void UpdateFWList()
{
pdr = new ProgressReporterDialogue();
pdr.DoWork -= pdr_DoWork;
pdr.DoWork += pdr_DoWork;
ThemeManager.ApplyThemeTo(pdr);
pdr.RunBackgroundOperationAsync();
}
internal void Firmware_Load(object sender, EventArgs e)
{
pdr = new ProgressReporterDialogue();
pdr.DoWork -= pdr_DoWork;
pdr.DoWork += pdr_DoWork;
ThemeManager.ApplyThemeTo(pdr);
pdr.RunBackgroundOperationAsync();
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
CustomMessageBox.Show("Data will be collected for 60 seconds, Please click ok and move the apm around all axises");
ProgressReporterDialogue prd = new ProgressReporterDialogue();
Utilities.ThemeManager.ApplyThemeTo(prd);
prd.DoWork += prd_DoWork;
prd.RunBackgroundOperationAsync();
}
public static void DoUpdate()
{
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue()
{
Text = "Check for Updates",
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen
};
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += new ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync();
}
private void BUT_paramgen_Click(object sender, System.EventArgs e)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
prd.DoWork += dialogue =>
{
ParameterMetaDataParser.GetParameterInformation(
ConfigurationManager.AppSettings["ParameterLocationsBleeding"] + ";" +
ConfigurationManager.AppSettings["ParameterLocations"]);
ParameterMetaDataRepositoryAPM.Reload();
};
prd.doWorkArgs.ForceExit = true;
prd.RunBackgroundOperationAsync();
}
private void GetParameters(byte nodeID)
{
IProgressReporterDialogue prd = new ProgressReporterDialogue();
List <uavcan.uavcan_protocol_param_GetSet_res> paramlist =
new List <uavcan.uavcan_protocol_param_GetSet_res>();
prd.doWorkArgs.ForceExit = true;
prd.doWorkArgs.CancelRequestChanged += (sender2, args) => { prd.doWorkArgs.CancelAcknowledged = true; };
prd.DoWork += dialogue => { paramlist = can.GetParameters(nodeID); };
prd.UpdateProgressAndStatus(-1, Strings.GettingParams);
prd.RunBackgroundOperationAsync();
if (!prd.doWorkArgs.CancelRequested)
{
new UAVCANParams(can, nodeID, paramlist).ShowUserControl();
}
}
void doUI(string inputfn, string outputfn, bool showui = true)
{
this.inputfn = inputfn;
this.outputfn = outputfn;
prd = new ProgressReporterDialogue();
prd.DoWork += prd_DoWork;
prd.UpdateProgressAndStatus(-1, Strings.Converting_bin_to_log);
this.convertstatus += BinaryLog_convertstatus;
ThemeManager.ApplyThemeTo(prd);
prd.RunBackgroundOperationAsync();
prd.Dispose();
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
MainV2.comPort.MAV.cs.ratesensors = 2;
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors);
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
MainV2.comPort.setParam("MAG_ENABLE", 1);
CustomMessageBox.Show("Data will be collected for 60 seconds, Please click ok and move the apm around all axises");
ProgressReporterDialogue prd = new ProgressReporterDialogue();
Utilities.ThemeManager.ApplyThemeTo(prd);
prd.DoWork += prd_DoWork;
prd.RunBackgroundOperationAsync();
}
public void Open()
{
if (client.Client.Connected)
{
log.Info("udpserial socket already open");
return;
}
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting Mavlink UDP"
};
frmProgressReporter.DoWork += frmProgressReporter_DoWork;
frmProgressReporter.UpdateProgressAndStatus(-1, "Connecting Mavlink UDP");
frmProgressReporter.RunBackgroundOperationAsync();
}
public static void DownloadGStreamer()
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
ThemeManager.ApplyThemeTo(prd);
prd.DoWork += sender =>
{
GStreamer.DownloadGStreamer(((i, s) =>
{
prd.UpdateProgressAndStatus(i, s);
if (prd.doWorkArgs.CancelRequested)
{
throw new Exception("User Request");
}
}));
};
prd.RunBackgroundOperationAsync();
GStreamer.gstlaunch = GStreamer.LookForGstreamer();
}
private void BUT_paramgen_Click(object sender, System.EventArgs e)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
prd.DoWork += dialogue =>
{
prd.UpdateProgressAndStatus(-1, "Downloading updated data");
ParameterMetaDataParser.GetParameterInformation(
ConfigurationManager.AppSettings["ParameterLocationsBleeding"] + ";" +
ConfigurationManager.AppSettings["ParameterLocations"] + ";"
+ "https://raw.githubusercontent.com/BeagleSystems/ardupilot/master/ArduPlane/Parameters.cpp;");
