsSource = sLiPoCells; |
| cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s"; |
| _LipoMinMax(); |
| sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn; |
| sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit; |
| checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay; |
| checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay; |
| checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay; |
| checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay; |
| sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn; |
| checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay; |
| sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax; |
| sliderThresholdBLCtrlTempWarn.Value = _iThresholdBLCTRLTempWarn; |
| checkBoxBLCtrlTempVoice.IsChecked = _bVoiceBLCTRLTempPlay; |
| comboBoxVoiceLanguage.SelectedIndex = _iVoiceIndex; |
| |
| cBoxMotors.ItemsSource = iMotors; |
| cBoxMotors.SelectedItem = _iMotors; |
| |
| serialPortCtrl.PortClosed += serialPortCtrl_PortClosed; |
| serialPortCtrl.PortOpened += serialPortCtrl_PortOpened; |
| serialPortCtrl.DataReceived += processMessage; |
| |
| chkbAutoBL.IsChecked = _blctrlDataAutorefresh; |
| chkbAutoDbg.IsChecked = _debugDataAutorefresh; |
| chkbAutoNav.IsChecked = _navCtrlDataAutorefresh; |
| chkbAutoOSD.IsChecked = _OSDAutorefresh; |
| chkbAutoLiPoDetect.IsChecked = _bLiPoAutoDetect; |
| |
| cBoxTimingsDebug.SelectedItem = debugInterval * 10; |
| cBoxTimingsNav.SelectedItem = navctrlInterval * 10; |
| cBoxTimingsBl.SelectedItem = blctrlInterval * 10; |
| cBoxTimingsOSD.SelectedItem = OSDInterval * 10; |
| checkBoxAutoSetHP.IsChecked = _bAutoHome; |
| checkBoxFollowCopter.IsChecked = _bFollowCopter; |
| checkBoxGPXLog.IsChecked = _bGPXLog; |
| checkBoxShowWPRoute.IsChecked = _bShowWPRoute; |
| checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit; |
| checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight; |
| checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading; |
| GridSettings.Visibility = Visibility.Visible; |
| GridCam.Visibility = GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed; |
| _initSerialCtrl(); |
| } |
| /// <summary> |
| /// initialize the datatables |
| /// with columnnames etc |
| /// </summary> |
| void _dataTablesInit() |
| { |
| dtMotors.Columns.Add("#"); |
| if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE") |
| dtMotors.Columns.Add("Strom"); |
| else |
| dtMotors.Columns.Add("Current"); |
| dtMotors.Columns.Add("Temp"); |
| dgvMotors1.DataContext = dtMotors.DefaultView; |
| _initDTMotors(); |
| |
| Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0)); |
| Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader)); |
| style.Setters.Add(setter); |
| setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent)); |
| style.Setters.Add(setter); |
| setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White)); |
| style.Setters.Add(setter); |
| |
| dtWaypoints.Columns.Add("Index", typeof(int)); |
| dtWaypoints.Columns.Add("Type", typeof(int)); |
| dtWaypoints.Columns.Add("Name", typeof(string)); |
| dtWaypoints.Columns.Add("Latitude", typeof(double)); |
| dtWaypoints.Columns.Add("Longitude", typeof(double)); |
| dtWaypoints.Columns.Add("Altitude", typeof(string)); |
| dtWaypoints.Columns.Add("Heading", typeof(string)); |
| dtWaypoints.Columns.Add("Speed", typeof(string)); |
| dtWaypoints.Columns.Add("ClimbRate", typeof(string)); |
| dtWaypoints.Columns.Add("Radius", typeof(string)); |
| dtWaypoints.Columns.Add("HoldTime", typeof(string)); |
| dtWaypoints.Columns.Add("AutoTrigger", typeof(string)); |
| dtWaypoints.Columns.Add("CamAngle", typeof(string)); |
| dtWaypoints.Columns.Add("Event", typeof(string)); |
| dtWaypoints.Columns.Add("Out1Timer", typeof(string)); |
| dtWaypoints.Columns.Add("Status", typeof(string)); |
| dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] }; |
| dgvWP.ItemsSource = dtWaypoints.DefaultView; |
| dgvWP.ColumnHeaderStyle = new Style(); |
| dgvWP.ColumnHeaderStyle = style; |
| |
| dtGPX.Columns.Add("Index", typeof(int)); |
| dtGPX.Columns.Add("Latitude", typeof(double)); |
| dtGPX.Columns.Add("Longitude", typeof(double)); |
| dtGPX.Columns.Add("Elevation", typeof(int)); |
| dtGPX.Columns.Add("Time", typeof(string)); |
| dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] }; |
| drGPX = dtGPX.NewRow(); |
| |
| } |
| /// <summary> |
| /// initialize the datatable dtMotors for motor values |
| /// DataGridView dgvMotors1 is bound to dtMotors1 |
| /// </summary> |
| void _initDTMotors() |
| { |
| for (int i = 0; i < 12; i++) |
| { |
| if (dtMotors.Rows.Count < 12) |
| dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA"); |
| else |
| { |
| dtMotors.Rows[i].SetField(1, "NA"); |
| dtMotors.Rows[i].SetField(2, "NA"); |
| } |
| } |
| } |
| |
| #endregion init |
| |
| #region events |
| private void serialPortCtrl_PortOpened() |
| { |
| Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative))); |
| _getVersion(); |
| Thread.Sleep(100); |
| _getLic(); |
| //_OSDMenue(0); |
| //Thread.Sleep(200); |
| //_sendSerialData(); |
| _readCont(true); |
| } |
| private void serialPortCtrl_PortClosed() |
| { |
| Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative))); |
| _readCont(false); |
| } |
| bool _bToggle = false; |
| void timerEvent(object sender, EventArgs e) |
| { |
| if (bReadContinously) |
| { |
| if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
| |
| if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
| |
| if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
| check_HWError = true; |
| _getVersion(); |
| Thread.Sleep(10); |
| if (_OSDAutorefresh) |
| { |
| if (iOSDMax == 0 | cbOSD.Items.Count != iOSDMax) |
| _initOSDCB(); |
| _OSDMenueAutoRefresh(); |
| } |
| if (_iLifeCounter > 0) |
| { |
| Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
| // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
| _iLifeCounter = 0; |
| _bConnErr = false; |
| if (_bAirborne && _bGPXLog) |
| { |
| drGPX[0] = dtGPX.Rows.Count; |
| dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] }); |
| } |
| Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent))); |
| Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
| Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210)))); |
| _bToggle = !_bToggle; |
| } |
| else |
| { |
| if (!_bConnErr) |
| { |
| Log(LogMsgType.Error, "No communication to NC/FC!"); |
| Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative))); |
| // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red)); |
| _bConnErr = true; |
| } |
| } |
| } |
| } |
| private void camTimer_Tick(object sender, EventArgs e) |
| { |
| if (_camImageSource != null && _frameSource != null && _camImage.Visibility == Visibility.Visible) |
| _camImage.Source = _camImageSource; |
| camTimer.IsEnabled = false; |
| } |
| |
| #region menues |
| private void labelData_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed; |
| } |
| private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
| if (GridMotors.IsVisible) |
| _setMotorGridSize(); |
| } |
| private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridData.Visibility = GridWP.Visibility = Visibility.Collapsed; |
| GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| private void labelLog_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden; |
| } |
| private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed; |
| GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| private void labelCamera_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| GridCam.Visibility = GridCam.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| #endregion menues |
| |
| private void btnGetWP_Click(object sender, RoutedEventArgs e) |
| { |
| Thread t = new Thread(new ThreadStart(_getWP)); |
| t.Start(); |
| } |
| private void btnSendWPList_Click(object sender, RoutedEventArgs e) |
| { |
| Thread t = new Thread(new ThreadStart(_sendWPList)); |
| t.Start(); |
| } |
| private void btnConnectToCopter_Click(object sender, RoutedEventArgs e) |
| { |
| if (!serialPortCtrl.Port.IsOpen) |
| serialPortCtrl.Connect(true); |
| else |
| _readCont(!bReadContinously); |
| } |
| private void btnSetHP_Click(object sender, RoutedEventArgs e) |
| { |
| _setHomePos(); |
| } |
| private void btnClearHP_Click(object sender, RoutedEventArgs e) |
| { |
| _clearHomePos(); |
| } |
| private void btnGotoHP_Click(object sender, RoutedEventArgs e) |
| { |
| if (home != null && MainMap.Markers.Contains(home)) |
| MainMap.Position = home.Position; |
| } |
| private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e) |
| { |
| _bAutoHome = (bool)checkBoxAutoSetHP.IsChecked; |
| } |
| private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e) |
| { |
| _bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked; |
| } |
| private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e) |
| { |
| _bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked; |
| } |
| |
| #region thresholds |
| private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| { |
| _dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value; |
| _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
| } |
| } |
| private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| _dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value; |
| } |
| private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked; |
| } |
| |
| private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| _dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value; |
| } |
| private void sliderThresholdBLCtrlTempWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| _iThresholdBLCTRLTempWarn = (int)sliderThresholdBLCtrlTempWarn.Value; |
| } |
| private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked; |
| } |
| |
| private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked; |
| } |
| private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked; |
| } |
| private void checkBoxRClevel_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked; |
| } |
| private void checkBoxBLCtrlTempVoice_Click(object sender, RoutedEventArgs e) |
| { |
| _bVoiceBLCTRLTempPlay = (bool)checkBoxBLCtrlTempVoice.IsChecked; |
| } |
| private void comboBoxVoiceLanguage_DropDownClosed(object sender, EventArgs e) |
| { |
| if (comboBoxVoiceLanguage.SelectedIndex > -1) |
| { |
| _iVoiceIndex = comboBoxVoiceLanguage.SelectedIndex; |
| } |
| } |
| #endregion thresholds |
| |
| private void buttonSwitchNC_Click(object sender, RoutedEventArgs e) |
| { |
| _switchToNC(); |
| } |
| |
| private void Window_Loaded(object sender, RoutedEventArgs e) |
| { |
| stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard; |
| stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard; |
| stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard; |
| stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard; |
| stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard; |
| stbCamActiveAnim = TryFindResource("CamActiveAnim") as Storyboard; |
| stbBLCTRLTempAnim = TryFindResource("BLCtrlCritAnim") as Storyboard; |
| _setMotorGridSize(); |
| // Refresh the list of available cameras |
| comboBoxCameras.Items.Clear(); |
| |
| foreach (Camera cam in CameraService.AvailableCameras) |
| comboBoxCameras.Items.Add(cam); |
| |
| if (comboBoxCameras.Items.Count > 0) |
| comboBoxCameras.SelectedIndex = 0; |
| } |
| private void Window_Closing(object sender, CancelEventArgs e) |
| { |
| _writeIni(); |
| if (_bGPXLog && dtGPX.Rows.Count > 0) |
| _saveGPXLog(); |
| thrashOldCamera(); |
| } |
| private void Window_Closed(object sender, EventArgs e) |
| { |
| Application.Current.Shutdown(); |
| } |
| |
| #region contextmenue add point |
| Point pWPAdd; |
| private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e) |
| { |
| if(e.ClickCount == 2) |
| { |
| double x = 0, y = 0; |
| var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight; |
| |
| pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y); |
| if (pWPAdd.X + canvasAddPoint.Width > Width) |
| x = pWPAdd.X - canvasAddPoint.Width; |
| else |
| x = pWPAdd.X; |
| if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight) |
| y = pWPAdd.Y - canvasAddPoint.Height; |
| else |
| y = pWPAdd.Y; |
| |
| canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom); |
| canvasAddPoint.Visibility = Visibility.Visible; |
| } |
| |
| } |
| private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e) |
| { |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e) |
| { |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| private void btnCmAddWP_Click(object sender, RoutedEventArgs e) |
| { |
| if (pWPAdd != null) |
| { |
| PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y); |
| _addWP(p,0); |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| } |
| private void btnCmAddPOI_Click(object sender, RoutedEventArgs e) |
| { |
| if (pWPAdd != null) |
| { |
| PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y); |
| _addWP(p,1); |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| } |
| private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e) |
| { |
| if (pWPAdd != null) |
| { |
| PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y); |
| _addWP(p,2); |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| } |
| private void btnCmAddLanding_Click(object sender, RoutedEventArgs e) |
| { |
| if (pWPAdd != null) |
| { |
| PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y); |
| _addWP(p,3); |
| canvasAddPoint.Visibility = Visibility.Collapsed; |
| } |
| } |
| #endregion contextmenue add point |
| |
| #endregion events |
| |
| #region cam |
| private CameraFrameSource _frameSource; |
| |
| private void btnCamStart_Click(object sender, RoutedEventArgs e) |
| { |
| if (_frameSource != null && _frameSource.Camera == comboBoxCameras.SelectedItem) |
| return; |
| |
| thrashOldCamera(); |
| startCapturing(); |
| } |
| private void btnCamStop_Click(object sender, RoutedEventArgs e) |
| { |
| thrashOldCamera(); |
| _camImage.Visibility = Visibility.Collapsed; |
| if (stbCamActiveAnim != null && _bCamAnim) |
| { |
| Dispatcher.Invoke(() => stbCamActiveAnim.Stop()); |
| _bCamAnim = false; |
| rectCamStart.Visibility = Visibility.Collapsed; |
| } |
| } |
| private void btnCamSettings_Click(object sender, RoutedEventArgs e) |
| { |
| if (_frameSource != null && _frameSource.Camera != null) |
| { |
| _frameSource.Camera.ShowPropertiesDialog(); |
| } |
| } |
| private void btnCamListRefresh_Click(object sender, RoutedEventArgs e) |
| { |
| comboBoxCameras.Items.Clear(); |
| CameraService.ClearCameraList(); |
| foreach (Camera cam in CameraService.AvailableCameras) |
| comboBoxCameras.Items.Add(cam); |
| |
| if (comboBoxCameras.Items.Count > 0) |
| comboBoxCameras.SelectedIndex = 0; |
| //if (_frameSource != null && comboBoxCameras.Items.Count > 0 && comboBoxCameras.Items.Contains(_frameSource.Camera.ToString())) |
| // comboBoxCameras.SelectedItem = (Camera)_frameSource.Camera; |
| |
| } |
| |
| private void lblCam_Click(object sender, RoutedEventArgs e) |
| { |
| if (_frameSource != null && _frameSource.Camera != null) |
| { |
| _camImage.Visibility = _camImage.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed; |
| } |
| } |
| |
| void _setCamPicStretch(Stretch type) |
| { |
| if(_camImage.Stretch == Stretch.None) |
| _camImageMargin = _camImage.Margin; |
| if(type != Stretch.None) |
| _camImage.Margin = new Thickness(0); |
| _camImage.Stretch = type; |
| } |
| private void btnCamPicStretchNone_Click(object sender, RoutedEventArgs e) |
| { |
| _setCamPicStretch(Stretch.None); |
| _camImage.Margin = _camImageMargin; |
| } |
| private void btnCamResetZoom_Click(object sender, RoutedEventArgs e) |
| { |
| _setCamPicStretch(Stretch.None); |
| _camImage.Margin = _camImageMargin = new Thickness(0); |
| SliderCamZoom.Value = 1; |
| } |
| private void btnCamPicStretchFill_Click(object sender, RoutedEventArgs e) |
| { |
| _setCamPicStretch(Stretch.Fill); |
| } |
| private void btnCamPicStretchUniform_Click(object sender, RoutedEventArgs e) |
| { |
| _setCamPicStretch(Stretch.Uniform); |
| } |
| private void btnCamPicStretchUFill_Click(object sender, RoutedEventArgs e) |
| { |
| _setCamPicStretch(Stretch.UniformToFill); |
| } |
| private Camera CurrentCamera |
| { |
| get |
| { |
| return comboBoxCameras.SelectedItem as Camera; |
| } |
| } |
| private void startCapturing() |
| { |
| try |
| { |
| Camera c = (Camera)comboBoxCameras.SelectedItem; |
| setFrameSource(new CameraFrameSource(c)); |
| _frameSource.Camera.CaptureWidth = 640; |
| _frameSource.Camera.CaptureHeight = 480; |
| _frameSource.Camera.Fps = 25; |
| _frameSource.NewFrame += OnImageCaptured; |
| _frameSource.StartFrameCapture(); |
| _camImage.Visibility = Visibility.Visible; |
| _camImage.Margin = _camImageMargin; |
| if (stbCamActiveAnim != null && !_bCamAnim) |
| { |
| Dispatcher.Invoke(() => stbCamActiveAnim.Begin()); |
| _bCamAnim = true; |
| rectCamStart.Visibility = Visibility.Visible; |
| } |
| } |
| catch (Exception ex) |
| { |
| comboBoxCameras.Text = "Select A Camera"; |
| MessageBox.Show(ex.Message); |
| } |
| } |
| |
| public void OnImageCaptured(Touchless.Vision.Contracts.IFrameSource frameSource, Touchless.Vision.Contracts.Frame frame, double fps) |
| { |
| _camImageSource = BitmapConversion.ToWpfBitmap(frame.Image); |
| camTimer.IsEnabled = true; |
| } |
| private void setFrameSource(CameraFrameSource cameraFrameSource) |
| { |
| if (_frameSource == cameraFrameSource) |
| return; |
| |
| _frameSource = cameraFrameSource; |
| } |
| private void thrashOldCamera() |
| { |
| |
| // Trash the old camera |
| if (_frameSource != null) |
| { |
| _frameSource.NewFrame -= OnImageCaptured; |
| Dispatcher.Invoke(() => { |
| _camImage.Source = null; |
| _camImage.InvalidateVisual(); |
| }); |
| using (Dispatcher.DisableProcessing()) |
| { |
| _frameSource.StopFrameCapture(); |
| setFrameSource(null); |
| Thread.Sleep(10); |
| } |
| } |
| } |
| |
| Point pOffset,mouse_pos; |
| Thickness _camImageMargin = new Thickness(0); |
| private void _CamImage_MouseMove(object sender, System.Windows.Input.MouseEventArgs e) |
| { |
| if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None) |
| { |
| mouse_pos = Mouse.GetPosition(this); |
| mouse_pos.Offset(-pOffset.X, -pOffset.Y); |
| pOffset = Mouse.GetPosition(this); |
| _camImage.Margin =_camImageMargin= new Thickness(_camImage.Margin.Left+ mouse_pos.X + mouse_pos.X * (0.5/ SliderCamZoom.Value), _camImage.Margin.Top + mouse_pos.Y + mouse_pos.Y* (0.5 / SliderCamZoom.Value), _camImage.Margin.Right, _camImage.Margin.Bottom); |
| } |
| } |
| private void _CamImage_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None) |
| pOffset = Mouse.GetPosition(this); |
| } |
| |
| #endregion cam |
| |
| #region GMap |
| string _mapPosition = "Landshut"; |
| void _setupMap() |
| { |
| MainMap.Manager.Mode = AccessMode.ServerAndCache; |
| MainMap.MapProvider = GMapProviders.BingHybridMap; |
| textBoxGeo.Text = _mapPosition; |
| MainMap.SetPositionByKeywords(_mapPosition); |
| textBoxLat_currentPos.Text = MainMap.Position.Lat.ToString() + "°"; |
| textBoxLng_currentPos.Text = MainMap.Position.Lng.ToString() + "°"; |
| MainMap.MinZoom = 0; |
| MainMap.MaxZoom = 24; |
| MainMap.Zoom = 16; |
| MainMap.ShowCenter = true; |
| MainMap.ShowTileGridLines = false; |
| sliderMapZoom.Value = 16; |
| comboBoxMapType.ItemsSource = providerList; |
| comboBoxMapType.DisplayMemberPath = "Name"; |
| comboBoxMapType.SelectedItem = MainMap.MapProvider; |
| |
| // acccess mode |
| comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode)); |
| comboBoxMode.SelectedItem = MainMap.Manager.Mode; |
| |
| } |
| |
| /// <summary> |
| /// selection of relevant map providers --> if You need more, You can change the line: |
| /// comboBoxMapType.ItemsSource = providerList; |
| /// to: |
| /// comboBoxMapType.ItemsSource = GMapProviders.List; |
| /// in _setupMap() |
| /// or add items here: |
| /// </summary> |
| List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider> |
| { GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap, |
| GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap, |
| GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap, |
| GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap}; |
| |
| private void MainMap_Loaded(object sender, RoutedEventArgs e) |
| { |
| MainMap.Manager.Mode = AccessMode.ServerAndCache; |
| copter = new GMapMarker(MainMap.Position); |
| |
| copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red"); |
| if (comboBoxCopterColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
| } |
| Dispatcher.Invoke(() => { |
| if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
| } |
| }); |
| copter.Offset = new System.Windows.Point(-26, -26); |
| copter.ZIndex = int.MaxValue; |
| MainMap.Markers.Add(copter); |
| copter.Position = MainMap.Position; |
| _setMapItemsSize("Copter", SliderCopterZoom.Value); |
| } |
| void _setHomePos() |
| { |
| pHome = MainMap.Position; |
| if (!MainMap.Markers.Contains(home)) |
| { |
| home = new GMapMarker(MainMap.Position); |
