Rev 2362 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2362 | Rev 2363 | ||
|---|---|---|---|
| Line 1896... | Line 1896... | ||
| 1896 | }); |
1896 | }); |
| 1897 | } |
1897 | } |
| 1898 | DataRow dr = dtWaypoints.NewRow(); |
1898 | DataRow dr = dtWaypoints.NewRow(); |
| 1899 | dr = Waypoints.toDataRow(data, dr); |
1899 | dr = Waypoints.toDataRow(data, dr); |
| 1900 | dtWaypoints.Rows.Add(dr); |
1900 | dtWaypoints.Rows.Add(dr); |
| 1901 | Dispatcher.Invoke(() => { |
- | |
| 1902 | GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4])); |
- | |
| 1903 | wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]); |
1901 | _createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]); |
| 1904 | wp.Offset = new System.Windows.Point(-11.5, -11.5); |
- | |
| 1905 | _setMarkerColor(wp, (int)dr[1]); |
- | |
| 1906 | MainMap.Markers.Add(wp); |
- | |
| 1907 | }); |
- | |
| 1908 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1902 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| 1909 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
1903 | Dispatcher.Invoke(() => _iWPIndex = data[1]); |
| 1910 | if ((int)dr[1] == 0) |
- | |
| 1911 | wpList.Add(new PointLatLng((double)dr[3], (double)dr[4])); |
- | |
| 1912 | if (data[1] == data[0]) |
1904 | if (data[1] == data[0]) |
| 1913 | { |
1905 | { |
| 1914 | _bGetWP = false; |
1906 | _bGetWP = false; |
| 1915 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
1907 | Dispatcher.Invoke(() => dgvWP.Items.Refresh()); |
| Line 2179... | Line 2171... | ||
| 2179 | Thread.Sleep(1); |
2171 | Thread.Sleep(1); |
| 2180 | iTimeout++; |
2172 | iTimeout++; |
| 2181 | } |
2173 | } |
| 2182 | } |
2174 | } |
| 2183 | } |
2175 | } |
| 2184 | - | ||
| - | 2176 | /// <summary> |
|
| - | 2177 | /// Wrapper for _clearCopterWPList() |
|
| - | 2178 | /// necessary, cause it is called by threadnew which does not like return values... |
|
| - | 2179 | /// </summary> |
|
| 2185 | void clearCopterWPList() |
2180 | void clearCopterWPList() |
| 2186 | { |
2181 | { |
| 2187 | _clearCopterWPList(); |
2182 | _clearCopterWPList(); |
| 2188 | } |
2183 | } |
| - | 2184 | /// <summary> |
|
| - | 2185 | /// clear the WP list of the copter |
|
| - | 2186 | /// by sending 'invalid' and index '0' |
|
| - | 2187 | /// </summary> |
|
| - | 2188 | /// <returns></returns> |
|
| 2189 | bool _clearCopterWPList() |
2189 | bool _clearCopterWPList() |
| 2190 | { |
2190 | { |
| 2191 | int iTimeout = 0; |
2191 | int iTimeout = 0; |
| 2192 | if (serialPortCtrl.Port.IsOpen) |
2192 | if (serialPortCtrl.Port.IsOpen) |
| 2193 | { |
2193 | { |
| Line 2251... | Line 2251... | ||
| 2251 | } |
2251 | } |
| 2252 | else |
2252 | else |
| 2253 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
2253 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
| Line 2254... | Line 2254... | ||
| 2254 | 2254 | ||
| 2255 | } |
- | |
| 2256 | 2255 | } |
|
| 2257 | bool _sendWayPoint(DataRow dr, int index, char command) |
2256 | bool _sendWayPoint(DataRow dr, int index, char command) |
| Line 2258... | Line 2257... | ||
| 2258 | { |
2257 | { |
| 2259 | 2258 | ||
| Line 3171... | Line 3170... | ||
| 3171 | NumberFormatInfo nfi = new NumberFormatInfo(); |
3170 | NumberFormatInfo nfi = new NumberFormatInfo(); |
| 3172 | nfi.NumberDecimalSeparator = "."; |
3171 | nfi.NumberDecimalSeparator = "."; |
| 3173 | dtWaypoints.Rows.Clear(); |
3172 | dtWaypoints.Rows.Clear(); |
| 3174 | _wpEdit = -1; |
3173 | _wpEdit = -1; |
| 3175 | _clearMapMarkers(typeof(CustomMarkerWP)); |
3174 | _clearMapMarkers(typeof(CustomMarkerWP)); |
| - | 3175 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
