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mainGUI.cs
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/*
* MultiWii Windows GUI by Andras Schaffer (EOSBandi)
* February 2015 V2.4
*
*
* LogBrowser is based on ArduPlanner Mega code written by Michael Oborne http://www.diydrones.com
* Instrument controls are based on AvionicsInstrument Controls written by Guillaume CHOUTEAU http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls
* Video capture code is using Aforge.Net Framework http://www.aforgenet.com
* Graph parts are using ZedGraph control http://sourceforge.net/projects/zedgraph/
*
*/
using System;
using System.Text;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using System.Xml;
using System.Xml.Linq;
using System.Collections.Generic;
using AForge.Video;
using AForge.Video.DirectShow;
using AForge.Video.FFMPEG;
using MultiWiiGUIControls;
using ZedGraph;
using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using GMap.NET.MapProviders;
using System.Globalization;
using System.Reflection;
using System.Media;
using System.Speech;
using System.Speech.Synthesis;
using System.Windows.Forms;
namespace MultiWiiWinGUI
{
public partial class mainGUI : Form
{
#region Common variables (properties)
const string sVersion = "2.4";
byte byteVersion = 230;
uint iNaviVersion = 7; //Navigation code version
const string sVersionUrl = "http://mw-wingui.googlecode.com/svn/trunk/WinGui2/version.xml";
private string sVersionFromSVN;
private XDocument doc;
static string sOptionsConfigFilename = "optionsconfig";
const string sGuiSettingsFilename = "gui_settings.xml";
enum CopterType { Tri = 1, QuadP, QuadX, BI, Gimbal, Y6, Hex6, FlyWing, Y4,
Hex6X, OctoX8, OctoFlatX, OctoFlatP, Airplane, Heli_120_CCPM, Heli_90_DEG, Vtail4,
Hex6H, PPM_to_Servo, DualCopter, Singlecopter };
string[] sGpsMode = { "None", "PosHold", "RTH", "Mission" };
string[] sNavState = { "None", "RTH Start", "RTH Enroute", "PosHold infinit", "PosHold timed", "WP Enroute", "Process next","Jump","Start Land","Land in Progress","Landed","Settling before land","Start descent" };
string[] sNavError = { "Navigation system is working.",
"Next waypoint distance is more than the safety limit, aborting mission",
"GPS reception is compromised - pausing mission, COPTER IS ADRIFT!",
"Error while reading next waypoint from memory, aborting mission.",
"Mission Finished." ,
"Waiting for timed position hold.",
"Invalid Jump target detected, aborting mission.",
"Invalid Mission Step Action code detected, aborting mission.",
"Waiting to reach return to home altitude.",
"GPS fix lost, mission aborted - COPTER IS ADRIFT!",
"Copter is disarmed, navigation engine disabled.",
"Landing is in progress, check attitude if possible."};
string[] sSerialSpeeds = { "115200", "57600", "38400", "19200", "9600" };
string[] sRefreshSpeeds = { "10 Hz", "5 Hz", "2 Hz", "1 Hz" };
int[] iRefreshIntervals = { 10, 20, 50, 100 };
const int rcLow = 1300;
const int rcMid = 1700;
const int rcLevel1 = 1230;
const int rcLevel2 = 1360;
const int rcLevel3 = 1490;
const int rcLevel4 = 1620;
const int rcLevel5 = 1749;
const string sRelName = "2.4";
Boolean isCLI = false;
string inCLIBuffer;
//PID values
static PID[] Pid;
static SerialPort serialPort;
static bool isConnected = false; //is port connected or not ?