| home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
| home.Offset = new System.Windows.Point(-16.5, -16.5); |
| // home.ZIndex = int.MaxValue; |
| MainMap.Markers.Add(home); |
| } |
| home.Position = MainMap.Position; |
| ((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°")); |
| _setMapItemsSize("Home", SliderHPZoom.Value); |
| if (checkBoxShowWPMaxRange.IsChecked == true) |
| { |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| |
| createCircle(home.Position, dWPMaxRange); |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
| cWPBound.setColor(s); |
| } |
| }); |
| } |
| |
| } |
| void _setActiveWP(int iIndex) |
| { |
| if (iIndex < wpList.Count) |
| { |
| if (wpActiveMarker == null || !MainMap.Markers.Contains(wpActiveMarker)) |
| { |
| Dispatcher.Invoke(() => |
| { |
| wpActiveMarker = new GMapMarker(wpList[iIndex]); |
| wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0); |
| wpActiveMarker.Offset = new Point(-17.5, -17.5); |
| MainMap.Markers.Add(wpActiveMarker); |
| }); |
| } |
| else |
| Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]); |
| } |
| |
| Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m"); |
| } |
| void _clearHomePos() |
| { |
| MainMap.Markers.Remove(home); |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| } |
| void _clearMapMarkers(Type markerType) |
| { |
| for (int k = 0; k < MainMap.Markers.Count;) |
| { |
| GMapMarker p = MainMap.Markers[k]; |
| if (p.GetType() == markerType | (p.Shape != null && p.Shape.GetType() == markerType)) |
| MainMap.Markers.Remove(p); |
| else |
| k++; |
| } |
| _WPisMouseCaptured = false; |
| } |
| |
| GMapMarker _findWPMarker(string name) |
| { |
| for (int k = 0; k < MainMap.Markers.Count;) |
| { |
| GMapMarker p = MainMap.Markers[k]; |
| if (p.GetType() == typeof(CustomMarkerWP) | (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))) |
| if (((CustomMarkerWP)p.Shape).WPText == name) |
| return p; |
| else |
| k++; |
| else |
| k++; |
| } |
| return null; |
| } |
| void _clearWPMarker(string name) |
| { |
| GMapMarker p = _findWPMarker(name); |
| if (p != null) |
| MainMap.Markers.Remove(p); |
| } |
| void _renameWPMarker(string s1, string s2) |
| { |
| GMapMarker p = _findWPMarker(s1); |
| if (p != null) |
| ((CustomMarkerWP)p.Shape).WPText = s2; |
| } |
| void _WPMarkerSetType(string text, int type) |
| { |
| GMapMarker p = _findWPMarker(text); |
| if (p != null) |
| ((CustomMarkerWP)p.Shape).WPType = type; |
| } |
| void _repositionWPMarker(PointLatLng point, string name) |
| { |
| GMapMarker p = _findWPMarker(name); |
| if (p != null) |
| p.Position = point; |
| } |
| |
| void createCircle(PointLatLng center, double distance) |
| { |
| |
| GMapMarker it = new GMapMarker(center); |
| it.ZIndex = -1; |
| |
| cWPBound.Center = center; |
| cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance); |
| cWPBound.Tag = it; |
| cWPBound.IsHitTestVisible = false; |
| UpdateCircle(cWPBound); |
| it.Shape = cWPBound; |
| MainMap.Markers.Add(it); |
| } |
| // calculates circle radius |
| void UpdateCircle(Circle c) |
| { |
| var pxCenter = MainMap.FromLatLngToLocal(c.Center); |
| var pxBounds = MainMap.FromLatLngToLocal(c.Bound); |
| |
| double a = (double)(pxBounds.X - pxCenter.X); |
| double b = (double)(pxBounds.Y - pxCenter.Y); |
| var pxCircleRadius = Math.Sqrt(a * a + b * b); |
| |
| c.Width = c.Height = pxCircleRadius * 2; |
| //c.Width = 55 + pxCircleRadius * 2; |
| //c.Height = 55 + pxCircleRadius * 2; |
| (c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2); |
| } |
| |
| // access mode |
| private void comboBoxMode_DropDownClosed(object sender, EventArgs e) |
| { |
| MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem; |
| MainMap.ReloadMap(); |
| } |
| // zoom up |
| private void czuZoomUp_Click(object sender, RoutedEventArgs e) |
| { |
| MainMap.Zoom = ((int)MainMap.Zoom) + 1; |
| } |
| |
| // zoom down |
| private void czuZoomDown_Click(object sender, RoutedEventArgs e) |
| { |
| MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1; |
| } |
| |
| // prefetch |
| private void buttonPrefetch_Click(object sender, RoutedEventArgs e) |
| { |
| RectLatLng area = MainMap.SelectedArea; |
| if (!area.IsEmpty) |
| { |
| for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++) |
| { |
| MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel); |
| |
| if (res == MessageBoxResult.Yes) |
| { |
| TilePrefetcher obj = new TilePrefetcher(); |
| obj.Owner = this; |
| obj.ShowCompleteMessage = true; |
| obj.Start(area, i, MainMap.MapProvider, 100); |
| } |
| else if (res == MessageBoxResult.No) |
| { |
| continue; |
| } |
| else if (res == MessageBoxResult.Cancel) |
| { |
| break; |
| } |
| } |
| } |
| else |
| { |
| MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
| } |
| } |
| |
| // goto by geocoder |
| private void buttonGeoCoding_Click(object sender, RoutedEventArgs e) |
| { |
| _goto_byGeoCoder(); |
| } |
| // goto by geocoder |
| private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e) |
| { |
| if (e.Key == System.Windows.Input.Key.Enter) |
| _goto_byGeoCoder(); |
| } |
| void _goto_byGeoCoder() |
| { |
| GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text); |
| _mapPosition = textBoxGeo.Text; |
| if (status != GeoCoderStatusCode.G_GEO_SUCCESS) |
| { |
| MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation); |
| } |
| } |
| private void buttonGeoLoc_Click(object sender, RoutedEventArgs e) |
| { |
| try |
| { |
| double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture); |
| double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture); |
| |
| MainMap.Position = new PointLatLng(lat, lng); |
| } |
| catch (Exception ex) |
| { |
| MessageBox.Show("incorrect coordinate format: " + ex.Message); |
| } |
| |
| } |
| |
| private void ReloadMap_Click(object sender, RoutedEventArgs e) |
| { |
| MainMap.ReloadMap(); |
| } |
| |
| private void MainMap_OnPositionChanged(PointLatLng point) |
| { |
| if (_bFollowCopter) |
| _setCopterData(MainMap.Position); |
| } |
| |
| private void MainMap_OnMapZoomChanged() |
| { |
| if (_bFollowCopter) |
| _setCopterData(MainMap.Position); |
| if ((int)sliderMapZoom.Value != MainMap.Zoom) |
| sliderMapZoom.Value = MainMap.Zoom; |
| if (cWPBound != null && cWPBound.Tag != null) |
| UpdateCircle(cWPBound); |
| } |
| |
| void _setCopterData(PointLatLng p) |
| { |
| Dispatcher.Invoke(() => |
| { |
| copter.Position = p; |
| ((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°")); |
| textBoxLat_currentPos.Text = p.Lat.ToString() + "°"; |
| textBoxLng_currentPos.Text = p.Lng.ToString() + "°"; |
| }); |
| if (home != null && MainMap.Markers.Contains(home)) |
| { |
| Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position)); |
| double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position); |
| Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m")); |
| |
| if (d * 1000 < _dThresholdDistanceWarn) |
| { |
| _iDistanceJitter = 0; _bVoiceDistanceActive = false; |
| if (stbDistanceWarnAnim != null && _bAnimDistanceActive) |
| { |
| Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop()); |
| _bAnimDistanceActive = false; |
| } |
| } |
| else |
| { |
| if (_iDistanceJitter < 20) |
| { _iDistanceJitter++; } |
| if (_iDistanceJitter == 20) |
| { |
| if (stbDistanceWarnAnim != null && !_bAnimDistanceActive) |
| { |
| Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin()); |
| _bAnimDistanceActive = true; |
| } |
| if (_bVoiceDistancePlay && !_bVoiceDistanceActive) |
| { |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\Distance.mp3"); |
| //Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
| //t.Start(); |
| _bVoiceDistanceActive = true; |
| } |
| _iDistanceJitter++; |
| } |
| } |
| } |
| } |
| |
| void _setMapItemsSize(string item, double value) |
| { |
| ScaleTransform scaleTransform = new ScaleTransform(); |
| scaleTransform.ScaleY = value; |
| scaleTransform.ScaleX = value; |
| TransformGroup transformGroup = new TransformGroup(); |
| transformGroup.Children.Add(scaleTransform); |
| |
| switch (item) |
| { |
| case "Copter": |
| if (copter != null && copter.Shape != null) |
| { |
| ((ScaleTransform)transformGroup.Children[0]).CenterX = 26; |
| ((ScaleTransform)transformGroup.Children[0]).CenterY = 26; |
| copter.Shape.RenderTransform = transformGroup; |
| } |
| break; |
| case "Home": |
| if (home != null && MainMap.Markers.Contains(home)) |
| { |
| ((ScaleTransform)transformGroup.Children[0]).CenterX = 16.5; |
| ((ScaleTransform)transformGroup.Children[0]).CenterY = 16.5; |
| home.Shape.RenderTransform = transformGroup; |
| home.Shape.InvalidateVisual(); |
| } |
| break; |
| case "WP": |
| Dispatcher.Invoke(() => |
| { |
| ((ScaleTransform)transformGroup.Children[0]).CenterX = 11.5; |
| ((ScaleTransform)transformGroup.Children[0]).CenterY = 11.5; |
| for (int k = 0; k < MainMap.Markers.Count;) |
| { |
| GMapMarker p = MainMap.Markers[k]; |
| if (p.Shape != null && (p.Shape.GetType() == typeof(CustomMarkerWP) || p.Shape.GetType() == typeof(CustomMarkerWPActive))) |
| { |
| ((CustomMarkerWP)(p.Shape)).RenderTransform = transformGroup; |
| } |
| k++; |
| } |
| }); |
| break; |
| } |
| |
| } |
| |
| private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e) |
| { |
| _bFollowCopter = (bool)checkBoxFollowCopter.IsChecked; |
| } |
| |
| private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (MainMap.Zoom != sliderMapZoom.Value) |
| MainMap.Zoom = (int)sliderMapZoom.Value; |
| } |
| |
| private void SliderCopterZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (copter != null && copter.Shape != null) |
| _setMapItemsSize("Copter",SliderCopterZoom.Value); |
| } |
| private void SliderWPZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (MainMap.Markers.Count > 2) |
| _setMapItemsSize("WP",SliderWPZoom.Value); |
| } |
| private void SliderHomeZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (home != null && MainMap.Markers.Contains(home)) |
| _setMapItemsSize("Home",SliderHPZoom.Value); |
| } |
| |
| |
| |
| #region Touch zooming hackattack ;) |
| /// <summary> |
| /// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch |
| /// </summary> |
| bool bFirstAccess = true; |
| double dDistance = 0; |
| int iZoom; |
| private void MainMap_StylusDown(object sender, StylusDownEventArgs e) |
| { |
| if (!_WPisMouseCaptured) |
| { |
| var id = e.StylusDevice.Id; |
| e.StylusDevice.Capture(MainMap); |
| if (iFirstStylusID == -1) |
| { |
| iFirstStylusID = id; |
| } |
| else |
| { |
| |
| MainMap.CanDragMap = false; |
| } |
| } |
| } |
| private void MainMap_StylusUp(object sender, StylusEventArgs e) |
| { |
| MainMap.ReleaseStylusCapture(); |
| iFirstStylusID = -1; |
| bFirstAccess = true; |
| MainMap.CanDragMap = true; |
| iZoom = 0; |
| } |
| private void MainMap_StylusMove(object sender, StylusEventArgs e) |
| { |
| var id = e.StylusDevice.Id; |
| var tp = e.GetPosition(MainMap); |
| |
| // This is the first Stylus point; just record its position. |
| if (id == iFirstStylusID) |
| { |
| pTouch1.X = tp.X; |
| pTouch1.Y = tp.Y; |
| } |
| else |
| if (iFirstStylusID > -1) |
| { |
| pTouch2.X = tp.X; |
| pTouch2.Y = tp.Y; |
| double distance = Point.Subtract(pTouch1, pTouch2).Length; |
| if (!bFirstAccess) |
| { |
| if (distance > dDistance) |
| iZoom++; |
| else |
| if (distance < dDistance) |
| iZoom--; |
| } |
| if (iZoom > 30) |
| { |
| iZoom = 0; |
| Dispatcher.Invoke(() => sliderMapZoom.Value += 1); |
| } |
| if (iZoom < -30) |
| { |
| iZoom = 0; |
| Dispatcher.Invoke(() => sliderMapZoom.Value -= 1); |
| } |
| dDistance = distance; |
| bFirstAccess = false; |
| } |
| } |
| #endregion Touch zooming hackattack ;) |
| |
| #endregion GMap |
| |
| #region settings |
| private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e) |
| { |
| if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1) |
| debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10); |
| } |
| private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e) |
| { |
| if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1) |
| navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10); |
| } |
| private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e) |
| { |
| if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1) |
| blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10); |
| } |
| private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e) |
| { |
| if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1) |
| OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10); |
| } |
| private void chkbAutoDbg_Click(object sender, RoutedEventArgs e) |
| { |
| if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked; |
| } |
| private void chkbAutoNav_Click(object sender, RoutedEventArgs e) |
| { |
| if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked; |
| } |
| private void chkbAutoBL_Click(object sender, RoutedEventArgs e) |
| { |
| if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked; |
| } |
| private void chkbAutoOSD_Click(object sender, RoutedEventArgs e) |
| { |
| if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked; |
| } |
| |
| private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e) |
| { |
| if (cBoxLiPoCells.SelectedIndex > -1) |
| { |
| _LipoCells = cBoxLiPoCells.SelectedIndex + 3; |
| _LipoMinMax(); |
| } |
| } |
| private void chkbAutoLiPo_Click(object sender, RoutedEventArgs e) |
| { |
| _bLiPoAutoDetect = (bool)chkbAutoLiPoDetect.IsChecked; |
| } |
| |
| void _LipoMinMax() |
| { |
| _dLipoVMax = (double)(_LipoCells) * 4.22; |
| _dLipoVMin = (double)_LipoCells * 3; |
| pbTopVoltage.Maximum = _dLipoVMax; |
| pbTopVoltage.Minimum = _dLipoVMin; |
| sliderThresholdVoltageWarn.Maximum = _dLipoVMax; |
| sliderThresholdVoltageWarn.Minimum = _dLipoVMin; |
| } |
| private void cBoxMotors_DropDownClosed(object sender, EventArgs e) |
| { |
| if (cBoxMotors.SelectedIndex > -1) |
| { |
| _iMotors = cBoxMotors.SelectedIndex + 3; |
| Dispatcher.Invoke(() => |
| { |
| dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...? |
| GridMotors.Height = dgvMotors1.Height + 10; |
| }); |
| } |
| } |
| void _setMotorGridSize() |
| { |
| if (dgvMotors1.Columns.Count > 2) |
| { |
| dgvMotors1.Columns[0].Width = 24; |
| dgvMotors1.Columns[1].Width = 50; |
| dgvMotors1.Columns[2].Width = 50; |
| dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); |
| GridMotors.Height = dgvMotors1.Height + 10; |
| } |
| |
| } |
| #endregion settings |
| |
| #region functions |
| |
| #region logging |
| /// <summary> Log data to the terminal window. </summary> |
| /// <param name="msgtype"> The type of message to be written. </param> |
| /// <param name="msg"> The string containing the message to be shown. </param> |
| private void Log(LogMsgType msgtype, string msg) |
| { |
| Dispatcher.Invoke(() => |
| { |
| // rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd; |
| // rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
| // rtfTerminal.AppendText(msg + "\r"); |
| TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd); |
| tr.Text = msg; |
| tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
| rtfTerminal.AppendText("\r"); |
| rtfTerminal.ScrollToEnd(); |
| }); |
| } |
| private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName) |
| { |
| |
| Dispatcher.Invoke(() => |
| { |
| Paragraph para = new Paragraph(); |
| para.Margin = new Thickness(0); // remove indent between paragraphs |
| |
| Hyperlink link = new Hyperlink(); |
| if (linkURL != "" && linkName != "") |
| { |
| link.IsEnabled = true; |
| link.Inlines.Add(linkName); |
| link.NavigateUri = new Uri(linkURL); |
| link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString()); |
| } |
| //msg = DateTime.Now.ToLongTimeString() + msg; |
| para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]); |
| Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: "); |
| r.Foreground = new SolidColorBrush(Colors.Black); |
| para.Inlines.Add(r); |
| para.Inlines.Add(msg); |
| para.Inlines.Add(link); |
| rtfError.Document.Blocks.Add(para); |
| //TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd); |
| //tr.Text = msg + link; |
| //tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
| //rtfError.AppendText("\r"); |
| rtfError.ScrollToEnd(); |
| |
| //_bErrorLog = true; |
| }); |
| } |
| /// <summary> |
| /// Clear the line in the errorlog window |
| /// containing the error string when error has ceased |
| /// </summary> |
| /// <param name="s">substring of errrormessage</param> |
| void _clearErrorLog(string s) |
| { |
| Dispatcher.Invoke((Action)(() => |
| { |
| TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd); |
| TextRange foundRange = FindTextInRange(searchRange, s); |
| |
| int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase); |
| |
| |
| if (iStart > -1) |
| { |
| int iLength = 0; |
| int iEnd = searchRange.Text.IndexOf('\r', iStart); |
| if (iEnd > 0) |
| { |
| iLength = iEnd + 1; |
| int iHttp = searchRange.Text.IndexOf("http", iEnd); |
| if (iHttp == iLength) |
| { |
| int iEnd2 = searchRange.Text.IndexOf('\r', iLength); |
| if (iEnd2 > iLength) |
| { |
| iLength = iEnd2 + 1; |
| // TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
| |
| rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
| rtfError.Selection.Text = string.Empty; |
| if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
| } |
| |
| } |
| else |
| { |
| rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength)); |
| rtfError.Selection.Text = string.Empty; |
| if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false; |
| } |
| } |
| } |
| })); |
| |
| } |
| public TextRange FindTextInRange(TextRange searchRange, string searchText) |
| { |
| int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase); |
| if (offset < 0) |
| return null; // Not found |
| |
| var start = GetTextPositionAtOffset(searchRange.Start, offset); |
| TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length)); |
| |
| return result; |
| } |
| TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount) |
| { |
| while (position != null) |
| { |
| if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text) |
| { |
| int count = position.GetTextRunLength(LogicalDirection.Forward); |
| if (characterCount <= count) |
| { |
| return position.GetPositionAtOffset(characterCount); |
| } |
| |
| characterCount -= count; |
| } |
| |
| TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward); |
| if (nextContextPosition == null) |
| return position; |
| |
| position = nextContextPosition; |
| } |
| |
| return position; |
| } |
| #endregion logging |
| |
| #region processing received data |
| |
| private void processMessage(byte[] message) |
| { |
| if (message.Length > 0) |
| { |
| _iLifeCounter++; |
| //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
| //Log(LogMsgType.Incoming, message.Length.ToString()); |
| string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
| char cmdID; |
| byte adr; |
| byte[] data; |
| byte[] tmp = null; |
| if (message[0] != '#') |
| { |
| int iFound = -1; |
| for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
| { //so this is a workaround to not spam the log box |
| if (message[i] == 35) |
| { |
| iFound = i; |
| break; |
| } |
| } |
| if (iFound > 0) |
| { |
| s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound)); |
| tmp = new byte[message.Length - iFound]; |
| Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
| } |
| s = s.Trim('\0', '\n', '\r'); |
| if (s.Length > 0) |
| Log(LogMsgType.Normal, s); |
| if (tmp != null) |
| { |
| s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
| processMessage(tmp); |
| } |
| } |
| //Debug.Print(s); |
| else |
| { |
| FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
| |
| if (adr == 255) { crcError++; } |
| else crcError = 0; |
| Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString()); |
| //display the active controller (FC / NC) |
| 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...??? |
| { |
| _iCtrlAct = adr; |
| switch (adr) |
| { |
| case 1: |
| Dispatcher.Invoke(() => tbCtrl.Text = "FC"); |
| Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible); |
| Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible); |
| // _setFieldsNA(); //display fields NA for FC |
| break; |
| case 2: |
| Dispatcher.Invoke(() => tbCtrl.Text = "NC"); |
| Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden); |
| Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden); |
| break; |
| //case 3: |
| // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
| // break; |
| //case 4: |
| // lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
| // break; |
| default: |
| Dispatcher.Invoke(() => tbCtrl.Text = "NA"); |
| break; |
| } |
| // _loadLabelNames(); |
| } |
| // else |
| // Debug.Print("Address == 0?"); |
| |
| if (data != null && data.Length > 0) |
| { |
| s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
| s = s.Trim('\0', '\n'); |
| |
| switch (cmdID) |
| { |
| //case 'A': //Label names |
| // _processLabelNames(s); |
| // break; |
| |
| case 'D': //Debug data |