|
| 3176 | wpList.Clear(); |
3176 | wpList.Clear(); |
| 3177 | if (mRouteWP != null) |
3177 | if (mRouteWP != null) |
| 3178 | MainMap.Markers.Remove(mRouteWP); |
3178 | MainMap.Markers.Remove(mRouteWP); |
| 3179 | if (wpActiveMarker != null) |
3179 | //if (wpActiveMarker != null) |
| 3180 | MainMap.Markers.Remove(wpActiveMarker); |
3180 | // MainMap.Markers.Remove(wpActiveMarker); |
| 3181 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
3181 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m"); |
| Line 3182... | Line 3182... | ||
| 3182 | 3182 | ||
| 3183 | for (int k = 1; k <= wpnum; k++) |
3183 | for (int k = 1; k <= wpnum; k++) |
| 3184 | { |
3184 | { |
| Line 3246... | Line 3246... | ||
| 3246 | i++; |
3246 | i++; |
| 3247 | o[i] = "New"; |
3247 | o[i] = "New"; |
| Line 3248... | Line 3248... | ||
| 3248 | 3248 | ||
| 3249 | dr.ItemArray = o; |
3249 | dr.ItemArray = o; |
| 3250 | dtWaypoints.Rows.Add(dr); |
- | |
| 3251 | GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4])); |
- | |
| 3252 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]); |
- | |
| 3253 | wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
- | |
| 3254 | wpMarker.ZIndex = 100; |
- | |
| 3255 | _setMarkerColor(wpMarker, (int)o[1]); |
- | |
| 3256 | MainMap.Markers.Add(wpMarker); |
- | |
| 3257 | if((int)o[1] == 0) |
3250 | dtWaypoints.Rows.Add(dr); |
| Line 3258... | Line 3251... | ||
| 3258 | wpList.Add(new PointLatLng((double)o[3], (double)o[4])); |
3251 | _createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]); |
| 3259 | 3252 | ||
| 3260 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
3253 | Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString()); |
| 3261 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
3254 | Dispatcher.Invoke(() => lblWPCount.Content = k.ToString()); |
| Line 3358... | Line 3351... | ||
| 3358 | } |
3351 | } |
| 3359 | else |
3352 | else |
| 3360 | mRouteWP = new GMapRoute(wpList, null); |
3353 | mRouteWP = new GMapRoute(wpList, null); |
| Line 3361... | Line 3354... | ||
| 3361 | 3354 | ||
| 3362 | if (_bShowWPRoute) |
3355 | if (_bShowWPRoute) |
| 3363 | MainMap.Markers.Add(mRouteWP); |
3356 | Dispatcher.Invoke(() => MainMap.Markers.Add(mRouteWP)); |
| Line 3364... | Line 3357... | ||
| 3364 | }); |
3357 | }); |
| 3365 | 3358 | ||
| Line 3366... | Line 3359... | ||
| 3366 | MapRoute mr = new MapRoute(wpList, "WPList"); |
3359 | MapRoute mr = new MapRoute(wpList, "WPList"); |
| - | 3360 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
|
| - | 3361 | ||
| - | 3362 | } |
|
| - | 3363 | ||
| - | 3364 | GMapMarker _createWP(PointLatLng p, string name, int type) |
|
| - | 3365 | { |
|
| - | 3366 | GMapMarker wpMarker = new GMapMarker(p); |
|
| - | 3367 | wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type); |
|
| - | 3368 | wpMarker.Offset = new System.Windows.Point(-11.5, -11.5); |
|
| - | 3369 | wpMarker.ZIndex = 100; |
|
| - | 3370 | _setMarkerColor(wpMarker, type); |
|
| - | 3371 | Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker)); |
|
| - | 3372 | if (type == 0) |
|
| 3367 | Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m")); |
3373 | wpList.Add(p); |
| 3368 | 3374 | return wpMarker; |
|
| 3369 | } |
3375 | } |
| 3370 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
3376 | void _setMarkerColor(GMapMarker wpMarker,int iType) |
| 3371 | { |
3377 | { |
| Line 3542... | Line 3548... | ||
| 3542 | { |
3548 | { |
| 3543 | //if (_wpCount > 0) |
3549 | //if (_wpCount > 0) |
| 3544 | // _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1,'s'); |