static bool bSerialError = false;
static bool isPaused = false;
static double xTimeStamp = 0;
static byte[] bSerialBuffer;
static int iCheckBoxItems = 0; //number of checkboxItems (readed from optionsconfig.xml
static int iPidItems = 0; //number if Pid items (const definition)
static mw_data_gui mw_gui; //Data structures in that contains the data in the gui
static mw_settings mw_params;
static GUI_settings gui_settings;
static bool bOptions_needs_refresh = true;
static bool bRestartNeeded = false; //FC software version changed, must restart
static string[] option_names;
static string[] option_indicators;
static string[] option_desc;
static LineItem curve_acc_roll, curve_acc_pitch, curve_acc_z;
static LineItem curve_gyro_roll, curve_gyro_pitch, curve_gyro_yaw;
static LineItem curve_mag_roll, curve_mag_pitch, curve_mag_yaw;
static LineItem curve_alt, curve_head;
static LineItem curve_dbg1, curve_dbg2, curve_dbg3, curve_dbg4;
static RollingPointPairList list_acc_roll, list_acc_pitch, list_acc_z;
static RollingPointPairList list_gyro_roll, list_gyro_pitch, list_gyro_yaw;
static RollingPointPairList list_mag_roll, list_mag_pitch, list_mag_yaw;
static RollingPointPairList list_alt, list_head;
static RollingPointPairList list_dbg1, list_dbg2, list_dbg3, list_dbg4;
static Scale xScale;
CheckBoxEx[, ,] aux;
indicator_lamp[] indicators;
indicator_lamp[] indicators_mission;
System.Windows.Forms.Label[] cb_labels;
System.Windows.Forms.Label[] aux_labels;
System.Windows.Forms.Label[,] lmh_labels;
CultureInfo culture = new CultureInfo("en-US");
XmlTextReader reader;
int z;
//For video capture
static bool bVideoRecording = false;
static bool bVideoConnected = false;
static VideoFileWriter vfwWriter;
static FilterInfoCollection videoDevices;
static VideoCaptureDevice videoSource;
static TimeSpan tsFrameTimeStamp;
static TimeSpan tsFrameRate;
static Pen drawPen;
static System.Drawing.SolidBrush drawBrush;
static System.Drawing.Font drawFont;
//For logging
StreamWriter wLogStream;
StreamWriter wKMLLogStream;
static bool bLogRunning = false;
static bool bKMLLogRunning = false;
static UInt32 last_mode_flags; //Contains the mode flags from the pervious log write tick
static int GPS_lat_old, GPS_lon_old;
//Routes on Map
static GMapRoute GMRouteFlightPath;
static GMapRoute GMRouteMission;
//Map Overlays
static GMapOverlay GMOverlayFlightPath;// static so can update from gcs
static GMapOverlay GMOverlayWaypoints;
static GMapOverlay GMOverlayMission;
static GMapOverlay GMOverlayLiveData;
static GMapOverlay GMOverlayPOI;
static GMapProvider[] mapProviders;
static PointLatLng copterPos = new PointLatLng(47.402489, 19.071558); //Just the corrds of my flying place
static bool isMouseDown = false;
static bool isMouseDraging = false;
static bool bPosholdRecorded = false;
static bool bHomeRecorded = false;
// markers
GMarkerGoogle currentMarker;
GMapMarkerRect CurentRectMarker = null;
GMapMarker center;
GMapMarker markerGoToClick = new GMarkerGoogle(new PointLatLng(0.0, 0.0),GMarkerGoogleType.lightblue);
List<PointLatLng> points = new List<PointLatLng>();
PointLatLng GPS_pos;
PointLatLng end;
PointLatLng start;
DebugWindow frmDebug;
string strDebug = "";
//Navigaton constants
static mission_step_structure mission_step;
const int MISSION_FLAG_END = 0xA5; //Flags that this is the last step