| _processDebugVals(adr, data); |
| break; |
| |
| case 'V': //Version |
| _processVersion(adr, data); |
| break; |
| |
| case 'K'://BL-CTRL data |
| _processBLCtrl(data); |
| break; |
| |
| case 'M'://License info |
| _processLicense(data); |
| break; |
| |
| case 'O': //NC Data |
| if (data[0] < 10) |
| _processNCData(data); |
| else |
| _processNCDataV2(data); |
| break; |
| |
| //case 'E': //NC error-string |
| // ErrorLog(LogMsgType.Error, "NC Error: " + s); |
| // break; |
| |
| case 'L': //OSD Menue (called by pagenumber) |
| _processOSDSingle(data); |
| break; |
| |
| case 'H': //OSD Menue (with autoupdate - called by Key) |
| _processOSDAuto(data); |
| break; |
| |
| case 'X': //Waypoint data |
| _processWPData(data); |
| break; |
| |
| case 'W': //return new Waypoint items count after sending waypoint to copter |
| _iWPCount = data[0]; |
| break; |
| //default: |
| // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
| // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
| // break; |
| } |
| } |
| //else |
| //{ |
| // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
| // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
| //} |
| } |
| } |
| } |
| /// <summary> |
| /// Analog label names 'A' |
| /// each label name is returned as a single string |
| /// and added to string array sAnalogLabel[] |
| /// and the datatable dtAnalog |
| /// </summary> |
| /// <param name="s">the label name</param> |
| void _processLabelNames(string s) |
| { |
| //if (iLableIndex < 32) |
| //{ |
| // sAnalogLabel[iLableIndex] = s; |
| // if (dtAnalog.Rows.Count < 32) |
| // dtAnalog.Rows.Add(s, ""); |
| // else |
| // dtAnalog.Rows[iLableIndex].SetField(0, s); |
| |
| // // _getAnalogLabels(iLableIndex + 1); |
| //} |
| //Debug.Print(s); |
| } |
| /// <summary> |
| /// Debug values 'D' |
| /// </summary> |
| /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
| /// <param name="data">the received byte array to process</param> |
| void _processDebugVals(byte adr, byte[] data) |
| { |
| if (data.Length == 66) |
| { |
| |
| double v; |
| int index = 0; |
| Int16 i16 = 0; |
| double dTemp = 0; |
| for (int i = 2; i < 66; i += 2) |
| { |
| i16 = data[i + 1]; |
| i16 = (Int16)(i16 << 8); |
| iAnalogData[index] = data[i] + i16; |
| sAnalogData[index] = (data[i] + i16).ToString(); |
| // dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
| |
| if (adr == 2) //NC |
| { |
| switch (index) |
| { |
| case 0: //pitch (German: nick) |
| Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10)); |
| Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
| break; |
| case 1: //roll |
| Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10)); |
| Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
| break; |
| case 4: //altitude |
| Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
| Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")); |
| Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; }); |
| break; |
| case 7: //Voltage |
| v = (double)iAnalogData[index] / (double)10; |
| Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V")); |
| Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V")); |
| Dispatcher.Invoke(() => pbTopVoltage.Value = v); |
| if (v - _dLipoVMin < 1 | v < _dThresholdVoltageWarn) |
| { |
| if (v == _dVoltLast) |
| if (_iVoltJitter < 20) _iVoltJitter++; |
| else |
| { |
| _iVoltJitter = 0; |
| _dVoltLast = v; |
| } |
| _dVoltLast = v; |
| if (_iVoltJitter == 20) |
| { |
| Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange); |
| |
| if (v - _dLipoVMin < 1 | v < _dThresholdVoltageCrit) |
| { |
| Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red); |
| if (stbVoltageCritAnim != null && !_bCritAnimVoltActive) |
| { |
| Dispatcher.Invoke(() => stbVoltageCritAnim.Begin()); |
| _bCritAnimVoltActive = true; |
| } |
| if (_bVoiceVoltPlay && !_bCritVoiceVoltActive) |
| { |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\CriticalBattery.mp3"); |
| //Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3")); |
| //t.Start(); |
| _bCritVoiceVoltActive = true; |
| } |
| } |
| else |
| { |
| if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
| { |
| Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
| _bCritAnimVoltActive = false; |
| } |
| _bCritVoiceVoltActive = false; |
| |
| if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive) |
| { |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\LowBattery.mp3"); |
| //Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3")); |
| //t.Start(); |
| _bWarnVoiceVoltActive = true; |
| } |
| } |
| } |
| } |
| else |
| { |
| Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123))); |
| if (stbVoltageCritAnim != null && _bCritAnimVoltActive) |
| { |
| Dispatcher.Invoke(() => stbVoltageCritAnim.Stop()); |
| _bCritAnimVoltActive = false; |
| } |
| _bCritVoiceVoltActive = false; |
| _bWarnVoiceVoltActive = false; |
| _iVoltJitter = 0; |
| } |
| break; |
| case 8: // Current |
| Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
| Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")); |
| break; |
| case 10: //heading |
| Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°")); |
| if (!_Simulate) //use NavData for simulation |
| { |
| Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]); |
| Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]); |
| } |
| break; |
| case 12: // SPI error |
| Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index])); |
| break; |
| case 14: //i2c error |
| Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index])); |
| break; |
| case 20: //Earthmagnet field |
| Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%")); |
| Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%")); |
| |
| if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField) |
| { |
| Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative))); |
| _iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false; |
| if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive) |
| { |
| Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop()); |
| _bAnimMagneticFieldActive = false; |
| } |
| } |
| else |
| { |
| Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative))); |
| if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index])) |
| { |
| if (_iMagneticFieldJitter < 20) |
| _iMagneticFieldJitter++; |
| } |
| else |
| { |
| _iMagneticFieldJitter = 0; |
| _iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]); |
| } |
| if (_iMagneticFieldJitter == 20) |
| { |
| if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive) |
| { |
| Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin()); |
| _bAnimMagneticFieldActive = true; |
| } |
| if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive) |
| { |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3"); |
| //Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3")); |
| //t.Start(); |
| _bVoiceMagneticFieldActive = true; |
| } |
| } |
| } |
| break; |
| case 21: //GroundSpeed |
| Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
| if (!_Simulate) |
| Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
| break; |
| |
| ///********** needs testing --> not sure what position this is *************** |
| case 28: //Distance East from saved home position -> calculate distance with distance N + height |
| dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
| dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
| // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
| dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
| dTemp = Math.Sqrt(dTemp) / (double)10; |
| // Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m"))); |
| Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m"))); |
| break; |
| |
| case 31: //Sats used |
| Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index])); |
| // Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index])); |
| break; |
| } |
| } |
| index++; |
| } |
| } |
| else |
| Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
| } |
| /// <summary> |
| /// Version string 'V' |
| /// </summary> |
| /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
| /// <param name="data">the received byte array to process</param> |
| void _processVersion(byte adr, byte[] data) |
| { |
| if (data.Length == 12) |
| { |
| if (!check_HWError) |
| { |
| string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
| string sVersion = ""; |
| //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
| Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
| sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
| Log(LogMsgType.Incoming, sVersion); |
| sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
| Log(LogMsgType.Incoming, sVersion); |
| Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
| } |
| if (data[5] > 0) //error0 |
| { |
| if (adr == 1) |
| ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", ""); |
| if (adr == 2) |
| ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", ""); |
| } |
| if (data[6] > 0) //error1 |
| { |
| if (adr == 1) |
| ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", ""); |
| if (adr == 2) |
| ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field |
| } |
| //if ((data[5] + data[6] == 0) && _bErrorLog) |
| // _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error"); |
| |
| } |
| check_HWError = false; |
| } |
| |
| void _processLicense(byte[] data) |
| { |
| if (data.Length > 480) |
| { |
| Dispatcher.Invoke(() => { |
| tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127)); |
| tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127)); |
| tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127)); |
| tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11)); |
| tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16)); |
| }); |
| } |
| } |
| /// <summary> |
| /// BL-Ctrl data 'K' |
| /// for FC you have to use a customized firmware |
| /// </summary> |
| /// <param name="data">the received byte array to process</param> |
| void _processBLCtrl(byte[] data) |
| { |
| if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
| { |
| bool bAvailable = false; |
| bool bTempError = false; |
| for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment) |
| { |
| |
| if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
| bAvailable = true; |
| else |
| bAvailable = false; |
| |
| if (data[i] < _iMotors) |
| { |
| if (bAvailable) |
| { |
| dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
| dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
| int temp = data[i + 2]; |
| if (temp < _iThresholdBLCTRLTempWarn) |
| { |
| _iBLCTRLTempJitter[data[i]] = 0; |
| } |
| else |
| { |
| if (_iBLCTRLTempLast[data[i]] > _iThresholdBLCTRLTempWarn) |
| { |
| if (_iBLCTRLTempJitter[data[i]] < 12) |
| _iBLCTRLTempJitter[data[i]]++; |
| } |
| else |
| { |
| _iBLCTRLTempJitter[data[i]] = 0; |
| } |
| _iBLCTRLTempLast[data[i]] = temp; |
| if (_iBLCTRLTempJitter[data[i]] == 12) |
| { |
| bTempError = true; |
| Dispatcher.Invoke(() => |
| { |
| DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[i]); |
| if (row != null) |
| { |
| DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell; |
| if(cell != null) |
| cell.Background = new SolidColorBrush(Colors.Red); |
| } |
| }); |
| if (stbBLCTRLTempAnim != null && !_bAnimBLCTRLTempActive) |
| { |
| Dispatcher.Invoke(() => stbBLCTRLTempAnim.Begin()); |
| _bAnimBLCTRLTempActive = true; |
| } |
| if (_bVoiceBLCTRLTempPlay && !_bVoiceBLCTRLTempActive) |
| { |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\BLCtrlTemp.mp3"); |
| _bVoiceBLCTRLTempActive = true; |
| } |
| } |
| } |
| if(_iBLCTRLTempJitter.All(x=>x<12)) |
| { |
| _bVoiceBLCTRLTempActive = false; |
| if (stbBLCTRLTempAnim != null && _bAnimBLCTRLTempActive) |
| { |
| Dispatcher.Invoke(() => stbBLCTRLTempAnim.Stop()); |
| _bAnimBLCTRLTempActive = false; |
| Dispatcher.Invoke(() => |
| { |
| for (int k = 0; k < _iMotors; k++) |
| { |
| dgvMotors1.Items.Refresh(); |
| dgvMotors1.UpdateLayout(); |
| |
| DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[k]); |
| if (row != null) |
| { |
| DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell; |
| if (cell != null) |
| cell.Background = new SolidColorBrush(Colors.Transparent); |
| } |
| } |
| }); |
| } |
| } |
| } |
| else |
| { |
| dtMotors.Rows[data[i]].SetField(1, "NA"); |
| dtMotors.Rows[data[i]].SetField(2, "NA"); |
| } |
| } |
| //if (data[i] > 3 && data[i] < 8) |
| //{ |
| // if (bAvailable) |
| // { |
| // dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
| // dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
| // } |
| // else |
| // { |
| // dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
| // dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
| // } |
| //} |
| } |
| } |
| } |
| /// <summary> |
| /// Navi-Ctrl data 'O' |
| /// GPS-Position, capacatiy, flying time... |
| /// </summary> |
| /// <param name="data">the received byte array to process</param> |
| |
| |
| byte OSDSTATUSFLAGS1 = 0; |
| byte OSDSTATUSFLAGS2 = 0; |
| void _processNCDataV2(byte[] data) |
| { |
| if ((int)data[0] < 17) |
| { |
| int i_32, i_16, iVal; |
| double d; |
| OSD_Base_Data_t osd = new OSD_Base_Data_t(data); |
| OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1(); |
| Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; }); |
| Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; }); |
| Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
| Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s"))); |
| if (_Simulate) |
| Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s"))); |
| |
| switch ((int)data[0]) |
| { |
| case 10: |
| char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] }); |
| Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString())); |
| break; |
| case 11: |
| OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2(); |
| //---------------NC-Flags-------------------------- |
| Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
| Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
| Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
| Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
| Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
| Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
| Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[14] & 2) == 2) | ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
| |
| //--------------- NC Error ------------------------ |
| Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber |
| if (data[16] > 0) |
| _readNCError(); |
| if (data[16] > 0 & data[16] < 44) |
| ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]); |
| |
| break; |
| case 12: |
| //--------------- RC quality ------------------------ |
| Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString())); |
| Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString())); |
| |
| if (data[23] > _iThresholdRC) |
| { |
| _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
| if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
| { |
| Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
| _bAnimRCLevelActive = false; |
| } |
| } |
| else |
| { |
| if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
| if (_iRCLevelJitter == 20) |
| { |
| if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
| { |
| Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
| _bAnimRCLevelActive = true; |
| } |
| if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
| { |
| _bVoiceRCLevelActive = true; |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\RCLevel.mp3"); |
| //Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
| //th.Start(); |
| } |
| _iRCLevelJitter++; |
| } |
| } |
| break; |
| case 13: |
| //-------------------------Waypoint max range (by license)------------------------------ |
| i_32 = data[24]; |
| iVal = i_32 << 8; |
| iVal += data[23]; |
| |
| if (dWPMaxRange != iVal) |
| { |
| dWPMaxRange = iVal; |
| if (home != null && checkBoxShowWPMaxRange.IsChecked == true) |
| { |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| |
| createCircle(home.Position, dWPMaxRange); |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
| cWPBound.setColor(s); |
| } |
| }); |
| } |
| Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m")); |
| } |
| //--------------- LiPoCell count ------------------------ |
| Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString())); |
| Dispatcher.Invoke((Action)(() => { |
| if (_bLiPoAutoDetect == true) |
| { |
| if(data[25] > 2 && data[25] < 7 && _LipoCells != data[25]) |
| { |
| cBoxLiPoCells.SelectedIndex = data[25] - 3; |
| _LipoCells = data[25]; |
| _LipoMinMax(); |
| } |
| } |
| })); |
| |
| break; |
| |
| case 14: |
| //--------------- Flying time ------------------------ |
| i_16 = data[14]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[13] + i_16; |
| TimeSpan t = TimeSpan.FromSeconds(iVal); |
| string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
| Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
| Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
| |
| //--------------------------------Distance HP------------------------------------ |
| i_16 = data[16]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[15] + i_16; |
| Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| |
| //--------------------------Distance to next WP-------------------------------- |
| i_16 = data[19]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[18] + i_16; |
| Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m"))); |
| Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| |
| //-------------------Satellites---------------------------------- |
| Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString())); |
| |
| if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
| { |
| _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
| if (_bAutoHome && !_bFirstSatFix) |
| { |
| if (_iFirstSatFix < 3) |
| _iFirstSatFix++; |
| else |
| { |
| _bFirstSatFix = true; |
| Dispatcher.Invoke(() => _setHomePos()); |
| } |
| } |
| if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
| { |
| Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
| _bAnimSatFixActive = false; |
| } |
| if (!_bFollowCopter) |
| { |
| _setCopterData(osd.Pos()); |
| if (!MainMap.ViewArea.Contains(osd.Pos())) |
| Dispatcher.Invoke(() => MainMap.Position = osd.Pos()); |
| |
| } |
| else |
| Dispatcher.Invoke(() => MainMap.Position = osd.Pos()); |
| } |
| else |
| { |
| if (_bSatFix) |
| { |
| if (data[23] == _iSatsLast) |
| { |
| if (_iSatsJitter < 20) _iSatsJitter++; |
| } |
| else |
| { |
| _iSatsJitter = 0; |
| _iSatsLast = data[23]; |
| } |
| |
| if (_iSatsJitter == 20) |
| { |
| if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
| { |
| Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
| _bAnimSatFixActive = true; |
| } |
| if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
| { |
| _bVoiceSatFixActive = true; |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3"); |
| //Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
| //th.Start(); |
| } |
| |
| _bSatFix = false; |
| } |
| } |
| } |
| |
| break; |
| |
| case 15: |
| //--------------------------------Waypoint index------------------------------------ |
| Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString())); |
| Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString())); |
| Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString())); |
| if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1) |
| { |
| _setActiveWP(data[13] - 1); |
| if ((OSDSTATUSFLAGS2 & 2) == 2) |
| Dispatcher.Invoke(() => |
| { |
| DataGridRow row; |
| if (_wpIndex > -1) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| } |
| |
| _wpIndex = data[13] - 1; |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
| row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
| row.BorderThickness = new Thickness(2); |
| dgvWP.UpdateLayout(); |
| }); |
| _wpIndex = data[13] - 1; |
| } |
| else |
| { |
| if ((data[13] == 0 || wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker)) |
| { |
| Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker)); |
| Dispatcher.Invoke(() => |
| { |
| DataGridRow row; |
| if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| _wpIndex = -1; |
| } |
| }); |
| |
| } |
| } |
| //----------------Waypoints count---------------------- |
| Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count |
| Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count |
| Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count |
| _wpCount = data[14]; |
| if(_wpCount > dtWaypoints.Rows.Count) |
| { |
| Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!"); |
| } |
| |
| //---------------------------------Target hold time------------------------------ |
| Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s")); |
| Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s")); |
| |
| break; |
| |
| case 16: |
| //--------------- Capacity used ------------------------ |
| i_16 = data[18]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[17] + i_16; |
| Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
| Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
| |
| //--------------- Heading compass ------------------------ |
| i_16 = data[21]; |
| iVal = 2 * i_16; |
| Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °")); |
| if (_Simulate) |
| { |
| Dispatcher.Invoke(() => ArtHor.rotate = iVal); |
| Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal); |
| } |
| |
| break; |
| case 17: |
| |
| break; |
| case 18: |
| |
| break; |
| default: |
| break; |
| } |
| //-------------------------------------------------------------------------------- |
| //-----------------------------FC Status Flags------------------------------- |
| //-------------------------------------------------------------------------------- |
| Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
| Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
| Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
| Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
| Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
| |
| Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
| Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
| Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
| Dispatcher.Invoke((Action)(() => FC2_6.Background = ((OSDSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
| Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
| Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
| |
| //Sidebar StatusSymbols |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| |
| _bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false; |
| } |
| } |
| public class OSD_Base_Data_t |
| { |
| byte[] data; |
| |
| public OSD_Base_Data_t(byte [] _data) |
| { |
| data = _data; |
| } |
| |
| public PointLatLng Pos() |
| { |
| PointLatLng p = new PointLatLng(); |
| int i_32, iVal; |
| double d; |
| |
| i_32 = data[4]; |
| iVal = i_32 << 24; |
| i_32 = data[3]; |
| iVal += i_32 << 16; |
| i_32 = data[2]; |
| iVal += i_32 << 8; |
| iVal += data[1]; |
| d = (double)iVal / Math.Pow(10, 7); |
| p.Lng = d; |
| |
| i_32 = data[8]; |
| iVal = i_32 << 24; |
| i_32 = data[7]; |
| iVal += i_32 << 16; |
| i_32 = data[6]; |
| iVal += i_32 << 8; |
| iVal += data[5]; |
| d = (double)iVal / Math.Pow(10, 7); |
| p.Lat = d; |
| |
| return p; |
| |
| } |
| |
| public int Height() |
| { |
| int i_32, iVal; |
| i_32 = data[10]; |
| iVal = i_32 << 8; |
| iVal += data[9]; |
| |
| return iVal; |
| } |
| |
| public double Speed() |
| { |
| if (data.Length > 11) |
| return (double)data[11]/10; |
| else return 0; |
| } |
| |
| public byte OSDSTATUSFLAGS1() |
| { |
| if (data.Length > 12) |
| return data[12]; |
| else return 0; |
| } |
| public byte OSDSTATUSFLAGS2() |
| { |
| if (data.Length > 13) |
| return data[13]; |
| else return 0; |
| } |
| } |
| void _processNCData(byte[] data) |
| { |
| int i_32, i_16, iVal; |
| double d; |
| |
| //----------------------------POSITION------------------------------------ |
| i_32 = data[4]; |
| iVal = i_32 << 24; |
| i_32 = data[3]; |
| iVal += i_32 << 16; |
| i_32 = data[2]; |
| iVal += i_32 << 8; |
| iVal += data[1]; |
| d = (double)iVal / Math.Pow(10, 7); |
| Dispatcher.Invoke(() => { drGPX[2] = d; }); |
| |
| PointLatLng p = new PointLatLng(); |
| |
| p.Lng = d; |
| // lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
| //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
| |
| i_32 = data[8]; |
| iVal = i_32 << 24; |
| i_32 = data[7]; |
| iVal += i_32 << 16; |
| i_32 = data[6]; |
| iVal += i_32 << 8; |
| iVal += data[5]; |
| d = (double)iVal / Math.Pow(10, 7); |
| Dispatcher.Invoke(() => { drGPX[1] = d; }); |
| Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z }); |
| p.Lat = d; |
| |
| //---------------------------SATS------------------------------------------------- |
| if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning |
| { |
| _bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false; |
| if(_bAutoHome && !_bFirstSatFix) |
| { |
| if (_iFirstSatFix < 3) |
| _iFirstSatFix++; |
| else |
| { |
| _bFirstSatFix = true; |
| Dispatcher.Invoke(() => _setHomePos()); |
| } |
| } |
| if (stbSatFixLostAnim != null && _bAnimSatFixActive) |
| { |
| Dispatcher.Invoke(() => stbSatFixLostAnim.Stop()); |
| _bAnimSatFixActive = false; |
| } |
| if (!_bFollowCopter) |
| { |
| _setCopterData(p); |
| if (!MainMap.ViewArea.Contains(p)) |
| Dispatcher.Invoke(() => MainMap.Position = p); |
| |
| } |
| else |
| Dispatcher.Invoke(() => MainMap.Position = p); |
| } |
| else |
| { |
| if(_bSatFix) |
| { |
| if (data[50] == _iSatsLast) |
| { |
| if (_iSatsJitter < 20) _iSatsJitter++; |
| } |
| else |
| { |
| _iSatsJitter = 0; |
| _iSatsLast = data[50]; |
| } |
| |
| if (_iSatsJitter == 20) |
| { |
| if (stbSatFixLostAnim != null && !_bAnimSatFixActive) |
| { |
| Dispatcher.Invoke(() => stbSatFixLostAnim.Begin()); |
| _bAnimSatFixActive = true; |
| } |
| if (_bVoiceSatFixPlay && !_bVoiceSatFixActive) |
| { |
| _bVoiceSatFixActive = true; |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3"); |
| //Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3")); |
| //th.Start(); |
| } |
| |
| _bSatFix = false; |
| } |
| } |
| } |
| |
| //--------------------------Distance to next WP-------------------------------- |
| i_16 = data[28]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[27] + i_16; |
| Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m"))); |
| Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| |
| //-------------------------Distance to HP set by GPS on---------------------------------- |
| i_16 = data[45]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[44] + i_16; |
| Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); |
| |
| //--------------------------------Waypoint index------------------------------------ |
| Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); |
| Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString())); |
| Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString())); |
| if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1) |
| { |
| _setActiveWP(data[48]- 1); |
| if((data[67] & 2) == 2) |
| Dispatcher.Invoke(() => { |
| DataGridRow row; |
| if (_wpIndex > -1) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| } |
| |
| _wpIndex = data[48] - 1; |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
| row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
| row.BorderThickness = new Thickness(2); |
| dgvWP.UpdateLayout(); |
| }); |
| _wpIndex = data[48]- 1; |
| } |
| else |
| { |
| if ((data[48] == 0 || wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker)) |
| { |
| Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker)); |
| Dispatcher.Invoke(() => |
| { |
| DataGridRow row; |
| if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| _wpIndex = -1; |
| } |
| }); |
| |
| } |
| } |
| //----------------Waypoints count---------------------- |
| Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count |
| Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count |
| Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count |
| _wpCount = data[49]; |
| //-------------------Satellites---------------------------------- |
| Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); |
| |
| //--------------- Capacity used ------------------------ |
| i_16 = data[81]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[80] + i_16; |
| Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh")); |
| Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh")); |
| |
| //--------------- Ground speed ------------------------ |
| i_16 = data[59]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[58] + i_16; |
| Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
| if(_Simulate) |
| Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s"))); |
| |
| //--------------- Heading north ------------------------ |
| //i_16 = data[61]; |
| //i_16 = (Int16)(i_16 << 8); |
| //iVal = data[60] + i_16; |
| //Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °")); |
| |
| //--------------- Heading compass ------------------------ |
| i_16 = data[63]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[62] + i_16; |
| Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °")); |
| if (_Simulate) |
| { |
| Dispatcher.Invoke(() => ArtHor.rotate = iVal); |
| Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal); |
| } |
| //--------------- Flying time ------------------------ |
| i_16 = data[56]; |
| i_16 = (Int16)(i_16 << 8); |
| iVal = data[55] + i_16; |
| TimeSpan t = TimeSpan.FromSeconds(iVal); |
| string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
| Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString())); |
| Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString())); |
| |
| //--------------- RC quality ------------------------ |
| Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString())); |
| Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString())); |
| |
| if(data[66] > _iThresholdRC) |
| { |
| _iRCLevelJitter = 0; _bVoiceRCLevelActive = false; |
| if (stbRCLevelAnim != null && _bAnimRCLevelActive) |
| { |
| Dispatcher.Invoke(() => stbRCLevelAnim.Stop()); |
| _bAnimRCLevelActive = false; |
| } |
| } |
| else |
| { |
| if (_iRCLevelJitter < 20) _iRCLevelJitter++; |
| if (_iRCLevelJitter == 20) |
| { |
| if (stbRCLevelAnim != null && !_bAnimRCLevelActive) |
| { |
| Dispatcher.Invoke(() => stbRCLevelAnim.Begin()); |
| _bAnimRCLevelActive = true; |
| } |
| if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive) |
| { |
| _bVoiceRCLevelActive = true; |
| ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3"); |
| //Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3")); |
| //th.Start(); |
| } |
| _iRCLevelJitter++; |
| } |
| } |
| |
| //-------------------------Waypoint max range (by license)------------------------------ |
| if(dWPMaxRange != (double)data[70]) |
| { |
| dWPMaxRange = (double)data[70]; |
| if (home != null && checkBoxShowWPMaxRange.IsChecked == true) |
| { |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| |
| createCircle(home.Position, dWPMaxRange); |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
| cWPBound.setColor(s); |
| } |
| }); |
| } |
| Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m")); |
| } |
| //---------------------------------Target hold time------------------------------ |
| Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s")); |
| Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s")); |
| |
| //--------------- NC Error ------------------------ |
| Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber |
| if (data[69] > 0) |
| _readNCError(); |
| if (data[69] > 0 & data[69] < 44) |
| ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]); |
| //else |
| // if (_bErrorLog) _clearErrorLog("NC Error"); |
| |
| //-------------------------------------------------------------------------------- |
| //-----------------------------FC / NC Status Flags------------------------------- |
| //-------------------------------------------------------------------------------- |
| Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
| Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02 |
| Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04 |
| Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08 |
| Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20 |
| |
| Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
| Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08 |
| Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10 |
| 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 |
| Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40 |
| Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80 |
| |
| Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 |
| Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04 |
| Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08 |
| Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10 |
| Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20 |
| Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40 |
| Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80 |
| |
| //Sidebar StatusSymbols |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01 |
| 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 |
| 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 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01 |
| 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 |
| 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 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10 |
| 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 |
| 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 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| 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 |
| 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 |
| |
| Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04 |
| 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 |
| 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 |
| 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 |
| |
| _bAirborne = (data[67] & 2) == 2 ? true : false; |
| } |
| /// <summary> |
| /// Navi-Ctrl WP data struct 'X' |
| /// called by index |
| /// </summary> |
| /// <param name="data">the received byte array to process</param> |
| void _processWPData(byte[] data) |
| { |
| _iWPCount = data[0]; |
| _bGetWPCount = false; |
| if (data.Length >= 28) |
| { |
| Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString()); |
| Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString()); |
| if (_bGetWP) |
| { |
| if (data[1] == 1) |
| { |
| Dispatcher.Invoke(() => |
| { |
| wpList.Clear(); |
| _clearMapMarkers(typeof(CustomMarkerWP)); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| if (wpActiveMarker != null) |
| MainMap.Markers.Remove(wpActiveMarker); |
| lblWPRouteDistance.Content = "0 m"; |
| dtWaypoints.Rows.Clear(); |
| _wpEdit = -1;_wpIndex = -1; |
| wpOffset.Clear(); |
| }); |
| } |
| DataRow dr = dtWaypoints.NewRow(); |
| dr = Waypoints.toDataRow(data, dr); |
| dtWaypoints.Rows.Add(dr); |
| _createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1); |
| Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Dispatcher.Invoke(() => _iWPIndex = data[1]); |
| if (data[1] == data[0]) |
| { |
| _bGetWP = false; |
| _routeUpdate(); |
| } |
| |
| } |
| } |
| else |
| { |
| Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
| Dispatcher.Invoke(() => lblWPCount.Content = 0); |
| } |
| } |
| /// <summary> |
| /// OSD Menue 'L' |
| /// single page called by pagenumber |
| /// no autoupdate |
| /// </summary> |
| /// <param name="data">the received byte array to process</param> |
| void _processOSDSingle(byte[] data) |
| { |
| if (data.Length == 84) |
| { |
| string sMessage = ""; |
| iOSDPage = data[0]; |
| iOSDMax = data[1]; |
| if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
| sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
| OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
| OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
| OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
| OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
| Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; }); |
| // lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
| |
| } |
| //else |
| // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
| |
| } |
| /// <summary> |
| /// OSD Menue 'H' |
| /// called by keys (0x01,0x02,0x03,0x04) |
| /// autoupdate |
| /// </summary> |
| /// <param name="data">the received byte array to process</param> |
| void _processOSDAuto(byte[] data) |
| { |
| if (data.Length == 81) |
| { |
| string sMessage = ""; |
| sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
| OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true); |
| OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false); |
| OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false); |
| OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false); |
| |
| } |
| //else |
| // OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
| } |
| |
| #endregion processing received data |
| |
| #region controller messages |
| /// <summary> send message to controller to request data |
| /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
| /// </summary> |
| /// <param name="CMDID"> the command ID </param> |
| /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
| private void _sendControllerMessage(char CMDID, byte address) |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| } |
| /// <summary> send message to controller to request data |
| /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
| /// </summary> |
| /// <param name="CMDID"> the command ID </param> |
| /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
| /// <param name="data"> additional data for the request</param> |
| private void _sendControllerMessage(char CMDID, byte address, byte[] data) |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data); |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| } |
| |
| /// <summary> |
| /// start/stop continous polling of controller values |
| /// </summary> |
| /// <param name="b">start/stop switch</param> |
| void _readCont(bool b) |
| { |
| bReadContinously = b; |
| if (bReadContinously) |
| { |
| if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
| if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
| if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
| if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); } |
| // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen)); |
| Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative))); |
| } |
| else |
| { |
| // Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray)); |
| Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative))); |
| _bConnErr = false; |
| } |
| _iLifeCounter = 0; |
| } |
| |
| private void _getVersion() |
| { |
| _sendControllerMessage('v', 0); |
| } |
| /// <summary> |
| /// get FC version struct via NC |
| /// by sending '1' as data (not documented in wiki...) |
| /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
| /// </summary> |
| /// <param name="ctrl">controller number 1=FC</param> |
| private void _getVersion(byte ctrl) |
| { |
| _sendControllerMessage('v', 0, new byte[1] { ctrl }); |
| } |
| /// <summary> |
| /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
| /// </summary> |
| private void _switchToNC() |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 }; |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| Thread.Sleep(100); |
| _getVersion(); |
| Thread.Sleep(100); |
| _getLic(); |
| // _OSDMenue(0); |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| } |
| /// <summary> |
| /// switch to FC |
| /// </summary> |
| private void _switchToFC() |
| { |
| _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
| Thread.Sleep(100); |
| _getVersion(); |
| Thread.Sleep(100); |
| // _OSDMenue(0); |
| } |
| /// <summary> |
| /// send RESET signal to FC |
| /// </summary> |
| private void _resetCtrl() |
| { |
| _sendControllerMessage('R', 1); |
| } |
| /// <summary> |
| /// poll the debug data (4sec subscription) |
| /// </summary> |
| /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
| private void _readDebugData(bool auto) |
| { |
| byte interval = auto ? debugInterval : (byte)0; |
| _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
| } |
| /// <summary> |
| /// poll the BL-CTRL status via NC (4sec subscription) |
| /// </summary> |
| /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
| private void _readBLCtrl(bool auto) |
| { |
| byte interval = auto ? blctrlInterval : (byte)0; |
| _sendControllerMessage('k', 0, new byte[1] { interval }); |
| } |
| /// <summary> |
| /// poll the NC data struct (4sec subscription) |
| /// </summary> |
| /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
| private void _readNavData(bool auto) |
| { |
| byte interval = auto ? navctrlInterval : (byte)0; |
| // _sendControllerMessage('o', 2, new byte[1] { interval }); |
| _sendControllerMessage('o', 2, new byte[3] { interval,4,0 }); |
| } |
| /// <summary> |
| /// request the license info |
| /// </summary> |
| void _getLic() |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 }); |
| serialStream.Write(bytes, 0, bytes.Length); |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| } |
| /// <summary> |
| /// get the errortext for pending NC error |
| /// </summary> |
| private void _readNCError() |
| { |
| _sendControllerMessage('e', 2); |
| } |
| /// <summary> |
| /// request the Waypoint at index |
| /// </summary> |
| /// <param name="index"></param> |
| void _getpWP(int index) |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
| serialStream.Write(bytes, 0, bytes.Length); |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| } |
| void _getWP() |
| { |
| int iTimeout = 0; |
| _bGetWPCount = true; |
| _getpWP(1); //get the itemscount of wp |
| while (_bGetWPCount & iTimeout < _iWPTimeout * 5) |
| { |
| Thread.Sleep(10); |
| iTimeout++; |
| } |