3550 | // _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1,'s'); |
| 3545 | //else |
3551 | //else |
| 3546 | // _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1,'s'); |
3552 | // _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1,'s'); |
| - | 3553 | ||
| 3547 | int index = dgvWP.SelectedIndex; |
3554 | int index = dgvWP.SelectedIndex; |
| 3548 | Thread t = new Thread(() => _sendWPList(index)); |
3555 | Thread t = new Thread(() => _sendWPList(index)); |
| 3549 | t.Start(); |
3556 | t.Start(); |
| Line 3550... | Line 3557... | ||
| 3550 | 3557 | ||
| Line 3686... | Line 3693... | ||
| 3686 | 3693 | ||
| Line 3687... | Line 3694... | ||
| 3687 | } |
3694 | } |
| 3688 | 3695 | ||
| - | 3696 | private void btnEditWPSave_Click(object sender, RoutedEventArgs e) |
|
| - | 3697 | { |
|
| - | 3698 | if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count) |
|
| - | 3699 | { |
|
| - | 3700 | dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex; |
|
| - | 3701 | dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString(); |
|
| - | 3702 | dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')); |
|
| - | 3703 | dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')); |
|
| - | 3704 | dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text; |
|
| - | 3705 | switch (cbWPEditHeading.SelectedIndex) |
|
| - | 3706 | { |
|
| - | 3707 | case 0: |
|
| - | 3708 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0"; |
|
| - | 3709 | break; |
|
| - | 3710 | case 1: |
|
| - | 3711 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text; |
|
| - | 3712 | break; |
|
| - | 3713 | case 2: |
|
| - | 3714 | dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text; |
|
| - | 3715 | break; |
|
| - | 3716 | } |
|
| - | 3717 | switch (cbWPEditSpeed.SelectedIndex) |
|
| - | 3718 | { |
|
| - | 3719 | case 0: |
|
| - | 3720 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0"; |
|
| - | 3721 | break; |
|
| - | 3722 | case 1: |
|
| - | 3723 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0"); |
|
| - | 3724 | break; |
|
| - | 3725 | case 2: |
|
| - | 3726 | dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString(); |
|
| - | 3727 | break; |
|
| - | 3728 | } |
|
| - | 3729 | switch (cbWPEditClimbrate.SelectedIndex) |
|
| - | 3730 | { |
|
| - | 3731 | case 0: |
|
| - | 3732 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255"; |
|
| - | 3733 | break; |
|
| - | 3734 | case 1: |
|
| - | 3735 | dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0"); |
|
| - | 3736 | break; |
|
| - | 3737 | } |
|
| - | 3738 | dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text; |
|
| - | 3739 | dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text; |
|
| - | 3740 | dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text; |
|
| - | 3741 | switch (cbWPEditCamAngle.SelectedIndex) |
|
| - | 3742 | { |
|
| - | 3743 | case 0: |
|
| - | 3744 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0"; |
|
| - | 3745 | break; |
|
| - | 3746 | case 1: |
|
| - | 3747 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255"; |
|
| - | 3748 | break; |
|
| - | 3749 | case 2: |
|
| - | 3750 | dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text; |
|
| - | 3751 | break; |
|
| - | 3752 | } |
|
| - | 3753 | dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text; |
|
| - | 3754 | ||
| - | 3755 | _clearMapMarkers(typeof(CustomMarkerWP)); |
|
| - | 3756 | _clearMapMarkers(typeof(CustomMarkerWPActive)); |
|
| - | 3757 | wpList.Clear(); |
|
| - | 3758 | if (mRouteWP != null) |
|
| - | 3759 | MainMap.Markers.Remove(mRouteWP); |
|
| - | 3760 | ||