const byte IDLE = 0;
const byte HEADER_START = 1;
const byte HEADER_M = 2;
const byte HEADER_ARROW = 3;
const byte HEADER_SIZE = 4;
const byte HEADER_CMD = 5;
const byte HEADER_ERR = 6;
static byte[] inBuf;
static int AUX_CHANNELS = 4;
static byte c_state = IDLE;
static Boolean err_rcvd = false;
static byte offset = 0;
static byte dataSize = 0;
static byte checksum = 0;
static byte cmd;
static int serial_error_count = 0;
static int serial_packet_rx_count = 0;
static int serial_packet_tx_count = 0;
static int telemetry_link_quality = 0;
static int telemetry_started = 0;
static int telemetry_status_sent = 0;
static int telemetry_status_received = 0;
static byte previous_nav_error;
static int selectedrow;
static bool bGoToClikEnabled = false;
static int iDefAlt = 25; //Default altitude 25meters
static int iGTCAlt = 25;
//Servo settings
System.Windows.Forms.Label[] servo_text;
CheckBoxEx[] servo_reverse;
System.Windows.Forms.NumericUpDown[] servo_rate;
System.Windows.Forms.NumericUpDown[] servo_min;
System.Windows.Forms.NumericUpDown[] servo_mid;
System.Windows.Forms.NumericUpDown[] servo_max;
static int response_counter = 0;
static byte last_response = 0;
static byte update_cycle_count = 0; //Counts the update cycles (10 cycles all)
static bool bShowGauges = false;
static int prev_wp = 0;
static int prev_state = 0;
SpeechSynthesizer speech;
#endregion
public mainGUI()
{
InitializeComponent();
#region map_setup
// config map
MainMap.MinZoom = 1;
MainMap.MaxZoom = 20;
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/mapcache/";
mapProviders = new GMapProvider[7];
mapProviders[0] = GMapProviders.BingHybridMap;
mapProviders[1] = GMapProviders.BingSatelliteMap;
mapProviders[2] = GMapProviders.GoogleSatelliteMap;
mapProviders[3] = GMapProviders.GoogleHybridMap;
mapProviders[4] = GMapProviders.OviSatelliteMap;
mapProviders[5] = GMapProviders.OviHybridMap;
for (int i = 0; i < 6; i++)
{
cbMapProviders.Items.Add(mapProviders[i]);
}
// map events
MainMap.OnPositionChanged += new PositionChanged(MainMap_OnCurrentPositionChanged);
//MainMap.OnMarkerClick += new MarkerClick(MainMap_OnMarkerClick);
MainMap.OnMapZoomChanged += new MapZoomChanged(MainMap_OnMapZoomChanged);
MainMap.MouseMove += new MouseEventHandler(MainMap_MouseMove);
MainMap.MouseDown += new MouseEventHandler(MainMap_MouseDown);
MainMap.MouseUp += new MouseEventHandler(MainMap_MouseUp);
MainMap.OnMarkerEnter += new MarkerEnter(MainMap_OnMarkerEnter);
MainMap.OnMarkerLeave += new MarkerLeave(MainMap_OnMarkerLeave);
currentMarker = new GMarkerGoogle(MainMap.Position,GMarkerGoogleType.red);
//MainMap.MapScaleInfoEnabled = true;
MainMap.ForceDoubleBuffer = true;
MainMap.Manager.Mode = AccessMode.ServerAndCache;
MainMap.Position = copterPos;
Pen penRoute = new Pen(Color.Yellow, 3);
Pen penScale = new Pen(Color.Blue, 3);
MainMap.ScalePen = penScale;
GMOverlayFlightPath = new GMapOverlay("flightpath");
MainMap.Overlays.Add(GMOverlayFlightPath);
GMOverlayMission = new GMapOverlay("missionroute");
MainMap.Overlays.Add(GMOverlayMission);
GMOverlayWaypoints = new GMapOverlay("waypoints");
MainMap.Overlays.Add(GMOverlayWaypoints);
GMOverlayLiveData = new GMapOverlay("livedata");
MainMap.Overlays.Add(GMOverlayLiveData);
GMOverlayPOI = new GMapOverlay("poi");
MainMap.Overlays.Add(GMOverlayPOI);