ParameterMetaDataRepositoryAPM.Reload();
};
prd.doWorkArgs.CancelRequestChanged += (sender2, args) => { prd.doWorkArgs.CancelAcknowledged = true; };
prd.doWorkArgs.ForceExit = true;
prd.RunBackgroundOperationAsync();
}
public int WizardValidate()
{
comport = CMB_port.Text;
pdr = new ProgressReporterDialogue();
pdr.DoWork -= pdr_DoWork;
pdr.DoWork += pdr_DoWork;
ThemeManager.ApplyThemeTo(pdr);
pdr.RunBackgroundOperationAsync();
MainV2.comPort.BaseStream.BaudRate = 115200;
MainV2.comPort.BaseStream.PortName = comport;
MainV2.comPort.Open(true);
if (!MainV2.comPort.BaseStream.IsOpen)
{
return(0);
}
if (string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
{
if (Wizard.config["fwtype"].ToString() == "copter")
{
// check if its a quad, and show the frame type screen
return(1);
}
else
{
// skip the frame type screen as its not valid for anythine else
return(2);
}
}
return(0);
}
private void BUT_paramgen_Click(object sender, System.EventArgs e)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
prd.DoWork += dialogue =>
{
prd.UpdateProgressAndStatus(-1, "Downloading updated data");
ParameterMetaDataParser.GetParameterInformation(
ConfigurationManager.AppSettings["ParameterLocationsBleeding"] + ";" +
ConfigurationManager.AppSettings["ParameterLocations"] + ";"
+ "https://raw.githubusercontent.com/ArduPilot/ardupilot/Copter-3.6/ArduCopter/Parameters.cpp;" +
"https://raw.githubusercontent.com/ArduPilot/ardupilot/Copter-3.5/ArduCopter/Parameters.cpp;" +
"https://raw.githubusercontent.com/ArduPilot/ardupilot/plane3.9/ArduCopter/Parameters.cpp;" +
"https://raw.githubusercontent.com/ArduPilot/ardupilot/plane3.8/ArduCopter/Parameters.cpp;");
ParameterMetaDataRepositoryAPM.Reload();
};
prd.doWorkArgs.ForceExit = true;
prd.RunBackgroundOperationAsync();
}
public void Open()
{
if (client.Client.Connected || IsOpen)
{
log.Info("udpserial socket already open");
return;
}
client.Close();
string dest = Port;
dest = OnSettings("UDP_port", dest);
if (System.Windows.Forms.DialogResult.Cancel == InputBox.Show("Listern Port", "Enter Local port (ensure remote end is already sending)", ref dest))
{
return;
}
Port = dest;
OnSettings("UDP_port", Port, true);
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting UDP"
};
ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += frmProgressReporter_DoWork;
frmProgressReporter.UpdateProgressAndStatus(-1, "Connecting UDP");
frmProgressReporter.RunBackgroundOperationAsync();
frmProgressReporter.Dispose();
}
public static void DoUpdate()
{
if (Program.WindowsStoreApp)
{
CustomMessageBox.Show(Strings.Not_available_when_used_as_a_windows_store_app);
return;
}
IProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue()
{
Text = "Check for Updates",
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen
};
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += new DoWorkEventHandler(DoUpdateWorker_DoWork);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync();
frmProgressReporter.Dispose();
}
public static void DoUpdate()
{
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue()
{
Text = "Check for Updates",
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen
};
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync();
}
public int WizardValidate()
{
comport = CMB_port.Text;
if (comport == "")
{
CustomMessageBox.Show("Please select a comport", "error");
return(0);
}
if (!fwdone)
{
pdr = new ProgressReporterDialogue();
pdr.DoWork += pdr_DoWork;
ThemeManager.ApplyThemeTo(pdr);
pdr.RunBackgroundOperationAsync();
if (pdr.doWorkArgs.CancelRequested || !string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
{
return(0);
}
}
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
// setup for over usb
MainV2.comPort.BaseStream.BaudRate = 115200;
MainV2.comPort.BaseStream.PortName = comport;
MainV2.comPort.Open(true);
// try again
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Error connecting. Please unplug, plug back in, wait 10 seconds, and click OK", "Try Again");
MainV2.comPort.Open(true);
}
if (!MainV2.comPort.BaseStream.IsOpen)
{
return(0);
}
if (string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
{
if (Wizard.config["fwtype"].ToString() == "copter")
{
// check if its a quad, and show the frame type screen
return(1);
}
else
{