| if (_iWPCount > 0 & !_bGetWPCount) |
| _getWPList(); |
| } |
| void _getWPList() |
| { |
| _bGetWP = true; |
| int iTimeout=0; |
| for (int j = 0; j < _iWPCount; j++) |
| { |
| _getpWP(j + 1); |
| iTimeout = 0; |
| while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5) |
| { |
| Thread.Sleep(1); |
| iTimeout++; |
| } |
| } |
| Dispatcher.Invoke(() => |
| { |
| // MainMap.ZoomAndCenterMarkers(null); |
| MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]); |
| MainMap.Zoom = 19; |
| }); |
| } |
| /// <summary> |
| /// Wrapper for _clearCopterWPList() |
| /// necessary, cause it is called by threadnew which does not like return values... |
| /// </summary> |
| void clearCopterWPList() |
| { |
| _clearCopterWPList(); |
| } |
| /// <summary> |
| /// clear the WP list of the copter |
| /// by sending 'invalid' and index '0' |
| /// </summary> |
| /// <returns></returns> |
| bool _clearCopterWPList() |
| { |
| int iTimeout = 0; |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| byte[] bData = new byte[30]; |
| for (int i = 0; i < 30; i++) |
| bData[i] = 0; |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0 |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| _iWPCount = -1; |
| while (_iWPCount == -1 & iTimeout < _iWPTimeout) |
| { |
| Thread.Sleep(10); |
| iTimeout++; |
| } |
| Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
| if (_iWPCount > -1) |
| return true; |
| else |
| Log(LogMsgType.Error, "Timeout while sending list!"); |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| return false; |
| } |
| void _sendWPList() |
| { |
| _sendWPList(0); |
| } |
| void _sendWPList(int iStart) |
| { |
| int iTimeout = 0; |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| if (_clearCopterWPList()) |
| { |
| int k = 1; |
| for (int i = iStart; i < dtWaypoints.Rows.Count; i++) |
| { |
| k = iStart > 0 ? k : -1; |
| _sendWayPoint(dtWaypoints.Rows[i], k, 'w',false); |
| |
| _iWPCount = -1; |
| iTimeout = 0; |
| while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5) |
| { |
| Thread.Sleep(10); |
| iTimeout++; |
| } |
| if (_iWPCount == -1) |
| { |
| Log(LogMsgType.Error, "Timeout while sending list!"); |
| break; |
| } |
| Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString()); |
| k++; |
| } |
| } |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| } |
| bool _sendWayPoint(DataRow dr, int index, char command,bool bSim) |
| { |
| |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| byte[] bData = new byte[30]; |
| for (int i = 0; i < 30; i++) |
| bData[i] = 0; |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes; |
| int iVal; |
| double dVal; |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = ","; |
| |
| //longitude |
| dVal = Convert.ToDouble(dr[4], nfi); |
| iVal = (int)(dVal * Math.Pow(10, 7)); |
| bData[0] = (byte)(iVal & 0xff); |
| bData[1] = (byte)((iVal >> 8) & 0xff); |
| bData[2] = (byte)((iVal >> 16) & 0xff); |
| bData[3] = (byte)(iVal >> 24); |
| //latitude |
| dVal = Convert.ToDouble(dr[3], nfi); |
| iVal = (int)(dVal * Math.Pow(10, 7)); |
| bData[4] = (byte)(iVal & 0xff); |
| bData[5] = (byte)((iVal >> 8) & 0xff); |
| bData[6] = (byte)((iVal >> 16) & 0xff); |
| bData[7] = (byte)(iVal >> 24); |
| //altitude |
| dVal = Convert.ToDouble(dr[5], nfi); |
| iVal = (int)(dVal * 10); |
| bData[8] = (byte)(iVal & 0xff); |
| bData[9] = (byte)((iVal >> 8) & 0xff); |
| bData[10] = (byte)((iVal >> 16) & 0xff); |
| bData[11] = (byte)(iVal >> 24); |
| if(bSim) |
| bData[12] = 3; //Status 'SIMULATE' |
| //Status 'NEWDATA' |
| else |
| bData[12] = 1; |
| //heading |
| iVal = Convert.ToInt16(dr[6]); |
| bData[13] = (byte)(iVal & 0xff); |
| bData[14] = (byte)((iVal >> 8) & 0xff); |
| //ToleranceRadius |
| bData[15] = Convert.ToByte(dr[9]); |
| //HoldTime |
| bData[16] = Convert.ToByte(dr[10]); |
| //Event_Flag |
| bData[17] = Convert.ToByte(dr[13]); |
| //Index |
| bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]); |
| //Type |
| bData[19] = Convert.ToByte(dr[1]); |
| //WP_EventChannelValue |
| bData[20] = Convert.ToByte(dr[14]); |
| //AltitudeRate |
| bData[21] = Convert.ToByte(dr[8]); |
| //Speed |
| bData[22] = Convert.ToByte(dr[7]); |
| //CamAngle |
| bData[23] = (byte)Convert.ToInt16(dr[12]); |
| //Name |
| string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2]; |
| byte[] name = ASCIIEncoding.ASCII.GetBytes(s); |
| bData[24] = name.Length > 0 ? name[0] : (byte)0; |
| bData[25] = name.Length > 1 ? name[1] : (byte)0; |
| bData[26] = name.Length > 2 ? name[2] : (byte)0; |
| bData[27] = name.Length > 3 ? name[3] : (byte)0; |
| //Autotrigger |
| bData[28] = Convert.ToByte(dr[11]); |
| |
| bytes = FlightControllerMessage.CreateMessage(command, 2, bData); |
| serialStream.Write(bytes, 0, bytes.Length); |
| |
| return true; |
| } |
| |
| return false; |
| } |
| #region OSD-Menue |
| |
| /// <summary> |
| /// one time query of the OSD Menue with pagenumber |
| /// </summary> |
| /// <param name="iMenue">Menue page</param> |
| void _OSDMenue(int iMenue) |
| { |
| if (serialPortCtrl.Port.IsOpen) |
| { |
| if (iMenue > iOSDMax) |
| iMenue = 0; |
| Stream serialStream = serialPortCtrl.Port.BaseStream; |
| byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
| serialStream.Write(bytes, 0, bytes.Length); |
| } |
| else |
| Log(LogMsgType.Error, "NOT CONNECTED!"); |
| |
| } |
| /// <summary> |
| /// call the OSDMenue and start autorefresh |
| /// usually by sending a menuekey |
| /// 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) |
| /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
| /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
| /// </summary> |
| void _OSDMenueAutoRefresh() |
| { |
| _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval }); |
| } |
| void _OSDMenueAutoRefresh(byte key) |
| { |
| _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
| } |
| /// <summary> |
| /// initialize the OSD menue combobox |
| /// combox is filled by numbers from 0 to max pagenumber |
| /// </summary> |
| void _initOSDCB() |
| { |
| _bCBInit = true; |
| if (iOSDMax == 0) |
| { |
| _OSDMenue(0); |
| Thread.Sleep(10); |
| } |
| Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear())); |
| for (int i = 0; i <= iOSDMax; i++) |
| { |
| Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i))); |
| } |
| Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
| _bCBInit = false; |
| } |
| private void btnOSDForward_Click(object sender, RoutedEventArgs e) |
| { |
| iOSDPage++; |
| if (iOSDPage > iOSDMax) |
| iOSDPage = 0; |
| |
| _OSDMenue(iOSDPage); |
| } |
| private void btnOSDBackward_Click(object sender, RoutedEventArgs e) |
| { |
| iOSDPage--; |
| if (iOSDPage < 0) |
| iOSDPage = iOSDMax; |
| |
| _OSDMenue(iOSDPage); |
| } |
| private void btnOSDLeave_Click(object sender, RoutedEventArgs e) |
| { |
| _OSDMenueAutoRefresh(8); |
| } |
| private void btnOSDEnter_Click(object sender, RoutedEventArgs e) |
| { |
| _OSDMenueAutoRefresh(4); |
| } |
| private void cbOSD_DropDownClosing(object sender, EventArgs e) |
| { |
| if (!_bCBInit && cbOSD.SelectedIndex > -1) |
| _OSDMenue(cbOSD.SelectedIndex); |
| } |
| private void OSD(LogMsgType msgtype, string msg, bool bNew) |
| { |
| Dispatcher.Invoke(() => |
| { |
| TextRange tr; |
| if (bNew) |
| { |
| rtfOSD.SelectAll(); |
| rtfOSD.Selection.Text = string.Empty; |
| } |
| tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd); |
| tr.Text = msg; |
| tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype])); |
| // rtfOSD.AppendText("\r"); |
| rtfOSD.ScrollToEnd(); |
| |
| }); |
| } |
| |
| #endregion OSD-Menue |
| |
| #endregion controller messages |
| |
| void _mediaPlayer(object file) |
| { |
| Monitor.TryEnter(lockObj); |
| try |
| { |
| if (File.Exists((string)file)) |
| { |
| |
| mediaPlayer.Open((string)file); |
| mediaPlayer.Play(); |
| } |
| else |
| Log(LogMsgType.Warning, "File not found: " + file.ToString()); |
| |
| } |
| finally |
| { |
| Monitor.Exit(lockObj); |
| } |
| } |
| |
| #region ui |
| /// <summary> |
| /// Switch between fullscreen and normal window mode |
| /// save & restore scaling settings |
| /// </summary> |
| /// <param name="sender"></param> |
| /// <param name="e"></param> |
| private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| if (winState.isMaximized) |
| { |
| winState.Restore(this); |
| imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative)); |
| if(_bSaveWinStateFull) |
| _saveScaleSliders(true); |
| if(_bSaveWinStateNormal) |
| _setScaleSliders(false); |
| } |
| else |
| { |
| winState.Maximize(this); |
| imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative)); |
| if(_bSaveWinStateNormal) |
| _saveScaleSliders(false); |
| if(_bSaveWinStateFull) |
| _setScaleSliders(true); |
| } |
| } |
| |
| /// <summary> |
| /// reset the scaling of all UI elements to default |
| /// </summary> |
| /// <param name="sender"></param> |
| /// <param name="e"></param> |
| private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e) |
| { |
| UIScaleHorizonSlider.Value = |
| UIScaleLOGSlider.Value = |
| UIScaleMotorsSlider.Value = |
| UIScaleOSDSlider.Value = |
| UIScaleSlider.Value = |
| UIScaleTopSlider.Value = 1; |
| } |
| /// <summary> |
| /// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar |
| /// </summary> |
| /// <param name="sender"></param> |
| /// <param name="e"></param> |
| private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom); |
| if (GridMotors != null) |
| GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom); |
| if (GridSideBar != null) |
| GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom); |
| if (WPStatus != null) |
| WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom); |
| if (GridOSD != null) |
| { |
| if(WPStatus.Visibility == Visibility.Visible) |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| else |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| } |
| if (GridData != null) |
| GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom); |
| if (GridWP != null) |
| GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom); |
| } |
| private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| { |
| if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible)) |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| else |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| } |
| } |
| |
| /// <summary> |
| /// restore the saved scalings for the fullscreen/normal window mode |
| /// </summary> |
| /// <param name="bFull">the mode the window is set to</param> |
| void _setScaleSliders(bool bFull) |
| { |
| if(bFull) |
| { |
| UIScaleSlider.Value = scaleFullAll; |
| UIScaleTopSlider.Value = scaleFullTopBar; |
| UIScaleMotorsSlider.Value = scaleFullMotors; |
| UIScaleOSDSlider.Value = scaleFullOSD; |
| UIScaleLOGSlider.Value = scaleFullLOG; |
| UIScaleHorizonSlider.Value = scaleFullHorizon; |
| } |
| else |
| { |
| UIScaleSlider.Value = scaleNormalAll; |
| UIScaleTopSlider.Value = scaleNormalTopBar; |
| UIScaleMotorsSlider.Value = scaleNormalMotors; |
| UIScaleOSDSlider.Value = scaleNormalOSD; |
| UIScaleLOGSlider.Value = scaleNormalLOG; |
| UIScaleHorizonSlider.Value = scaleNormalHorizon; |
| } |
| } |
| |
| /// <summary> |
| /// save the scalings for the actual window mode |
| /// </summary> |
| /// <param name="bFull">the actual window mode</param> |
| void _saveScaleSliders(bool bFull) |
| { |
| |
| if (bFull) |
| { |
| scaleFullAll = UIScaleSlider.Value; |
| scaleFullTopBar = UIScaleTopSlider.Value; |
| scaleFullMotors = UIScaleMotorsSlider.Value; |
| scaleFullOSD = UIScaleOSDSlider.Value; |
| scaleFullLOG = UIScaleLOGSlider.Value; |
| scaleFullHorizon = UIScaleHorizonSlider.Value; |
| } |
| else |
| { |
| scaleNormalAll = UIScaleSlider.Value; |
| scaleNormalTopBar = UIScaleTopSlider.Value; |
| scaleNormalMotors = UIScaleMotorsSlider.Value; |
| scaleNormalOSD = UIScaleOSDSlider.Value; |
| scaleNormalLOG = UIScaleLOGSlider.Value; |
| scaleNormalHorizon = UIScaleHorizonSlider.Value; |
| } |
| } |
| #endregion ui |
| |
| #region ini |
| /// <summary> |
| /// read settings from ini-file |
| /// </summary> |
| void _readIni() |
| { |
| if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
| _writeIni(); |
| IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
| ini.path = filePath + "\\MKLiveViewSettings.ini"; |
| try |
| { |
| |
| string sVal = ini.IniReadValue("timings", "AutorefreshDebugData"); |
| if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData"); |
| if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData"); |
| if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("timings", "AutorefreshOSDData"); |
| if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal); |
| |
| sVal = ini.IniReadValue("timings", "IntervalDebugData"); |
| if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal); |
| sVal = ini.IniReadValue("timings", "IntervalNavCtrlData"); |
| if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal); |
| sVal = ini.IniReadValue("timings", "IntervalBLCtrlData"); |
| if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal); |
| sVal = ini.IniReadValue("timings", "IntervalOSDData"); |
| if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal); |
| |
| sVal = ini.IniReadValue("topBar", "voltage"); |
| if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "capacity"); |
| if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "current"); |
| if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "flightTime"); |
| if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "distanceHP"); |
| if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "height"); |
| if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "speed"); |
| if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "magneticField"); |
| if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "satellites"); |
| if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("topBar", "rc"); |
| if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal); |
| |
| sVal = ini.IniReadValue("style", "saveFullScreen"); |
| if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("style", "saveNormalState"); |
| if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal); |
| |
| sVal = ini.IniReadValue("style", "scaleNormalAll"); |
| if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleNormalTopBar"); |
| if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleNormalMotors"); |
| if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleNormalOSD"); |
| if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleNormalLOG"); |
| if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleNormalHorizon"); |
| if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal); |
| |
| sVal = ini.IniReadValue("style", "scaleFullAll"); |
| if (sVal != "") scaleFullAll = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleFullTopBar"); |
| if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleFullMotors"); |
| if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleFullOSD"); |
| if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleFullLOG"); |
| if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("style", "scaleFullHorizon"); |
| if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal); |
| |
| sVal = ini.IniReadValue("general", "LiPoCells"); |
| _LipoCells = Convert.ToInt16(sVal); |
| sVal = ini.IniReadValue("general", "LiPoAutoDetect"); |
| _bLiPoAutoDetect = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("general", "Motors"); |
| if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
| |
| sVal = ini.IniReadValue("map", "followMe"); |
| if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("map", "location"); |
| if (sVal != "") _mapPosition = sVal; |
| sVal = ini.IniReadValue("map", "AutoSetHome"); |
| if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("map", "GPXLog"); |
| if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal); |
| |
| sVal = ini.IniReadValue("threshold", "VoltageWarning"); |
| if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("threshold", "VoltageCritical"); |
| if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable"); |
| if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable"); |
| if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable"); |
| if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "DistanceWarning"); |
| if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable"); |
| if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable"); |
| if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "MaxDistance"); |
| if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("threshold", "RCThreshold"); |
| if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("threshold", "MagFieldThreshold"); |
| if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("threshold", "BLCtrlTemp"); |
| if(sVal != "") _iThresholdBLCTRLTempWarn = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceBLCtrlTempEnable"); |
| if(sVal != "") _bVoiceBLCTRLTempPlay = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("threshold", "VoiceLanguageIndex"); |
| if(sVal != "") _iVoiceIndex = Convert.ToInt32(sVal); |
| |
| sVal = ini.IniReadValue("waypoints", "wpcolor"); |
| if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "poicolor"); |
| if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "fscolor"); |
| if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "coptercolor"); |
| if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "copterheadingcolor"); |
| if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "landingcolor"); |
| if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "routecolor"); |
| if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "showWPRoute"); |
| if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("waypoints", "autoShowWPEdit"); |
| if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("waypoints", "showWPMaxRange"); |
| if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor"); |
| if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefPrefix"); |
| if(sVal != "") _wpDefPrefix = sVal; |
| sVal = ini.IniReadValue("waypoints", "WPDefAltitude"); |
| if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefHeading"); |
| if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading"); |
| if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefSpeed"); |
| if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed"); |
| if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefClimb"); |
| if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb"); |
| if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefRadius"); |
| if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefHoldtime"); |
| if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefAutotrig"); |
| if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefCamangle"); |
| if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle"); |
| if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPDefOut1"); |
| if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight"); |
| if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading"); |
| if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal); |
| sVal = ini.IniReadValue("waypoints", "CopterSize"); |
| if (sVal != "") SliderCopterZoom.Value = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("waypoints", "WPSize"); |
| if (sVal != "") SliderWPZoom.Value = Convert.ToDouble(sVal); |
| |
| sVal = ini.IniReadValue("cam", "CamImagePosLeft"); |
| if (sVal != "") _camImageMargin.Left = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("cam", "CamImagePosTop"); |
| if (sVal != "") _camImageMargin.Top = Convert.ToDouble(sVal); |
| sVal = ini.IniReadValue("cam", "CamImageZoom"); |
| if (sVal != "") SliderCamZoom.Value = Convert.ToDouble(sVal); |
| |
| for (int i = 0; i < 12; i++) |
| { |
| sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val"); |
| if (sVal != "") |
| serChan[i] = Convert.ToInt16(sVal); |
| sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title"); |
| if (sVal != "") |
| serChanTitle[i] = sVal; |
| for (int y = 0; i < 4 && y < 3; y++) |
| { |
| sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString()); |
| if (sVal != "") |
| serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal); |
| } |
| } |
| |
| } |
| catch (Exception e) |
| { |
| |
| MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error); |
| } |
| |
| } |
| |
| /// <summary> |
| /// save settings to ini-file |
| /// </summary> |
| void _writeIni() |
| { |
| |
| IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
| ini.path = filePath + "\\MKLiveViewSettings.ini"; |
| |
| try |
| { |
| |
| ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false"); |
| ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false"); |
| ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false"); |
| ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false"); |
| |
| ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString()); |
| ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString()); |
| ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString()); |
| ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString()); |
| |
| ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString()); |
| ini.IniWriteValue("general", "LiPoAutoDetect", _bLiPoAutoDetect.ToString()); |
| ini.IniWriteValue("general", "Motors", _iMotors.ToString()); |
| |
| ini.IniWriteValue("map", "location", _mapPosition); |
| ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString()); |
| ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString()); |
| ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString()); |
| |
| ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString()); |
| ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString()); |
| |
| ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString()); |
| ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString()); |
| |
| ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString()); |
| ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString()); |
| ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString()); |
| ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString()); |
| ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString()); |
| ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString()); |
| |
| ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString()); |
| ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString()); |
| ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString()); |
| ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString()); |
| ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString()); |
| ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString()); |
| |
| ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString()); |
| |
| ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString()); |
| ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString()); |
| ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString()); |
| ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString()); |
| ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString()); |
| ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString()); |
| ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString()); |
| ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString()); |
| ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString()); |
| ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString()); |
| ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString()); |
| ini.IniWriteValue("threshold", "BLCtrlTemp", _iThresholdBLCTRLTempWarn.ToString()); |
| ini.IniWriteValue("threshold", "VoiceBLCtrlTempEnable", _bVoiceBLCTRLTempPlay.ToString()); |
| ini.IniWriteValue("threshold", "VoiceLanguageIndex", _iVoiceIndex.ToString()); |
| |
| ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString()); |
| ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString()); |
| ini.IniWriteValue("waypoints", "autoShowWPEdit", ((bool)checkBoxAutoShowWPEdit.IsChecked).ToString()); |
| ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefPrefix", _wpDefPrefix); |
| ini.IniWriteValue("waypoints", "WPDefAltitude", _wpDefAltitude.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefHeading", _wpDefHeading.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefCBoxHeading", _wpDefCBoxHeading.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefSpeed", _wpDefSpeed.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefCBoxSpeed", _wpDefCBoxSpeed.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefClimb", _wpDefClimb.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefCBoxClimb", _wpDefCBoxClimb.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefRadius", _wpDefRadius.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefHoldtime", _wpDefHoldtime.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefAutotrig", _wpDefAutotrig.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefCamangle", _wpDefCamangle.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefCBoxCamangle", _wpDefCBoxCamangle.ToString()); |
| ini.IniWriteValue("waypoints", "WPDefOut1", _wpDefOut1.ToString()); |
| ini.IniWriteValue("waypoints", "WPAddCopterHeight", _wpAddCopterHeight.ToString()); |
| ini.IniWriteValue("waypoints", "WPAddCopterHeading", _wpAddCopterHeading.ToString()); |
| ini.IniWriteValue("waypoints", "CopterSize", SliderCopterZoom.Value.ToString()); |
| ini.IniWriteValue("waypoints", "WPSize", SliderWPZoom.Value.ToString()); |
| |
| ini.IniWriteValue("cam", "CamImagePosLeft", _camImageMargin.Left.ToString()); |
| ini.IniWriteValue("cam", "CamImagePosTop", _camImageMargin.Top.ToString()); |
| ini.IniWriteValue("cam", "CamImageZoom", SliderCamZoom.Value.ToString()); |
| |
| for (int i = 0; i < 12; i++) |
| { |
| ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString()); |
| ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]); |
| for (int y = 0; i < 4 && y < 3; y++) |
| { |
| ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString()); |
| } |
| } |
| |
| } |
| catch (Exception e) |
| { |
| |
| 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); |
| } |
| } |
| #endregion ini |
| |
| #region serial channels |
| /// <summary> |
| /// Sending the serial channel values |
| /// </summary> |
| void _sendSerialData() |
| { |
| byte[] serData = new byte[12]; |
| for (int i = 0; i < 12; i++) |
| { |
| serData[i] = unchecked((byte)(serChan[i] - 127)); |
| } |
| _sendControllerMessage('y', 1, serData); |
| } |
| /// <summary> |
| /// init the controls for displaying |
| /// and setting serial control channels |
| /// </summary> |
| void _initSerialCtrl() |
| { |
| SerChan1ScaleSlider.Value = serChan[0]; |
| textBoxSerial1.Text = serChanTitle[0]; |
| SerChan2ScaleSlider.Value = serChan[1]; |
| textBoxSerial2.Text = serChanTitle[1]; |
| SerChan3ScaleSlider.Value = serChan[2]; |
| textBoxSerial3.Text = serChanTitle[2]; |
| //SerChan4ScaleSlider.Value = serChan[3]; |
| //textBoxSerial4.Text = serChanTitle[3]; |
| //trckbarSerial5.Value = serChan[4]; |
| //textBoxSerial5.Text = serChanTitle[4]; |
| //trckbarSerial6.Value = serChan[5]; |
| //textBoxSerial6.Text = serChanTitle[5]; |
| //trckbarSerial7.Value = serChan[6]; |
| //textBoxSerial7.Text = serChanTitle[6]; |
| //trckbarSerial8.Value = serChan[7]; |
| //textBoxSerial8.Text = serChanTitle[7]; |
| |
| textBoxSerial1_val1.Text = serChan_sub[0].ToString(); |
| textBoxSerial1_val2.Text = serChan_sub[1].ToString(); |
| textBoxSerial1_val3.Text = serChan_sub[2].ToString(); |
| textBoxSerial2_val1.Text = serChan_sub[3].ToString(); |
| textBoxSerial2_val2.Text = serChan_sub[4].ToString(); |
| textBoxSerial2_val3.Text = serChan_sub[5].ToString(); |
| textBoxSerial3_val1.Text = serChan_sub[6].ToString(); |
| textBoxSerial3_val2.Text = serChan_sub[7].ToString(); |
| textBoxSerial3_val3.Text = serChan_sub[8].ToString(); |
| //textBoxSerial4_val1.Text = serChan_sub[9].ToString(); |
| //textBoxSerial4_val2.Text = serChan_sub[10].ToString(); |
| //textBoxSerial4_val3.Text = serChan_sub[11].ToString(); |
| } |
| private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| { |
| serChan[0] = (int)SerChan1ScaleSlider.Value; |
| _sendSerialData(); |
| } |
| } |
| private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (!_init) |
| { |
| serChanTitle[0] = textBoxSerial1.Text; |
| } |
| } |
| private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial1_val1.Text.Length > 0 & !_init) |
| { |
| serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text); |
| } |
| } |
| private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial1_val2.Text.Length > 0 & !_init) |
| { |
| serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text); |
| } |
| } |
| private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial1_val3.Text.Length > 0 & !_init) |
| { |
| serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text); |
| } |
| } |
| private void btnSer1_val1_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial1_val1.Text.Length > 0) |
| { |
| SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text); |
| } |
| } |
| private void btnSer1_0_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan1ScaleSlider.Value = 0; |
| } |
| private void btnSer1_127_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan1ScaleSlider.Value = 127; |
| } |
| private void btnSer1_254_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan1ScaleSlider.Value = 254; |
| } |
| private void btnSer1_val2_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial1_val2.Text.Length > 0) |
| { |
| SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text); |
| } |
| } |
| private void btnSer1_val3_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial1_val3.Text.Length > 0) |
| { |
| SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text); |
| } |
| } |
| |
| private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| { |
| serChan[1] = (int)SerChan2ScaleSlider.Value; |
| _sendSerialData(); |
| } |
| } |
| private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (!_init) |
| { |
| serChanTitle[1] = textBoxSerial2.Text; |
| } |
| } |
| private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial2_val1.Text.Length > 0 & !_init) |
| { |
| serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text); |
| } |
| } |
| private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial2_val2.Text.Length > 0 & !_init) |
| { |
| serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text); |
| } |
| } |
| private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial2_val3.Text.Length > 0 & !_init) |
| { |
| serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text); |
| } |
| } |
| private void btnSer2_0_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan2ScaleSlider.Value = 0; |
| } |
| private void btnSer2_127_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan2ScaleSlider.Value = 127; |
| } |
| private void btnSer2_254_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan2ScaleSlider.Value = 254; |
| } |
| private void btnSer2_val1_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial2_val1.Text.Length > 0) |
| { |
| SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text); |
| } |
| } |
| private void btnSer2_val2_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial2_val2.Text.Length > 0) |
| { |
| SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text); |
| } |
| } |
| private void btnSer2_val3_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial2_val3.Text.Length > 0) |
| { |
| SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text); |
| } |
| } |
| |
| private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e) |
| { |
| if (!_init) |
| { |
| serChan[2] = (int)SerChan3ScaleSlider.Value; |
| _sendSerialData(); |
| } |
| } |
| private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (!_init) |
| { |
| serChanTitle[2] = textBoxSerial3.Text; |
| } |
| } |
| private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial3_val1.Text.Length > 0 & !_init) |
| { |
| serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text); |
| } |
| } |
| private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial3_val2.Text.Length > 0 & !_init) |
| { |
| serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text); |
| } |
| } |
| private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e) |
| { |
| if (textBoxSerial3_val3.Text.Length > 0 & !_init) |
| { |
| serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text); |
| } |
| } |
| private void btnSer3_0_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan3ScaleSlider.Value = 0; |
| } |
| private void btnSer3_127_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan3ScaleSlider.Value = 127; |
| } |
| private void btnSer3_254_Click(object sender, RoutedEventArgs e) |
| { |
| SerChan3ScaleSlider.Value = 254; |
| } |
| private void btnSer3_val1_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial3_val1.Text.Length > 0) |
| { |
| SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text); |
| } |
| } |
| private void btnSer3_val2_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial3_val2.Text.Length > 0) |
| { |
| SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text); |
| } |
| } |
| private void btnSer3_val3_Click(object sender, RoutedEventArgs e) |
| { |
| if (textBoxSerial3_val3.Text.Length > 0) |
| { |
| SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text); |
| } |
| } |
| /// <summary> |
| /// checks the input of a textbox |
| /// for valid data |
| /// in this case values 0-254 |
| /// </summary> |
| /// <param name="sender"></param> |
| /// <param name="e"></param> |
| private void textBox_serial_KeyPress(object sender, KeyEventArgs e) |
| { |
| if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b) |
| e.Handled = true; |
| else |
| if ("\b".IndexOf(e.Key.ToString()) < 0) |
| if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number |
| e.Handled = true; |
| else |
| { |
| int i = -1; |
| switch (((TextBox)sender).Name) |
| { |
| case "textBoxSerial1_val1": |
| i = 0; |
| break; |
| case "textBoxSerial1_val2": |
| i = 1; |
| break; |
| case "textBoxSerial1_val3": |
| i = 2; |
| break; |
| case "textBoxSerial2_val1": |
| i = 3; |
| break; |
| case "textBoxSerial2_val2": |
| i = 4; |
| break; |
| case "textBoxSerial2_val3": |
| i = 5; |
| break; |
| case "textBoxSerial3_val1": |
| i = 6; |
| break; |
| case "textBoxSerial3_val2": |
| i = 7; |
| break; |
| case "textBoxSerial3_val3": |
| i = 8; |
| break; |
| case "textBoxSerial4_val1": |
| i = 9; |
| break; |
| case "textBoxSerial4_val2": |
| i = 10; |
| break; |
| case "textBoxSerial4_val3": |
| i = 11; |
| break; |
| } |
| if (i > -1) |
| serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString()); |
| } |
| } |
| |
| #endregion serial channels |
| #region WP |
| void _readWPLFile() |
| { |
| Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
| fd.Filter = "Waypointlists | *.wpl"; |
| fd.Multiselect = false; |
| if (fd.ShowDialog().Value) |
| { |
| string file = fd.SafeFileName; |
| IniFile ini = new IniFile(fd.SafeFileName); |
| ini.path = fd.FileName; |
| |
| try |
| { |
| string sVal = ini.IniReadValue("General", "FileVersion"); |
| if (sVal == "") |
| MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
| else |
| { |
| if (Convert.ToInt16(sVal) < 3) |
| MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
| else |
| { |
| sVal = ini.IniReadValue("General", "NumberOfWaypoints"); |
| if (sVal == "") |
| MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information); |
| else |
| { |
| int wpnum = Convert.ToInt16(sVal); |
| string wp; |
| int i; |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = "."; |
| dtWaypoints.Rows.Clear(); |
| _wpEdit = -1;_wpIndex = -1; |
| wpOffset.Clear(); |
| _clearMapMarkers(typeof(CustomMarkerWP)); |
| _clearMapMarkers(typeof(CustomMarkerWPActive)); |
| wpList.Clear(); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| //if (wpActiveMarker != null) |
| // MainMap.Markers.Remove(wpActiveMarker); |
| Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
| |
| for (int k = 1; k <= wpnum; k++) |
| { |
| DataRow dr = dtWaypoints.NewRow(); |
| dr.ItemArray = new object[16]; |
| object[] o = new object[16]; |
| i = 0; |
| wp = "Point" + k.ToString(); |
| o[i] = k; |
| i++; |
| sVal = ini.IniReadValue(wp, "Type"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal) - 1; |
| i++; |
| sVal = ini.IniReadValue(wp, "Prefix"); |
| if (sVal != "") |
| o[i] = sVal + k.ToString(); |
| // o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString(); |
| i++; |
| sVal = ini.IniReadValue(wp, "Latitude"); |
| if (sVal != "") |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Longitude"); |
| if (sVal != "") |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Altitude"); |
| if (sVal != "") |
| o[i] = Convert.ToDouble(sVal, nfi); |
| i++; |
| sVal = ini.IniReadValue(wp, "Heading"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "Speed"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "ClimbRate"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "Radius"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "DelayTime"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| sVal = ini.IniReadValue(wp, "AutoTrigger"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); ; |
| i++; |
| sVal = ini.IniReadValue(wp, "CAM-Nick"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| o[i] = 0; |
| i++; |
| sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value"); |
| if (sVal != "") |
| o[i] = Convert.ToInt16(sVal); |
| i++; |
| o[i] = "New"; |
| |
| dr.ItemArray = o; |
| dtWaypoints.Rows.Add(dr); |
| _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1); |
| |
| Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
| Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
| Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Thread.Sleep(1); |
| } |
| Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4])); |
| Dispatcher.Invoke(() => MainMap.Zoom = 19); |
| // Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null)); |
| Dispatcher.Invoke(() => _routeUpdate()); |
| } |
| } |
| } |
| |
| } |
| catch (Exception e) |
| { |
| |
| MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error); |
| } |
| |
| } |
| } |
| void _saveWPLFile() |
| { |
| if (dtWaypoints.Rows.Count > 0) |
| { |
| Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog(); |
| fd.Filter = "Waypointlists | *.wpl"; |
| fd.AddExtension = true; |
| if (fd.ShowDialog().Value) |
| { |
| string file = fd.SafeFileName; |
| IniFile ini = new IniFile(fd.SafeFileName); |
| ini.path = fd.FileName; |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = "."; |
| |
| try |
| { |
| ini.IniWriteValue("General", "FileVersion", "3"); |
| ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString()); |
| ini.IniWriteValue("General", "Mapfile", ""); |
| for(int i = 1; i<=dtWaypoints.Rows.Count; i++) |
| { |
| ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi)); |
| ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi)); |
| ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString()); |
| ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString()); |
| 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)); |
| ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString()); |
| } |
| MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information); |
| } |
| catch { } |
| } |
| } |
| else |
| MessageBox.Show("Nothing to save..."); |
| } |
| private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e) |
| { |
| _saveWPLFile(); |
| } |
| /// <summary> |
| /// set the selected color for the route |
| /// </summary> |
| /// <param name="color"></param> |
| /// <returns></returns> |
| Brush _getBrush(string color) |
| { |
| switch (color) |
| { |
| case "red": |
| return Brushes.Red; |
| case "green": |
| return Brushes.Lime; |
| case "blue": |
| return Brushes.Aqua; |
| case "pink": |
| return Brushes.Magenta; |
| case "yellow": |
| return Brushes.Yellow; |
| default: |
| return Brushes.Magenta; |
| } |
| } |
| void _routeUpdate() |
| { |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxRouteColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
| mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
| } |
| else |
| mRouteWP = new GMapRoute(wpList, null); |
| |
| if (_bShowWPRoute) |
| MainMap.Markers.Add(mRouteWP); |
| }); |
| |
| MapRoute mr = new MapRoute(wpList, "WPList"); |
| Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
| } |
| GMapMarker _createWP(PointLatLng p, string name, int type, int index) |
| { |
| GMapMarker wpMarker = new GMapMarker(p); |
| Dispatcher.Invoke(()=> |
| { |
| wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type); |
| wpMarker.Tag = name; |
| wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
| wpMarker.ZIndex = 100; |
| _setMarkerColor(wpMarker, type); |
| MainMap.Markers.Add(wpMarker); |
| if (type == 0 || type == 3) |
| { |
| wpList.Add(p); |
| wpOffset.Add(index); |
| } |
| ((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos; |
| ((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin; |
| ((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured; |
| _setMapItemsSize("WP", SliderWPZoom.Value); |
| }); |
| return wpMarker; |
| } |
| bool _WPisMouseCaptured = false; |
| void _WPMouseCaptured(bool isCaptured) |
| { |
| _WPisMouseCaptured = isCaptured; |
| MainMap.CanDragMap = !isCaptured; |
| } |
| void _updateDTWPPos(CustomMarkerWP wp) |
| { |
| string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
| int index = Convert.ToInt16(sIndex) -1; |
| GMapMarker p = ((GMapMarker)wp.DataContext); |
| if (p != null && index < dtWaypoints.Rows.Count) |
| { |
| //Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| if(wp.WPType == 0 | wp.WPType == 3) |
| { |
| PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
| int wpListIndex = wpList.IndexOf(x); |
| if (wpListIndex > -1) |
| { |
| wpList[wpListIndex] = p.Position; |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| } |
| } |
| dtWaypoints.Rows[index][3] = p.Position.Lat; |