GMOverlayLiveData.Markers.Clear();
GMOverlayLiveData.Markers.Add(new GMapMarkerCopter(copterPos, 0, 0, 0, 3));
GMRouteFlightPath = new GMapRoute(points, "flightpath");
GMRouteFlightPath.Stroke = penRoute;
GMOverlayFlightPath.Routes.Add(GMRouteFlightPath);
center = new GMarkerGoogle(MainMap.Position,GMarkerGoogleType.blue_dot);
//center = new GMapMarkerCross(MainMap.Position);
MainMap.Invalidate(false);
//MainMap.Refresh();
#endregion
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
if (!File.Exists(sGuiSettingsFilename))
{
setup_wizard panelSetupWizard = new setup_wizard();
panelSetupWizard.ShowDialog();
}
//Now there must be a valid settings file, so we can continue with normal execution
splash_screen splash = new splash_screen();
splash.sVersionLabel = sVersion;
splash.Show();
splash.Refresh();
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
//fill out relevant variables
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
sOptionsConfigFilename = sOptionsConfigFilename + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
iCheckBoxItems = 24; //Theoretical maximum
splash.sStatus = "Building internal data structures...";
splash.Refresh();
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mission_step = new mission_step_structure();
//Quick hack to get pid names to mw_params untill redo the structures
for (int i = 0; i < iPidItems; i++)
{
mw_params.pidnames[i] = Pid[i].name;
}
splash.sFcVersionLabel = "MultiWii version " + sRelName;
splash.sStatus = "Connecting to MAP server...";
splash.Refresh();
MainMap.Manager.Mode = AccessMode.ServerAndCache;
if (!Stuff.PingNetwork("pingtest.com"))
{
MainMap.Manager.Mode = AccessMode.CacheOnly;
MessageBox.Show("No internet connection available, going to CacheOnly mode.", "GMap.NET - Demo.WindowsForms", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
cbMapProviders.SelectedIndex = gui_settings.iMapProviderSelectedIndex;
MainMap.MapProvider = mapProviders[gui_settings.iMapProviderSelectedIndex];
MainMap.Zoom = 18;
splash.sStatus = "Building up GUI elements...";
splash.Refresh();
bSerialBuffer = new byte[65];
inBuf = new byte[300]; //init input buffer
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
//rcOptions1 = new byte[iCheckBoxItems];
//rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
l_Capture_folder.Text = gui_settings.sCaptureFolder;
l_LogFolder.Text = gui_settings.sLogFolder;
l_Settings_folder.Text = gui_settings.sSettingsFolder;
cb_Logging_enabled.Checked = gui_settings.bEnableLogging;
//Set log enties checkboxes
cb_Log1.Checked = gui_settings.logGraw;
cb_Log2.Checked = gui_settings.logGatt;
cb_Log3.Checked = gui_settings.logGmag;
cb_Log4.Checked = gui_settings.logGrcc;
cb_Log5.Checked = gui_settings.logGrcx;
cb_Log6.Checked = gui_settings.logGmot;
cb_Log7.Checked = gui_settings.logGsrv;
cb_Log8.Checked = gui_settings.logGnav;
cb_Log9.Checked = gui_settings.logGpar;
cb_Log10.Checked = gui_settings.logGdbg;
cbCellcount.SelectedIndex = gui_settings.cellcount - 1;
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
cbSpeakAlt.Checked = gui_settings.announce_alt_enabled;
cbSpeakBattery.Checked = gui_settings.announce_vbat_enabled;
cbSpeakDist.Checked = gui_settings.announce_dist_enabled;
comboSpeakInterval.SelectedIndex = gui_settings.announce_interval;
