0,0 → 1,5993 |
///============================================================================ |
/// 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 = false; |
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; |
|
bool _bSatFix = false; |
Storyboard stbSatFixLostAnim; |
bool _bAnimSatFixActive = false; |
bool _bVoiceSatFixActive = false; |
bool _bVoiceSatFixPlay = false; |
int _iSatsLast = 0; |
int _iSatsJitter = 0; |
|
bool _bMagneticFieldOK = false; |
Storyboard stbMagneticFieldAnim; |
bool _bAnimMagneticFieldActive = false; |
bool _bVoiceMagneticFieldActive = false; |
bool _bVoiceMagneticFieldPlay = false; |
int _iMagneticFieldLast = 0; |
int _iMagneticFieldJitter = 0; |
|
bool _bRCLevelOK = false; |
Storyboard stbRCLevelAnim; |
bool _bAnimRCLevelActive = false; |
bool _bVoiceRCLevelActive = false; |
bool _bVoiceRCLevelPlay = false; |
int _iRCLevelLast = 0; |
int _iRCLevelJitter = 0; |
|
int _iMotors = 4; |
int _LipoCells = 4; |
|
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 = false; |
double _dVoltLast = 0; |
int _iVoltJitter = 0; |
|
double _dThresholdDistanceWarn = 100; |
Storyboard stbDistanceWarnAnim; |
bool _bAnimDistanceActive = false; |
bool _bVoiceDistanceActive = false; |
bool _bVoiceDistancePlay = false; |
double _dDistanceLast = 0; |
int _iDistanceJitter = 0; |
|
double _dThresholdDistanceMax = 1000; |
int _iThresholdRC = 160; |
int _iThresholdMagField = 15; |
|
bool _bAutoHome = false; |
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 = false; |
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() |
{ |
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; |
|
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; |
|
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; |
} |
|
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; |
} |
|
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; |
} |
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 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; |
} |
#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; |
_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(); |
} |
|
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 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; |
|
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 = 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 |
|
void _setupMap() |
{ |
MainMap.Manager.Mode = AccessMode.ServerAndCache; |
MainMap.MapProvider = GMapProviders.BingHybridMap; |
MainMap.SetPositionByKeywords("Landshut"); |
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; |
} |
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.#######°")); |
|
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); |
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\\Distance.mp3"); |
//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3")); |
//t.Start(); |
_bVoiceDistanceActive = true; |
} |
_iDistanceJitter++; |
} |
} |
} |
} |
|
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; |
} |
#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(); |
} |
} |
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; |
} |
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\\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\\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\\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; |
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")); |
} |
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\\MagneticField.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())); |
|
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\\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\\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\\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(); |
} |
|
} |
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 |
|
/// <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", "Motors"); |
if (sVal != "") _iMotors = Convert.ToInt16(sVal); |
|
sVal = ini.IniReadValue("map", "followMe"); |
if (sVal != "") _bFollowCopter = Convert.ToBoolean(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("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); |
|
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", "Motors", _iMotors.ToString()); |
|
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("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()); |
|
|
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); |
} |
} |
|
#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; |
}); |
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; |
} |
} |
} |
|
} |