| dtWaypoints.Rows[index][4] = p.Position.Lng; |
| } |
| } |
| void _updateDTWPPosFin(CustomMarkerWP wp) |
| { |
| string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1); |
| int index = Convert.ToInt16(sIndex) -1; |
| GMapMarker p = ((GMapMarker)wp.DataContext); |
| if (p != null && index < dtWaypoints.Rows.Count) |
| { |
| dtWaypoints.Rows[index][3] = p.Position.Lat; |
| dtWaypoints.Rows[index][4] = p.Position.Lng; |
| Dispatcher.Invoke(() => |
| { |
| dgvWP.Items.Refresh(); |
| dgvWP.SelectedIndex = index; |
| _dgvWPselectEditRow(); |
| }); |
| |
| } |
| |
| } |
| void _addWP(PointLatLng p,int type) |
| { |
| object[] o = new object[16]; |
| |
| o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1; |
| o[1] = type; |
| // cbWPEditType.SelectedIndex = 0; |
| // tbWPEditPrefix.Text = "P"; |
| o[2] = _wpDefPrefix + o[0].ToString(); |
| // tbWPEditLat.Text = copter.Position.Lat.ToString(); |
| o[3] = p.Lat; |
| // tbWPEditLon.Text = copter.Position.Lng.ToString(); |
| o[4] = p.Lng; |
| // lblWPEditAlt.Content = ((double)iAnalogData[4] / (double)10).ToString(); |
| o[5] = _wpAddCopterHeight ? iAnalogData[4].ToString(): _wpDefAltitude.ToString(); |
| |
| cbWPEditHeading.SelectedIndex = _wpDefCBoxHeading; |
| o[6] = _wpAddCopterHeading ? iAnalogData[10].ToString(): _wpDefHeading.ToString(); |
| //lblWPEditHeading.Content = iAnalogData[10].ToString(); |
| // tbWPEditHeading.IsReadOnly = false; |
| |
| cbWPEditSpeed.SelectedIndex = _wpDefCBoxSpeed; |
| // tbWPEditSpeed.Text = "5.0"; |
| // tbWPEditSpeed.IsReadOnly = false; |
| o[7] = _wpDefSpeed.ToString(); |
| |
| cbWPEditClimbrate.SelectedIndex = _wpDefCBoxClimb; |
| // lblWPEditClimbrate.Content = "5.0"; |
| // tbWPEditClimbrate.IsReadOnly = false; |
| o[8] = _wpDefClimb.ToString(); |
| |
| // lblWPEditRadius.Content = "10"; |
| o[9] = _wpDefRadius.ToString(); |
| // lblWPEditHoldtime.Content = "5"; |
| o[10] = _wpDefHoldtime.ToString(); |
| // lblWPEditAutoTrigger.Content = "0"; |
| o[11] = _wpDefAutotrig.ToString(); |
| cbWPEditCamAngle.SelectedIndex = _wpDefCBoxCamangle; |
| // lblWPEditCamAngle.Content = "AUTO"; |
| // tbWPEditCamAngle.IsReadOnly = true; |
| o[12] = _wpDefCamangle.ToString(); |
| |
| o[13] = "0"; |
| // lblWPEditOut1.Content = "0"; |
| o[14] = _wpDefOut1.ToString(); |
| o[15] = "0"; |
| |
| dtWaypoints.Rows.Add(o); |
| _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1); |
| // Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString()); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| Dispatcher.Invoke(() => |
| { |
| dgvWP.Items.Refresh(); |
| dgvWP.UpdateLayout(); |
| dgvWP.SelectedIndex = (int)o[0] - 1; |
| _dgvWPselectEditRow(); |
| }); |
| } |
| /// <summary> |
| /// find the index of of a wp from datatable in the waypointlist wpList |
| /// </summary> |
| /// <param name="dtIndex">the index of wp in datatable (0-based)</param> |
| /// <returns></returns> |
| int _getWPIndexfromList(int dtIndex) |
| { |
| if ((int)dtWaypoints.Rows[dtIndex][1] == 0 || (int)dtWaypoints.Rows[dtIndex][1] == 3) |
| { |
| GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]); |
| if (wp != null) |
| return wpList.IndexOf(wp.Position); |
| } |
| return -1; |
| } |
| /// <summary> |
| /// find the index of of a wp from datatable in the waypointlist wpList |
| /// </summary> |
| /// <param name="name">the name of the wp</param> |
| /// <returns></returns> |
| int _getWPIndexfromList(string name) |
| { |
| GMapMarker wp = _findWPMarker(name); |
| if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 | ((CustomMarkerWP)wp.Shape).WPType == 3) |
| return wpList.IndexOf(wp.Position); |
| else |
| return -1; |
| } |
| int _getWPListOffset(int index) |
| { |
| int k = 0; |
| for(int i = 0; i < wpOffset.Count;i++) |
| { |
| if (wpOffset[i] <= index) |
| k++; |
| } |
| |
| return k; |
| } |
| void _setMarkerColor(GMapMarker wpMarker,int iType) |
| { |
| if(wpMarker != null) |
| Dispatcher.Invoke(() => |
| { |
| switch (iType) |
| { |
| case 0: |
| if (comboBoxWPColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxWPColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
| } |
| else |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor("green"); |
| break; |
| case 1: |
| if (comboBoxPOIColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxPOIColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
| } |
| else |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor("pink"); |
| break; |
| case 2: |
| if (comboBoxFSColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxFSColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
| } |
| else |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
| break; |
| case 3: |
| if (comboBoxLandingColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxLandingColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor(s); |
| } |
| else |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor("blue"); |
| break; |
| default: |
| ((CustomMarkerWP)(wpMarker.Shape)).setColor("red"); |
| break; |
| } |
| }); |
| |
| } |
| void _MarkerColorSelection(object sender,int type) |
| { |
| Dispatcher.Invoke(() => |
| { |
| if (((ComboBox)sender).SelectionBoxItem != null) |
| { |
| for (int k = 0; k < MainMap.Markers.Count; k++) |
| { |
| GMapMarker p = MainMap.Markers[k]; |
| if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)) |
| { |
| if (((CustomMarkerWP)p.Shape).WPType == type) |
| { |
| string s = ((ComboBox)sender).SelectionBoxItem.ToString(); |
| ((CustomMarkerWP)(p.Shape)).setColor(s); |
| } |
| } |
| } |
| } |
| }); |
| } |
| private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e) |
| { |
| _MarkerColorSelection(sender, 0); |
| } |
| private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e) |
| { |
| _MarkerColorSelection(sender, 1); |
| } |
| private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e) |
| { |
| _MarkerColorSelection(sender, 2); |
| } |
| private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e) |
| { |
| _MarkerColorSelection(sender,3); |
| } |
| private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e) |
| { |
| Dispatcher.Invoke(() => { |
| if (comboBoxCopterColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxCopterColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerCopter)(copter.Shape)).setCopterColor(s); |
| } |
| else |
| ((CustomMarkerCopter)(copter.Shape)).setCopterColor("red"); |
| }); |
| } |
| private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e) |
| { |
| Dispatcher.Invoke(() => { |
| if (comboBoxCopterHeadingColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString(); |
| ((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s); |
| } |
| else |
| ((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red"); |
| }); |
| } |
| private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e) |
| { |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxRouteColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
| MainMap.Markers.Remove(mRouteWP); |
| mRouteWP = new GMapRoute(wpList, _getBrush(s)); |
| if (_bShowWPRoute) |
| MainMap.Markers.Add(mRouteWP); |
| } |
| }); |
| } |
| private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e) |
| { |
| Dispatcher.Invoke(() => |
| { |
| if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
| { |
| if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
| { |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| |
| createCircle(home.Position, dWPMaxRange); |
| string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
| cWPBound.setColor(s); |
| |
| } |
| } |
| }); |
| |
| } |
| private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e) |
| { |
| _bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked; |
| if (_bShowWPRoute) |
| { |
| if (mRouteWP != null) |
| MainMap.Markers.Add(mRouteWP); |
| } |
| else |
| { |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| } |
| } |
| |
| private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e) |
| { |
| _readWPLFile(); |
| } |
| private void btnClearWPList_Click(object sender, RoutedEventArgs e) |
| { |
| _clearMapMarkers(typeof(CustomMarkerWP)); |
| _clearMapMarkers(typeof(CustomMarkerWPActive)); |
| wpList.Clear(); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| //if (wpActiveMarker != null) |
| // MainMap.Markers.Remove(wpActiveMarker); |
| dtWaypoints.Rows.Clear(); |
| _wpEdit = -1; |
| _wpIndex = -1; |
| wpOffset.Clear(); |
| Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Dispatcher.Invoke(() => lblWPIndex.Content = 0); |
| Dispatcher.Invoke(() => lblWPCount.Content = 0); |
| Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
| } |
| private void btnClearCopterList_Click(object sender, RoutedEventArgs e) |
| { |
| Thread t = new Thread(new ThreadStart(clearCopterWPList)); |
| t.Start(); |
| } |
| private void btnSendActiveWP_Click(object sender, RoutedEventArgs e) |
| { |
| if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| if (_wpCount > 0) |
| _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false); |
| else |
| _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false); |
| |
| //int index = dgvWP.SelectedIndex; |
| //Thread t = new Thread(() => _sendWPList(index)); |
| //t.Start(); |
| |
| Dispatcher.Invoke(() => { |
| DataGridRow row; |
| if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| dgvWP.UpdateLayout(); |
| } |
| //_wpEdit = dgvWP.SelectedIndex; |
| //row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
| //row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100)); |
| //row.BorderBrush = new SolidColorBrush(Colors.SpringGreen); |
| //row.BorderThickness = new Thickness(2); |
| }); |
| } |
| } |
| private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e) |
| { |
| if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| |
| object[] o = new object[16]; |
| o[0] = dgvWP.SelectedIndex + 1; |
| o[1] = cbWPEditType.SelectedIndex; |
| o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
| o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
| o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
| o[5] = lblWPEditAlt.Content; |
| switch (cbWPEditHeading.SelectedIndex) |
| { |
| case 0: |
| o[6] = "0"; |
| break; |
| case 1: |
| o[6] = "-" + lblWPEditHeading.Content; |
| break; |
| case 2: |
| o[6] = lblWPEditHeading.Content; |
| break; |
| } |
| switch (cbWPEditSpeed.SelectedIndex) |
| { |
| case 0: |
| o[7] = "0"; |
| break; |
| case 1: |
| o[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0"); |
| break; |
| case 2: |
| o[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString(); |
| break; |
| } |
| switch (cbWPEditClimbrate.SelectedIndex) |
| { |
| case 0: |
| o[8] = "255"; |
| break; |
| case 1: |
| o[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0"); |
| break; |
| } |
| o[9] = lblWPEditRadius.Content; |
| o[10] = lblWPEditHoldtime.Content; |
| o[11] = lblWPEditAutoTrigger.Content; |
| switch (cbWPEditCamAngle.SelectedIndex) |
| { |
| case 0: |
| o[12] = "0"; |
| break; |
| case 1: |
| o[12] = "255"; |
| break; |
| case 2: |
| o[12] = lblWPEditCamAngle.Content; |
| break; |
| } |
| o[13] = 0; |
| o[14] = lblWPEditOut1.Content; |
| DataRow dr = dtWaypoints.NewRow(); |
| dr.ItemArray = o; |
| |
| if (_wpCount > 0) |
| _sendWayPoint(dr, -1, 'w', false); |
| else |
| _sendWayPoint(dr, 1, 'w', false); |
| |
| if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count) |
| _sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false); |
| } |
| } |
| private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e) |
| { |
| _Simulate = !_Simulate; |
| if (dtWaypoints.Rows.Count > 0) |
| { |
| DataRow dr = dtWaypoints.Rows[0]; |
| dr[13] = _Simulate ? 3 : 0; |
| _sendWayPoint(dr, 0, 's', true); |
| rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden; |
| } |
| } |
| |
| private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e) |
| { |
| _dgvWPselectEditRow(); |
| } |
| private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e) |
| { |
| } |
| void _dgvWPselectEditRow() |
| { |
| if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| Dispatcher.Invoke(() => { |
| DataGridRow row; |
| dgvWP.Items.Refresh(); |
| dgvWP.UpdateLayout(); |
| if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
| if (row != null) |
| { |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| } |
| } |
| _wpEdit = dgvWP.SelectedIndex; |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
| if (row != null) |
| { |
| row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255)); |
| row.BorderBrush = new SolidColorBrush(Colors.Aqua); |
| row.BorderThickness = new Thickness(2); |
| dgvWP.UpdateLayout(); |
| } |
| if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit) |
| GridWPEdit.Visibility = Visibility.Visible; |
| |
| _setWPEditFields(_wpEdit); |
| }); |
| } |
| } |
| void _setWPEditFields(int index) |
| { |
| if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit) |
| GridWPEdit.Visibility = Visibility.Visible; |
| |
| int iVal; |
| lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString(); |
| cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1]; |
| tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1); |
| tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString(); |
| tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString(); |
| |
| SliderAlt.Value = Convert.ToInt16(dtWaypoints.Rows[index][5]); |
| |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]); |
| SliderHeading.Value = Math.Abs(iVal); |
| if (iVal == 0) |
| { |
| cbWPEditHeading.SelectedIndex = 0; |
| // lblWPEditHeading.Content = " - - -"; |
| } |
| if (iVal > 0 && iVal < 360) |
| { |
| cbWPEditHeading.SelectedIndex = 2; |
| // lblWPEditHeading.Content = iVal.ToString(); |
| } |
| if (iVal < 0) |
| { |
| cbWPEditHeading.SelectedIndex = 1; |
| // lblWPEditHeading.Content = (Math.Abs(iVal).ToString()); |
| } |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]); |
| SliderSpeed.Value = (double)iVal * 0.1; //------------!!!!!!!! |
| if (iVal == 0) |
| { |
| cbWPEditSpeed.SelectedIndex = 0; |
| // lblWPEditSpeed.Content = "MAX"; |
| } |
| if (iVal > 0 && iVal < 248) |
| { |
| cbWPEditSpeed.SelectedIndex = 1; |
| // lblWPEditSpeed.Content = ((double)iVal * 0.1).ToString(); |
| } |
| if (iVal > 247) |
| { |
| cbWPEditSpeed.SelectedIndex = 256 - iVal + 1; |
| // lblWPEditSpeed.Content = ""; |
| } |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]); |
| SliderClimbrate.Value = (System.Convert.ToDouble(iVal) / 10); //------------!!!!!!!! |
| if (iVal == 255) |
| { |
| cbWPEditClimbrate.SelectedIndex = 0; |
| // lblWPEditClimbrate.Content = "AUTO"; |
| } |
| else |
| { |
| cbWPEditClimbrate.SelectedIndex = 1; |
| // lblWPEditClimbrate.Content = (System.Convert.ToDouble(iVal) / 10).ToString("0.0"); |
| } |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]); |
| SliderRadius.Value = iVal; |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]); |
| SliderHoldTime.Value = iVal; |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]); |
| SliderAutoTrigger.Value = iVal; |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]); |
| SliderCamAngle.Value = iVal; |
| if (iVal == 0) |
| { |
| cbWPEditCamAngle.SelectedIndex = 0; |
| // lblWPEditCamAngle.Content = " - - - "; |
| } |
| if (iVal < 0 | iVal == 255) |
| { |
| cbWPEditCamAngle.SelectedIndex = 1; |
| // lblWPEditCamAngle.Content = "AUTO"; |
| } |
| if (iVal > 0 & iVal < 255) |
| { |
| cbWPEditCamAngle.SelectedIndex = 2; |
| // lblWPEditCamAngle.Content = iVal.ToString(); |
| } |
| iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]); |
| SliderOut1.Value = iVal; |
| } |
| private void btnEditWPSave_Click(object sender, RoutedEventArgs e) |
| { |
| if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]; |
| int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]; |
| PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]); |
| int i = wpList.IndexOf(pOld); |
| dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex; |
| dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
| dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
| dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
| if (i > -1) |
| { |
| if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
| wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
| else |
| { |
| wpList.Remove(pOld); |
| wpOffset.Remove(wpOffset[i]); |
| } |
| } |
| else |
| { |
| if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 || (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3) |
| { |
| int found = 0; |
| for (int k = 0; k < dgvWP.SelectedIndex; k++) |
| { |
| if ((int)dtWaypoints.Rows[k][1] == 0 || (int)dtWaypoints.Rows[k][1] == 3) |
| { |
| found++; |
| } |
| } |
| wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4])); |
| wpOffset.Insert(found, dgvWP.SelectedIndex); |
| } |
| } |
| dtWaypoints.Rows[dgvWP.SelectedIndex][5] = lblWPEditAlt.Content; |
| switch (cbWPEditHeading.SelectedIndex) |
| { |
| case 0: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0"; |
| break; |
| case 1: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + lblWPEditHeading.Content; |
| break; |
| case 2: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][6] = lblWPEditHeading.Content; |
| break; |
| } |
| switch (cbWPEditSpeed.SelectedIndex) |
| { |
| case 0: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0"; |
| break; |
| case 1: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0"); |
| break; |
| case 2: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString(); |
| break; |
| } |
| switch (cbWPEditClimbrate.SelectedIndex) |
| { |
| case 0: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255"; |
| break; |
| case 1: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.',',')) * 10).ToString("0"); |
| break; |
| } |
| dtWaypoints.Rows[dgvWP.SelectedIndex][9] = lblWPEditRadius.Content; |
| dtWaypoints.Rows[dgvWP.SelectedIndex][10] = lblWPEditHoldtime.Content; |
| dtWaypoints.Rows[dgvWP.SelectedIndex][11] = lblWPEditAutoTrigger.Content; |
| switch (cbWPEditCamAngle.SelectedIndex) |
| { |
| case 0: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0"; |
| break; |
| case 1: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255"; |
| break; |
| case 2: |
| dtWaypoints.Rows[dgvWP.SelectedIndex][12] = lblWPEditCamAngle.Content; |
| break; |
| } |
| dtWaypoints.Rows[dgvWP.SelectedIndex][14] = lblWPEditOut1.Content; |
| |
| // _clearMapMarkers(typeof(CustomMarkerWP)); |
| _repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName); |
| _renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]); |
| _clearMapMarkers(typeof(CustomMarkerWPActive)); |
| _setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
| _WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]); |
| // wpList.Clear(); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| |
| //for (int k = 0; k < dtWaypoints.Rows.Count; k++) |
| //{ |
| // _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]); |
| //} |
| _routeUpdate(); |
| dgvWP.Items.Refresh(); |
| |
| } |
| |
| } |
| private void btnEditWPAdd_Click(object sender, RoutedEventArgs e) |
| { |
| DataRow dr = dtWaypoints.NewRow(); |
| dr[0] = dtWaypoints.Rows.Count+1; |
| dr[1] = cbWPEditType.SelectedIndex; |
| dr[2] = tbWPEditPrefix.Text + dr[0].ToString(); |
| dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001; |
| dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001; |
| dr[5] = lblWPEditAlt.Content; |
| switch (cbWPEditHeading.SelectedIndex) |
| { |
| case 0: |
| dr[6] = "0"; |
| break; |
| case 1: |
| dr[6] = "-" + lblWPEditHeading.Content; |
| break; |
| case 2: |
| dr[6] = lblWPEditHeading.Content; |
| break; |
| } |
| switch (cbWPEditSpeed.SelectedIndex) |
| { |
| case 0: |
| dr[7] = "0"; |
| break; |
| case 1: |
| dr[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0"); |
| break; |
| case 2: |
| dr[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString(); |
| break; |
| } |
| switch (cbWPEditClimbrate.SelectedIndex) |
| { |
| case 0: |
| dr[8] = "255"; |
| break; |
| case 1: |
| dr[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0"); |
| break; |
| } |
| dr[9] = lblWPEditRadius.Content; |
| dr[10] = lblWPEditHoldtime.Content; |
| dr[11] = lblWPEditAutoTrigger.Content; |
| switch (cbWPEditCamAngle.SelectedIndex) |
| { |
| case 0: |
| dr[12] = "0"; |
| break; |
| case 1: |
| dr[12] = "255"; |
| break; |
| case 2: |
| dr[12] = lblWPEditCamAngle.Content; |
| break; |
| } |
| dr[13] = ""; |
| dr[14] = lblWPEditOut1.Content; |
| dr[15] = ""; |
| _createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]); |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| dtWaypoints.Rows.Add(dr); |
| dgvWP.Items.Refresh(); |
| } |
| private void btnEditWPDel_Click(object sender, RoutedEventArgs e) |
| { |
| if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| int index = dgvWP.SelectedIndex; |
| Dispatcher.Invoke(() => { |
| DataGridRow row; |
| if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count) |
| { |
| row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit); |