b_save_gui_settings.BackColor = Color.Transparent;
splash.sStatus = "Build PID structures...";
splash.Refresh();
//Build servo control arrays
// It is a mess and not an elegant solution BUT WORKS
servo_text = new System.Windows.Forms.Label[8];
servo_text[0] = lSrvName1;
servo_text[1] = lSrvName2;
servo_text[2] = lSrvName3;
servo_text[3] = lSrvName4;
servo_text[4] = lSrvName5;
servo_text[5] = lSrvName6;
servo_text[6] = lSrvName7;
servo_text[7] = lSrvName8;
servo_reverse = new CheckBoxEx[8];
servo_reverse[0] = cbSrvRev1;
servo_reverse[1] = cbSrvRev2;
servo_reverse[2] = cbSrvRev3;
servo_reverse[3] = cbSrvRev4;
servo_reverse[4] = cbSrvRev5;
servo_reverse[5] = cbSrvRev6;
servo_reverse[6] = cbSrvRev7;
servo_reverse[7] = cbSrvRev8;
servo_rate = new System.Windows.Forms.NumericUpDown[8];
servo_rate[0] = nSrvRate1;
servo_rate[1] = nSrvRate2;
servo_rate[2] = nSrvRate3;
servo_rate[3] = nSrvRate4;
servo_rate[4] = nSrvRate5;
servo_rate[5] = nSrvRate6;
servo_rate[6] = nSrvRate7;
servo_rate[7] = nSrvRate8;
servo_min = new System.Windows.Forms.NumericUpDown[8];
servo_min[0] = nSrvMin1;
servo_min[1] = nSrvMin2;
servo_min[2] = nSrvMin3;
servo_min[3] = nSrvMin4;
servo_min[4] = nSrvMin5;
servo_min[5] = nSrvMin6;
servo_min[6] = nSrvMin7;
servo_min[7] = nSrvMin8;
servo_mid = new System.Windows.Forms.NumericUpDown[8];
servo_mid[0] = nSrvMid1;
servo_mid[1] = nSrvMid2;
servo_mid[2] = nSrvMid3;
servo_mid[3] = nSrvMid4;
servo_mid[4] = nSrvMid5;
servo_mid[5] = nSrvMid6;
servo_mid[6] = nSrvMid7;
servo_mid[7] = nSrvMid8;
servo_max = new System.Windows.Forms.NumericUpDown[8];
servo_max[0] = nSrvMax1;
servo_max[1] = nSrvMax2;
servo_max[2] = nSrvMax3;
servo_max[3] = nSrvMax4;
servo_max[4] = nSrvMax5;
servo_max[5] = nSrvMax6;
servo_max[6] = nSrvMax7;
servo_max[7] = nSrvMax8;
//Build PID control structure based on the Pid structure.
const int iLineSpace = 36;
const int iRow1 = 30;
const int iRow2 = 130;
const int iRow3 = 230;
const int iTopY = 25;
Font fontField = new Font("Tahoma", 9, FontStyle.Bold);
Size fieldSize = new Size(70, 25);
for (int i = 0; i < iPidItems; i++)
{
Pid[i].pidLabel = new System.Windows.Forms.Label();
Pid[i].pidLabel.Text = Pid[i].name;
Pid[i].pidLabel.Location = new Point(iRow1, 10 + i * iLineSpace);
Pid[i].pidLabel.Visible = true;
Pid[i].pidLabel.AutoSize = true;
Pid[i].pidLabel.ForeColor = Color.White;
Pid[i].pidLabel.TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(Pid[i].pidLabel, Pid[i].description);
this.tabPagePID.Controls.Add(Pid[i].pidLabel);
if (Pid[i].Pshown)
{
Pid[i].Pfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Pfield.ValueChanged += new EventHandler(pfield_valuechange);
Pid[i].Pfield.Location = new Point(iRow1, iTopY + i * iLineSpace);
Pid[i].Pfield.Size = fieldSize;
Pid[i].Pfield.Font = fontField;
Pid[i].Pfield.BorderStyle = BorderStyle.None;
Pid[i].Pfield.Maximum = Pid[i].Pmax;
Pid[i].Pfield.Minimum = Pid[i].Pmin;
Pid[i].Pfield.DecimalPlaces = decimals(Pid[i].Pprec);
Pid[i].Pfield.Increment = 1 / (decimal)Pid[i].Pprec;
this.tabPagePID.Controls.Add(Pid[i].Pfield);
Pid[i].Plabel = new System.Windows.Forms.Label();
Pid[i].Plabel.Text = "P";
Pid[i].Plabel.Font = fontField;
Pid[i].Plabel.ForeColor = Color.White;
Pid[i].Plabel.Location = new Point(iRow1 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Plabel);
}
if (Pid[i].Ishown)
{