| - | 3761 | for (int k = 0; k < dtWaypoints.Rows.Count; k++) |
|
| - | 3762 | { |
|
| - | 3763 | _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]); |
|
| - | 3764 | } |
|
| - | 3765 | _routeUpdate(); |
|
| - | 3766 | dgvWP.Items.Refresh(); |
|
| Line 3689... | Line 3767... | ||
| 3689 | private void btnEditWPSave_Click(object sender, RoutedEventArgs e) |
3767 | |
| 3690 | { |
3768 | } |
| 3691 | 3769 | ||
| Line 3698... | Line 3776... | ||
| 3698 | { |
3776 | { |
| 3699 | if(!((TextBox)sender).IsReadOnly) |
3777 | if(!((TextBox)sender).IsReadOnly) |
| 3700 | { |
3778 | { |
| 3701 | KeyPad.Keypad k = new KeyPad.Keypad(this); |
3779 | KeyPad.Keypad k = new KeyPad.Keypad(this); |
| Line -... | Line 3780... | ||
| - | 3780 | ||
| - | 3781 | switch (((TextBox)sender).Name) |
|
| - | 3782 | { |
|
| - | 3783 | case "tbWPEditLat": |
|
| - | 3784 | k.Title = "Latitude"; |
|
| - | 3785 | k.LENGTH = 17; |
|
| - | 3786 | k.MAX = 359.9; |
|
| - | 3787 | break; |
|
| - | 3788 | case "tbWPEditLon": |
|
| - | 3789 | k.Title = "Longitude"; |
|
| - | 3790 | k.LENGTH = 17; |
|
| - | 3791 | k.MAX = 359.9; |
|
| - | 3792 | break; |
|
| - | 3793 | case "tbWPEditAlt": |
|
| - | 3794 | k.Title = "Altitude"; |
|
| - | 3795 | k.LENGTH = 3; |
|
| 3702 | 3796 | k.MAX = 254; |
|
| - | 3797 | k.disableDecimal(); |
|
| - | 3798 | break; |
|
| - | 3799 | case "tbWPEditHeading": |
|
| - | 3800 | k.Title = "Heading"; |
|
| - | 3801 | k.LENGTH = 3; |
|
| - | 3802 | k.MAX = 359; |
|
| - | 3803 | k.MIN = 1; |
|
| - | 3804 | k.disableDecimal(); |
|
| - | 3805 | break; |
|
| - | 3806 | case "tbWPEditSpeed": |
|
| - | 3807 | k.Title = "Speed"; |
|
| - | 3808 | k.LENGTH = 4; |
|
| - | 3809 | k.MAX = 24.7; |
|
| - | 3810 | k.MIN = 0.1; |
|
| - | 3811 | break; |
|
| 3703 | //var x = KeyInterop.VirtualKeyFromKey(e.Key); |
3812 | case "tbWPEditClimbrate": |
| - | 3813 | k.Title = "Climbrate"; |
|
| - | 3814 | k.LENGTH = 4; |
|
| - | 3815 | k.MAX = 25.4; |
|
| - | 3816 | k.MIN = 0.1; |
|
| - | 3817 | break; |
|
| - | 3818 | case "tbWPEditRadius": |
|
| - | 3819 | k.Title = "Radius"; |
|
| - | 3820 | k.LENGTH = 3; |
|
| - | 3821 | k.MAX = 254; |
|
| - | 3822 | k.disableDecimal(); |
|
| - | 3823 | break; |
|
| - | 3824 | case "tbWPEditHoldtime": |
|
| - | 3825 | k.Title = "Holdtime"; |
|
| - | 3826 | k.LENGTH = 3; |
|
| - | 3827 | k.MAX = 254; |
|
| - | 3828 | break; |
|
| 3704 | KeyConverter x = new KeyConverter(); |
3829 | case "tbWPEditAutoTrigger": |
| 3705 | string s = x.ConvertToString(e.Key); |
- | |
| - | 3830 | k.Title = "Autotrigger"; |
|
| - | 3831 | k.LENGTH = 3; |
|
| - | 3832 | k.MAX = 254; |
|
| - | 3833 | k.disableDecimal(); |
|
| - | 3834 | break; |
|
| - | 3835 | case "tbWPEditCamAngle": |
|
| - | 3836 | k.Title = "Camera angle"; |
|
| - | 3837 | k.LENGTH = 3; |
|
| - | 3838 | k.MAX = 254; |
|
| - | 3839 | k.MIN = 1; |
|
| - | 3840 | k.disableDecimal(); |
|
| - | 3841 | break; |
|
| 3706 | 3842 | case "tbWPEditOut1": |
|
| - | 3843 | k.Title = "OUT1 timer interval"; |
|
| 3707 | if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b) |
3844 | k.LENGTH = 3; |
| - | 3845 | k.MAX = 254; |
|
| - | 3846 | k.disableDecimal(); |
|
| 3708 | e.Handled = true; |
3847 | break; |
| 3709 | else |
3848 | } |
| 3710 | if ("\b".IndexOf(s) < 0) |
3849 | k.Result = ((TextBox)sender).Text; |
| 3711 | if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number |
3850 | if(k.ShowDialog() == true && k.Result.Length > 0) |
| 3712 | e.Handled = true; |
- | |
| 3713 | 3851 | ((TextBox)sender).Text = k.Result; |
|
| 3714 | } |
3852 | } |
| Line 3715... | Line 3853... | ||
| 3715 | } |
3853 | } |
| 3716 | 3854 | ||