| row.Background = new SolidColorBrush(Colors.Transparent); |
| row.BorderBrush = new SolidColorBrush(Colors.Transparent); |
| row.BorderThickness = new Thickness(0); |
| } |
| if ((int)dtWaypoints.Rows[index][1] == 0 || (int)dtWaypoints.Rows[index][1] == 3) |
| wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4])); |
| else |
| wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1); |
| _clearWPMarker((string)dtWaypoints.Rows[index][2]); |
| if (wpActiveMarker != null) |
| MainMap.Markers.Remove(wpActiveMarker); |
| dtWaypoints.Rows[index].Delete(); |
| _wpIndex = -1; |
| _wpEdit = -1; |
| for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index |
| { |
| dtWaypoints.Rows[i][0] = i + 1; |
| string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index) |
| string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP |
| _renameWPMarker(s1, s2); |
| dtWaypoints.Rows[i][2] = s2; |
| } |
| lblWPCount.Content = dtWaypoints.Rows.Count; |
| if (mRouteWP != null) |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| |
| dgvWP.UpdateLayout(); |
| }); |
| } |
| } |
| private void tbWPEdit_TouchDown(object sender, TouchEventArgs e) |
| { |
| _wpWEdit(sender); |
| } |
| private void tbWPEdit_KeyDown(object sender, KeyEventArgs e) |
| { |
| _wpWEdit(sender); |
| } |
| private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e) |
| { |
| _wpWEdit(sender); |
| } |
| void _wpWEdit(object sender) |
| { |
| // if (!((TextBox)sender).IsReadOnly) |
| { |
| KeyPad.Keypad k = new KeyPad.Keypad(this); |
| |
| switch (((TextBox)sender).Name) |
| { |
| case "tbWPEditLat": |
| k.Title = "Latitude"; |
| k.LENGTH = 17; |
| k.MAX = 359.9; |
| break; |
| case "tbWPEditLon": |
| k.Title = "Longitude"; |
| k.LENGTH = 17; |
| k.MAX = 359.9; |
| break; |
| case "tbWPEditAlt": |
| k.Title = "Altitude"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| k.disableDecimal(); |
| break; |
| case "tbWPEditHeading": |
| k.Title = "Heading"; |
| k.LENGTH = 3; |
| k.MAX = 359; |
| k.MIN = 1; |
| k.disableDecimal(); |
| break; |
| case "tbWPEditSpeed": |
| k.Title = "Speed"; |
| k.LENGTH = 4; |
| k.MAX = 24.7; |
| k.MIN = 0.1; |
| break; |
| case "tbWPEditClimbrate": |
| k.Title = "Climbrate"; |
| k.LENGTH = 4; |
| k.MAX = 25.4; |
| k.MIN = 0.1; |
| break; |
| case "tbWPEditRadius": |
| k.Title = "Radius"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| k.disableDecimal(); |
| break; |
| case "tbWPEditHoldtime": |
| k.Title = "Holdtime"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| break; |
| case "tbWPEditAutoTrigger": |
| k.Title = "Autotrigger"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| k.disableDecimal(); |
| break; |
| case "tbWPEditCamAngle": |
| k.Title = "Camera angle"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| k.MIN = 1; |
| k.disableDecimal(); |
| break; |
| case "tbWPEditOut1": |
| k.Title = "OUT1 timer interval"; |
| k.LENGTH = 3; |
| k.MAX = 254; |
| k.disableDecimal(); |
| break; |
| } |
| k.Result = ((TextBox)sender).Text; |
| if (k.ShowDialog() == true && k.Result.Length > 0) |
| ((TextBox)sender).Text = k.Result; |
| } |
| |
| } |
| private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e) |
| { |
| _addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0); |
| } |
| private void checkBoxWPAddUseCopterHeading_Click(object sender, RoutedEventArgs e) |
| { |
| _wpAddCopterHeading = (bool)checkBoxWPAddUseCopterHeading.IsChecked; |
| } |
| private void checkBoxWPAddUseCopterHeight_Click(object sender, RoutedEventArgs e) |
| { |
| _wpAddCopterHeight = (bool)checkBoxWPAddUseCopterHeight.IsChecked; |
| } |
| private void btnSaveDefault_Click(object sender, RoutedEventArgs e) |
| { |
| _wpDefPrefix = tbWPEditPrefix.Text; |
| _wpDefAltitude = Convert.ToInt16(lblWPEditAlt.Content); |
| switch (cbWPEditHeading.SelectedIndex) |
| { |
| case 0: |
| _wpDefHeading = 0; |
| break; |
| case 1: |
| _wpDefHeading = -Convert.ToInt16(lblWPEditHeading.Content); |
| break; |
| case 2: |
| _wpDefHeading = Convert.ToInt16(lblWPEditHeading.Content); |
| break; |
| } |
| _wpDefCBoxHeading = cbWPEditHeading.SelectedIndex; |
| switch (cbWPEditSpeed.SelectedIndex) |
| { |
| case 0: |
| _wpDefSpeed = 0; |
| break; |
| case 1: |
| _wpDefSpeed = (int)(System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10); |
| break; |
| case 2: |
| _wpDefSpeed = 256 - Convert.ToInt16(lblWPEditSpeed.Content); |
| break; |
| } |
| _wpDefCBoxSpeed = cbWPEditSpeed.SelectedIndex; |
| switch (cbWPEditClimbrate.SelectedIndex) |
| { |
| case 0: |
| _wpDefClimb = 255; |
| break; |
| case 1: |
| _wpDefClimb = (int)(System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10); |
| break; |
| } |
| _wpDefCBoxClimb = cbWPEditClimbrate.SelectedIndex; |
| _wpDefRadius = Convert.ToInt16(lblWPEditRadius.Content); |
| _wpDefHoldtime = Convert.ToInt16(lblWPEditHoldtime.Content); |
| _wpDefAutotrig = Convert.ToInt16(lblWPEditAutoTrigger.Content); |
| switch (cbWPEditCamAngle.SelectedIndex) |
| { |
| case 0: |
| _wpDefCamangle = 0; |
| break; |
| case 1: |
| _wpDefCamangle = 255; |
| break; |
| case 2: |
| _wpDefCamangle = Convert.ToInt16(lblWPEditCamAngle.Content); |
| break; |
| } |
| _wpDefCBoxCamangle = cbWPEditCamAngle.SelectedIndex; |
| _wpDefOut1 = Convert.ToInt16(lblWPEditOut1.Content); |
| } |
| |
| private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e) |
| { |
| if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
| { |
| int index = dgvWP.SelectedIndex; |
| 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) |
| { |
| PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
| int wpListIndex = wpList.IndexOf(x); |
| if (wpListIndex > 0) |
| { |
| wpList.RemoveAt(wpListIndex); |
| wpList.Insert(wpListIndex - 1, x); |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| } |
| } |
| DataRow dr = dtWaypoints.Rows[index]; |
| DataRow newRow = dtWaypoints.NewRow(); |
| newRow.ItemArray = dr.ItemArray; |
| dtWaypoints.Rows.Remove(dr); |
| dtWaypoints.Rows.InsertAt(newRow, index - 1); |
| dtWaypoints.Rows[index][0] = 100; |
| dtWaypoints.Rows[index - 1][0] = index; |
| GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString()); |
| GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
| dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString(); |
| ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString(); |
| dtWaypoints.Rows[index][0] = index + 1; |
| dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
| ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
| dgvWP.Items.Refresh(); |
| dgvWP.SelectedIndex = index - 1; |
| _dgvWPselectEditRow(); |
| if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1) |
| { |
| int iOffset = wpOffset.IndexOf(index); |
| if (iOffset > 0) // if not first element |
| { |
| if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset |
| wpOffset[iOffset] = index-1; //then decrease offset value by one |
| } |
| else |
| wpOffset[iOffset] = index-1; //if first element, decrease offset by one |
| } |
| else //selected line is POI |
| { |
| if (wpOffset.Contains(index - 1)) // if next point is WP |
| { |
| int iOffset = wpOffset.IndexOf(index - 1); |
| wpOffset[iOffset] = index; //decrease linenumber of following WP |
| } |
| } |
| |
| } |
| } |
| private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e) |
| { |
| if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1) |
| { |
| int index = dgvWP.SelectedIndex; |
| 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) |
| { |
| PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]); |
| int wpListIndex = wpList.IndexOf(x); |
| if (wpListIndex > -1) |
| { |
| wpList.RemoveAt(wpListIndex); |
| if (wpList.Count > wpListIndex) |
| wpList.Insert(wpListIndex + 1, x); |
| else |
| wpList.Add(x); |
| MainMap.Markers.Remove(mRouteWP); |
| _routeUpdate(); |
| } |
| } |
| DataRow dr = dtWaypoints.Rows[index]; |
| DataRow newRow = dtWaypoints.NewRow(); |
| newRow.ItemArray = dr.ItemArray; |
| dtWaypoints.Rows.Remove(dr); |
| dtWaypoints.Rows.InsertAt(newRow, index + 1); |
| dtWaypoints.Rows[index][0] = 100; |
| dtWaypoints.Rows[index + 1][0] = index + 2; |
| GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString()); |
| GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString()); |
| dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString(); |
| ((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString(); |
| dtWaypoints.Rows[index][0] = index + 1; |
| dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString(); |
| ((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString(); |
| dgvWP.Items.Refresh(); |
| dgvWP.SelectedIndex = index + 1; |
| _dgvWPselectEditRow(); |
| if(wpOffset.Contains(index)) // If selected line is WP |
| { |
| int iOffset = wpOffset.IndexOf(index); |
| if(iOffset < wpOffset.Count -1) // if not last element |
| { |
| if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset |
| wpOffset[iOffset] = index + 1; //then increase offset value by one |
| } |
| else |
| wpOffset[iOffset] = index + 1; //if last element increase offset by one |
| } |
| else //selected line is POI |
| { |
| if (wpOffset.Contains(index + 1)) // if next point is WP |
| { |
| int iOffset = wpOffset.IndexOf(index + 1); |
| wpOffset[iOffset] = index; //decrease linenumber of following WP |
| } |
| } |
| } |
| |
| } |
| |
| private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e) |
| { |
| if (WPStatus.Visibility == Visibility.Visible) |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| else |
| GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom); |
| } |
| private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e) |
| { |
| if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0) |
| { |
| if (cWPBound != null && cWPBound.Tag != null) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| |
| createCircle(home.Position, dWPMaxRange); |
| if (comboBoxWPMaxRangeColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString(); |
| cWPBound.setColor(s); |
| } |
| } |
| |
| if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null)) |
| MainMap.Markers.Remove(cWPBound.Tag as GMapMarker); |
| } |
| private void checkBoxAutoShowWPEdit_Click(object sender, RoutedEventArgs e) |
| { |
| _bAutoWPEdit = (bool)checkBoxAutoShowWPEdit.IsChecked; |
| } |
| |
| #endregion WP |
| #region GPX |
| private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e) |
| { |
| _bGPXLog = (bool)checkBoxGPXLog.IsChecked; |
| } |
| void _gpxAdd(double lat,double lon, int elevation) |
| { |
| DataRow dr = dtGPX.NewRow(); |
| dr[0] = dtGPX.Rows.Count - 1; |
| dr[1] = lat; |
| dr[2] = lon; |
| dr[3] = elevation; |
| dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z |
| dtGPX.Rows.Add(dr); |
| } |
| |
| void _saveGPXLog() |
| { |
| if (!Directory.Exists("GPXLog")) |
| Directory.CreateDirectory("GPXLog"); |
| string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx"; |
| XmlTextWriter myXmlTextWriter = null; |
| myXmlTextWriter = new XmlTextWriter(SaveFileName, null); |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = "."; |
| |
| try |
| { |
| myXmlTextWriter.Formatting = Formatting.Indented; |
| |
| myXmlTextWriter.WriteStartDocument(); |
| |
| myXmlTextWriter.WriteStartElement("gpx"); |
| |
| myXmlTextWriter.WriteAttributeString("version", "1.0"); |
| myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0"); |
| myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance"); |
| myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1"); |
| myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd"); |
| |
| myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture)); |
| |
| myXmlTextWriter.WriteStartElement("trk"); |
| myXmlTextWriter.WriteStartElement("trkseg"); |
| for(int i = 0; i< dtGPX.Rows.Count;i++) |
| { |
| myXmlTextWriter.WriteStartElement("trkpt"); |
| myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : ""); |
| myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : ""); |
| myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString()); |
| myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString()); |
| myXmlTextWriter.WriteEndElement(); |
| } |
| myXmlTextWriter.WriteEndElement(); |
| myXmlTextWriter.WriteEndElement(); |
| myXmlTextWriter.WriteEndElement(); |
| } |
| catch (Exception e) |
| { |
| Console.WriteLine("Exception: {0}", e.ToString()); |
| } |
| finally |
| { |
| if (myXmlTextWriter != null) |
| { |
| myXmlTextWriter.Close(); |
| } |
| } |
| } |
| |
| private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e) |
| { |
| _loadGPXLog(); |
| } |
| private void btnClearRoute_Click(object sender, RoutedEventArgs e) |
| { |
| _clearMapMarkers(typeof(GMapRoute)); |
| } |
| void _loadGPXLog() |
| { |
| |
| Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog(); |
| fd.Filter = "GPX-Logfile | *.gpx"; |
| fd.Multiselect = false; |
| if (fd.ShowDialog().Value) |
| { |
| string file = fd.FileName; |
| try |
| { |
| XDocument gpxDoc = XDocument.Load(file); |
| XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1"); |
| |
| NumberFormatInfo nfi = new NumberFormatInfo(); |
| nfi.NumberDecimalSeparator = "."; |
| |
| var tracks = from track in gpxDoc.Descendants(gpx + "trk") |
| select new |
| { |
| Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null, |
| Segs = ( |
| from trackpoint in track.Descendants(gpx + "trkpt") |
| select new |
| { |
| Latitude = trackpoint.Attribute("lat").Value, |
| Longitude = trackpoint.Attribute("lon").Value, |
| Elevation = trackpoint.Element(gpx + "ele") != null ? |
| trackpoint.Element(gpx + "ele").Value : null, |
| Time = trackpoint.Element(gpx + "time") != null ? |
| trackpoint.Element(gpx + "time").Value : null |
| } |
| ) |
| }; |
| |
| List<PointLatLng> wpl = new List<PointLatLng>(); |
| foreach(var trk in tracks) |
| { |
| foreach(var trkseg in trk.Segs) |
| { |
| if(trkseg.Latitude != "" && trkseg.Longitude !="") |
| wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi))); |
| } |
| |
| } |
| if(wpl.Count() > 0) |
| { |
| _clearMapMarkers(typeof(GMapRoute)); |
| MapRoute mr = new MapRoute(wpl, "flying"); |
| Dispatcher.Invoke(() => |
| { |
| GMapRoute mRoute; |
| if (comboBoxRouteColor.SelectionBoxItem != null) |
| { |
| string s = comboBoxRouteColor.SelectionBoxItem.ToString(); |
| mRoute = new GMapRoute(wpl, _getBrush(s)); |
| } |
| else |
| mRoute = new GMapRoute(wpl, null); |
| |
| MainMap.Markers.Add(mRoute); |
| }); |
| } |
| |
| } |
| catch (Exception e) |
| { |
| Console.WriteLine("Exception: {0}", e.ToString()); |
| } |
| } |
| } |
| #endregion GPX |
| #endregion functions |
| } |
| |
| /// <summary> |
| /// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter |
| /// </summary> |
| public class waypointsConverter : IValueConverter |
| { |
| public object Convert(object value, Type targetType, object parameter, CultureInfo culture) |
| { |
| if (value != null) |
| { |
| switch ((string)parameter) |
| { |
| case "Latitude": |
| return value.ToString() + " °"; |
| case "Longitude": |
| return value.ToString() + " °"; |
| case "Radius": |
| return value.ToString() + " m"; |
| case "Altitude": |
| return value.ToString() + " m"; |
| case "ClimbRate": |
| return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s"); |
| case "DelayTime": |
| return value.ToString() + " s"; |
| case "Heading": |
| return Waypoints.Heading(System.Convert.ToInt32(value)); |
| case "Speed": |
| return Waypoints.WPSpeed(System.Convert.ToInt16(value)); |
| case "CamAngle": |
| return Waypoints.CAMAngle(System.Convert.ToInt16(value)); |
| case "Type": |
| return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString(); |
| case "AutoTrigger": |
| return value.ToString() == "0" ? "- - -" : value.ToString() + " m"; |
| case "Status": |
| return (Waypoints.status)(System.Convert.ToInt16(value)); |
| } |
| |
| return value.ToString(); |
| } |
| else return value; |
| } |
| |
| public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture) |
| { |
| throw new NotImplementedException(); |
| } |
| } |
| public class IniFile |
| { |
| public string path; |
| |
| [DllImport("kernel32")] |
| private static extern long WritePrivateProfileString(string section, |
| string key, string val, string filePath); |
| |
| [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
| static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
| uint nSize, string lpFileName); |
| |
| [DllImport("kernel32")] |
| private static extern int GetPrivateProfileString(string section, |
| string key, string def, StringBuilder retVal, |
| int size, string filePath); |
| |
| public IniFile(string INIPath) |
| { |
| path = INIPath; |
| } |
| |
| public void IniWriteValue(string Section, string Key, string Value) |
| { |
| WritePrivateProfileString(Section, Key, Value, this.path); |
| } |
| |
| public string IniReadValue(string Section, string Key) |
| { |
| StringBuilder temp = new StringBuilder(255); |
| int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
| return temp.ToString(); |
| } |
| //Ini_sections auslesen in String-Array |
| public string[] IniSectionNames() |
| { |
| |
| // uint MAX_BUFFER = 32767; |
| uint MAX_BUFFER = 8388608; |
| IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
| uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
| if (bytesReturned == 0) |
| { |
| Marshal.FreeCoTaskMem(pReturnedString); |
| return null; |
| } |
| string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
| Marshal.FreeCoTaskMem(pReturnedString); |
| //use of Substring below removes terminating null for split |
| return local.Substring(0, local.Length - 1).Split('\0'); |
| |
| |
| } |
| } |
| /// <summary> |
| /// Selected Win AI Function Calls |
| /// </summary> |
| public class WinApi |
| { |
| [DllImport("user32.dll", EntryPoint = "GetSystemMetrics")] |
| public static extern int GetSystemMetrics(int which); |
| [DllImport("user32.dll")] |
| public static extern void |
| SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter, |
| int X, int Y, int width, int height, uint flags); |
| |
| private const int SM_CXSCREEN = 0; |
| private const int SM_CYSCREEN = 1; |
| private static IntPtr HWND_TOP = IntPtr.Zero; |
| private const int SWP_SHOWWINDOW = 64; // 0x0040 |
| |
| public static int ScreenX |
| { |
| get { return GetSystemMetrics(SM_CXSCREEN); } |
| } |
| |
| public static int ScreenY |
| { |
| get { return GetSystemMetrics(SM_CYSCREEN); } |
| } |
| |
| public static void SetWinFullScreen(IntPtr hwnd) |
| { |
| SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW); |
| } |
| } |
| /// <summary> |
| /// Class used to preserve / restore state of the window |
| /// </summary> |
| public class WinState |
| { |
| private WindowState winState; |
| private WindowStyle brdStyle; |
| private bool topMost; |
| private Rect restore; |
| private bool IsMaximized = false; |
| |
| public bool isMaximized |
| { |
| get { return IsMaximized; } |
| } |
| public void Maximize(Window targetForm) |
| { |
| if (!IsMaximized) |
| { |
| IsMaximized = true; |
| Save(targetForm); |
| targetForm.WindowState = WindowState.Maximized; |
| targetForm.WindowStyle = WindowStyle.None; |
| targetForm.Topmost = true; |
| WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle); |
| } |
| } |
| |
| public void Save(Window targetForm) |
| { |
| winState = targetForm.WindowState; |
| brdStyle = targetForm.WindowStyle; |
| topMost = targetForm.Topmost; |
| restore = targetForm.RestoreBounds; |
| } |
| public void Restore(Window targetForm) |
| { |
| targetForm.WindowState = winState; |
| targetForm.WindowStyle = brdStyle; |
| targetForm.Topmost = topMost; |
| |
| targetForm.Left = restore.Left; |
| targetForm.Top = restore.Top; |
| targetForm.Height = restore.Height; |
| targetForm.Width = restore.Width; |
| IsMaximized = false; |
| } |
| } |
| |
| public static class BitmapConversion |
| { |
| public static System.Drawing.Bitmap ToWinFormsBitmap(this BitmapSource bitmapsource) |
| { |
| using (MemoryStream stream = new MemoryStream()) |
| { |
| BitmapEncoder enc = new BmpBitmapEncoder(); |
| enc.Frames.Add(BitmapFrame.Create(bitmapsource)); |
| enc.Save(stream); |
| using (var tempBitmap = new System.Drawing.Bitmap(stream)) |
| { |
| // According to MSDN, one "must keep the stream open for the lifetime of the Bitmap." |
| // So we return a copy of the new bitmap, allowing us to dispose both the bitmap and the stream. |
| return new System.Drawing.Bitmap(tempBitmap); |
| } |
| } |
| } |
| public static BitmapSource ToWpfBitmap(this System.Drawing.Bitmap bitmap) |
| { |
| using (MemoryStream stream = new MemoryStream()) |
| { |
| bitmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp); stream.Position = 0; |
| BitmapImage result = new BitmapImage(); |
| result.BeginInit(); |
| // According to MSDN, "The default OnDemand cache option retains access to the stream until the image is needed." |
| // Force the bitmap to load right now so we can dispose the stream. |
| result.CacheOption = BitmapCacheOption.OnLoad; |
| result.StreamSource = stream; |
| result.EndInit(); |
| result.Freeze(); |
| return result; |
| } |
| } |
| } |
| |
| } |