Pid[i].Ifield = new System.Windows.Forms.NumericUpDown();
Pid[i].Ifield.ValueChanged += new EventHandler(ifield_valuechange);
Pid[i].Ifield.Location = new Point(iRow2, iTopY + i * iLineSpace);
Pid[i].Ifield.Size = fieldSize;
Pid[i].Ifield.Font = fontField;
Pid[i].Ifield.BorderStyle = BorderStyle.None;
Pid[i].Ifield.Maximum = Pid[i].Imax;
Pid[i].Ifield.Minimum = Pid[i].Imin;
Pid[i].Ifield.DecimalPlaces = decimals(Pid[i].Iprec);
Pid[i].Ifield.Increment = 1 / (decimal)Pid[i].Iprec;
this.tabPagePID.Controls.Add(Pid[i].Ifield);
Pid[i].Ilabel = new System.Windows.Forms.Label();
Pid[i].Ilabel.Text = "I";
Pid[i].Ilabel.Font = fontField;
Pid[i].Ilabel.ForeColor = Color.White;
Pid[i].Ilabel.Location = new Point(iRow2 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Ilabel);
}
if (Pid[i].Dshown)
{
Pid[i].Dfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Dfield.ValueChanged += new EventHandler(dfield_valuechange);
Pid[i].Dfield.Location = new Point(iRow3, iTopY + i * iLineSpace);
Pid[i].Dfield.Size = fieldSize;
Pid[i].Dfield.Font = fontField;
Pid[i].Dfield.BorderStyle = BorderStyle.None;
Pid[i].Dfield.Maximum = Pid[i].Dmax;
Pid[i].Dfield.Minimum = Pid[i].Dmin;
Pid[i].Dfield.DecimalPlaces = decimals(Pid[i].Dprec);
Pid[i].Dfield.Increment = 1 / (decimal)Pid[i].Dprec;
this.tabPagePID.Controls.Add(Pid[i].Dfield);
Pid[i].Dlabel = new System.Windows.Forms.Label();
Pid[i].Dlabel.Text = "D";
Pid[i].Dlabel.Font = fontField;
Pid[i].Dlabel.ForeColor = Color.White;
Pid[i].Dlabel.Location = new Point(iRow3 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Dlabel);
}
//Set up stuff at the mission palane
txtDefAlt.Text = iDefAlt.ToString(); //Set up default altitude
txtGTCAlt.Text = iGTCAlt.ToString(); //Set up default Go to Click altitude
}
//Tooltips (needs improvement)
toolTip1.SetToolTip(b_check_all_ACC, "Select all ACC values");
toolTip1.SetToolTip(b_uncheck_all_ACC, "Deselect all ACC values");
toolTip1.SetToolTip(lDefAlt, "Default waypoint altitude (in Above Ground Level where Home position Ground level is zero)");
toolTip1.SetToolTip(txtDefAlt, "Default waypoint altitude (in Above Ground Level where Home position Ground level is zero)");
this.Refresh();
splash.sStatus = "Check serial ports...";
splash.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = gui_settings.sPreferedSerialSpeed;
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 1; //10Hz is the default
splash.sStatus = "Setup Timers...";
splash.Refresh();
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
splash.sStatus = "Setup zgMonitor control...";
splash.Refresh();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(300);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(300);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(300);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(300);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Khaki, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(300);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.Cyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(300);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(300);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(300);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(300);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(300);
curve_alt = myPane.AddCurve("alt", list_alt, Color.White, SymbolType.None);
list_head = new RollingPointPairList(300);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
list_dbg1 = new RollingPointPairList(300);
curve_dbg1 = myPane.AddCurve("dbg1", list_dbg1, Color.PaleTurquoise, SymbolType.None);
list_dbg2 = new RollingPointPairList(300);
curve_dbg2 = myPane.AddCurve("dbg2", list_dbg2, Color.PaleTurquoise, SymbolType.None);
list_dbg3 = new RollingPointPairList(300);
curve_dbg3 = myPane.AddCurve("dbg3", list_dbg3, Color.PaleTurquoise, SymbolType.None);
list_dbg4 = new RollingPointPairList(300);
curve_dbg4 = myPane.AddCurve("dbg4", list_dbg4, Color.PaleTurquoise, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
myPane.XAxis.MajorGrid.Color = Color.DarkGray;
myPane.YAxis.MajorGrid.Color = Color.DarkGray;
myPane.XAxis.Scale.IsVisible = false;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.DarkGray;
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Color = Color.DarkGray;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -300;
myPane.YAxis.Scale.Max = 300;
myPane.XAxis.Color = Color.DarkGray;
myPane.Border.Color = Color.FromArgb(64, 64, 64);
myPane.Chart.Fill = new Fill(Color.Black, Color.Black, 45.0f);
myPane.Fill = new Fill(Color.FromArgb(64, 64, 64), Color.FromArgb(64, 64, 64), 45.0f);
myPane.Legend.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 300;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
splash.sStatus = "Init video capture structures...";
splash.Refresh();
//Init video capture dev
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
if (videoDevices.Count == 0)
throw new ApplicationException();
// add all devices to combo
foreach (FilterInfo device in videoDevices)
{
dropdown_devices.Items.Add(device.Name);
}
}
catch (ApplicationException)
{
dropdown_devices.Items.Add("No local capture devices");
dropdown_devices.Enabled = false;
b_video_connect.Enabled = false;
}
dropdown_devices.SelectedIndex = 0;
cb_codec.SelectedIndex = 0;
//Drawing stuff for OSD
drawPen = new Pen(Color.White, 1);
drawFont = new System.Drawing.Font(FontFamily.GenericMonospace, 16.0F);
drawBrush = new System.Drawing.SolidBrush(System.Drawing.Color.White);
//Disable buttons that are not working till connected
b_reset.Enabled = false;
b_cal_acc.Enabled = false;
b_cal_mag.Enabled = false;
b_read_settings.Enabled = false;
b_write_settings.Enabled = false;
b_write_to_file.Enabled = false;
b_load_from_file.Enabled = false;
btnDownLoadMission.Enabled = false;
btnUploadMission.Enabled = false;
//init instrument panels
altitude_meter1.SetAlimeterParameters(0);
vertical_speed_indicator1.SetVerticalSpeedIndicatorParameters(0);
System.Threading.Thread.Sleep(2000);
splash.Close();
MainMap.Invalidate(false);
int w = MainMap.Size.Width;
MainMap.Width = w +1 ;
MainMap.Width = w;
MainMap.ShowCenter = false;
mw_gui.max_wp_number = gui_settings.max_wp_number;
mw_gui.wp_radius = gui_settings.wp_radius;
//Welcome message from Anna
if (gui_settings.speech_enabled)
{
speech = new SpeechSynthesizer();
speech.Rate = -2;
speech.SpeakAsync("Initialisation completed. Have a good flight!");
}
}
bool check_capability(int captocheck)
{
if ((mw_gui.capability & captocheck) > 0)
{
return true;
}
else
return false;
}
uint get_navi_version()
{
return (mw_gui.capability >> 28);
}
private void create_RC_Checkboxes(string[] names)
{
//Build indicator lamps array
indicators = new indicator_lamp[iCheckBoxItems];
int row = 0; int col = 0;
int startx = 459; int starty = 7;
for (int i = 0; i < iCheckBoxItems; i++)
{
indicators[i] = new indicator_lamp();
indicators[i].Location = new Point(startx + col * 67, starty + row * 19);
indicators[i].Visible = true;
indicators[i].Text = names[i];
indicators[i].indicator_color = 1;
this.splitContainer3.Panel1.Controls.Add(indicators[i]);
col++;
if (col == 2) { col = 0; row++; }
}
//Build a second indicator lamps array on Mission plane
indicators_mission = new indicator_lamp[iCheckBoxItems];
startx = this.splitContainer9.Panel1.Location.X + this.splitContainer9.Panel1.Width - 67;
starty = this.splitContainer9.Panel1.Location.Y + 20;
for (int i = 0; i < iCheckBoxItems; i++)
{
indicators_mission[i] = new indicator_lamp();
indicators_mission[i].Location = new Point(startx , starty + i * 19);
indicators_mission[i].Text = names[i];
indicators_mission[i].indicator_color = 1;
indicators_mission[i].Anchor = ( AnchorStyles.Right | AnchorStyles.Top );
indicators_mission[i].Visible = bShowGauges;
this.splitContainer9.Panel1.Controls.Add(indicators_mission[i]);
this.splitContainer9.Panel1.Controls.SetChildIndex(indicators_mission[i], 0);
}
//Build the RC control checkboxes structure
if (!check_capability(CAP.EXTENDED_AUX))
{
#region normal_aux_states
aux = new CheckBoxEx[4, 4, iCheckBoxItems];
startx = 200;
starty = 60;
int a, b, c;
for (c = 0; c < 4; c++)
{
for (a = 0; a < 3; a++)
{
for (b = 0; b < iCheckBoxItems; b++)
{
aux[c, a, b] = new CheckBoxEx();
aux[c, a, b].Location = new Point(startx + a * 18 + c * 70, starty + b * 25);
aux[c, a, b].Visible = true;
aux[c, a, b].Text = "";
aux[c, a, b].AutoSize = true;
aux[c, a, b].Size = new Size(16, 16);
aux[c, a, b].UseVisualStyleBackColor = true;
aux[c, a, b].CheckedChanged += new System.EventHandler(this.aux_checked_changed_event);
//Set info on the given checkbox position
aux[c, a, b].aux = c; //Which aux channel
aux[c, a, b].rclevel = a; //which rc level
aux[c, a, b].item = b; //Which item
this.tabPageRC.Controls.Add(aux[c, a, b]);
}
}
}
aux_labels = new System.Windows.Forms.Label[4];
lmh_labels = new System.Windows.Forms.Label[4, 3]; // aux1-4, L,M,H
string strlmh = "LMH";
for (a = 0; a < 4; a++)
{
aux_labels[a] = new System.Windows.Forms.Label();
aux_labels[a].Text = "AUX" + String.Format("{0:0}", a + 1);
aux_labels[a].Location = new Point(startx + a * 70 + 8, starty - 35);
aux_labels[a].AutoSize = true;
aux_labels[a].ForeColor = Color.White;
this.tabPageRC.Controls.Add(aux_labels[a]);
for (b = 0; b < 3; b++)
{
lmh_labels[a, b] = new System.Windows.Forms.Label();
lmh_labels[a, b].Text = strlmh.Substring(b, 1); ;
lmh_labels[a, b].Location = new Point(startx + a * 70 + b * 18, starty - 20);
lmh_labels[a, b].AutoSize = true;
lmh_labels[a, b].ForeColor = Color.White;
this.tabPageRC.Controls.Add(lmh_labels[a, b]);
}
}
cb_labels = new System.Windows.Forms.Label[20];
for (z = 0; z < iCheckBoxItems; z++)
{
cb_labels[z] = new System.Windows.Forms.Label();
cb_labels[z].Text = names[z];
cb_labels[z].Location = new Point(10, starty + z * 25);
cb_labels[z].Visible = true;
cb_labels[z].AutoSize = true;
cb_labels[z].ForeColor = Color.White;
cb_labels[z].TextAlign = ContentAlignment.MiddleRight;