// skip the frame type screen as its not valid for anythine else
return(2);
}
}
return(0);
}
private void FirmwareUpdate(byte nodeID, bool beta = false)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
uavcan.FileSendProgressArgs filesend = (id, file, percent) =>
{
prd.UpdateProgressAndStatus((int)percent, id + " " + file);
};
can.FileSendProgress += filesend;
var devicename = can.GetNodeName(nodeID);
var hwversion =
double.Parse(
can.NodeInfo[nodeID].hardware_version.major + "." + can.NodeInfo[nodeID].hardware_version.minor,
CultureInfo.InvariantCulture);
if (CustomMessageBox.Show("Do you want to search the internet for an update?", "Update",
CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
var url = can.LookForUpdate(devicename, hwversion, beta);
if (url != string.Empty)
{
try
{
var cancel = new CancellationTokenSource();
prd.DoWork += dialogue =>
{
prd.UpdateProgressAndStatus(5, "Download FW");
var tempfile = Path.GetTempFileName();
Download.getFilefromNet(url, tempfile);
uavcan.FileSendCompleteArgs file = (p, s) =>
{
prd.UpdateProgressAndStatus(100, "File send complete");
};
uavcan.FileSendProgressArgs fileprog = (n, f, p) =>
{
prd.UpdateProgressAndStatus((int)p, f);
};
can.FileSendComplete += file;
can.FileSendProgress += fileprog;
try
{
can.Update(nodeID, devicename, hwversion, tempfile, cancel.Token);
}
catch (Exception)
{
throw;
}
finally
{
can.FileSendComplete -= file;
can.FileSendProgress -= fileprog;
}
return;
};
prd.btnCancel.Click += (sender, args) =>
{
prd.doWorkArgs.CancelAcknowledged = true;
cancel.Cancel();
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
else
{
CustomMessageBox.Show(Strings.UpdateNotFound, Strings.UpdateNotFound);
}
}
else
{
FileDialog fd = new OpenFileDialog();
fd.RestoreDirectory = true;
fd.Filter = "*.bin|*.bin";
var dia = fd.ShowDialog();
if (fd.CheckFileExists && dia == DialogResult.OK)
{
uavcan.FileSendCompleteArgs file = (p, s) =>
{
prd.UpdateProgressAndStatus(100, "File send complete");
};
uavcan.FileSendProgressArgs fileprog = (n, f, p) =>
{
prd.UpdateProgressAndStatus((int)p, f);
};
can.FileSendComplete += file;
can.FileSendProgress += fileprog;
try
{
var cancel = new CancellationTokenSource();
prd.DoWork += dialogue =>
{
can.Update(nodeID,
devicename, 0,
fd.FileName, cancel.Token);
return;
};
prd.btnCancel.Click += (sender, args) =>
{
prd.doWorkArgs.CancelAcknowledged = true;
cancel.Cancel();
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
finally
{
can.FileSendComplete -= file;
can.FileSendProgress -= fileprog;
}
}
}
can.FileSendProgress -= filesend;
prd.Dispose();
}
private async void myDataGridView1_CellClick(object sender, DataGridViewCellEventArgs e)
{
// Ignore clicks that are not on button cells.
if (e.RowIndex < 0 || e.ColumnIndex !=
myDataGridView1.Columns["updateDataGridViewTextBoxColumn"].Index &&
e.ColumnIndex != myDataGridView1.Columns["Parameter"].Index)
{
return;
}
byte nodeID = (byte)myDataGridView1[iDDataGridViewTextBoxColumn.Index, e.RowIndex].Value;
if (e.ColumnIndex == myDataGridView1.Columns["Parameter"].Index)
{
var paramlist = can.GetParameters(nodeID);
new UAVCANParams(can, nodeID, paramlist).ShowUserControl();
}
else if (e.ColumnIndex == myDataGridView1.Columns["updateDataGridViewTextBoxColumn"].Index)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
uavcan.FileSendProgressArgs filesend = (id, file, percent) =>
{
prd.UpdateProgressAndStatus((int)percent, id + " " + file);
};
can.FileSendProgress += filesend;
if (CustomMessageBox.Show("Do you want to search the internet for an update?", "Update", CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
var devicename = myDataGridView1[nameDataGridViewTextBoxColumn.Index, e.RowIndex].Value.ToString();
var hwversion = double.Parse(myDataGridView1[hardwareVersionDataGridViewTextBoxColumn.Index, e.RowIndex].Value.ToString(), CultureInfo.InvariantCulture);
var url = can.LookForUpdate(devicename, hwversion);
if (url != string.Empty)
{
try
{
prd.DoWork += dialogue =>
{
var tempfile = Path.GetTempFileName();
Download.getFilefromNet(url, tempfile);
can.Update(nodeID, devicename, hwversion, tempfile);
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
else
{
CustomMessageBox.Show(Strings.UpdateNotFound, Strings.UpdateNotFound);
}
}
else
{
FileDialog fd = new OpenFileDialog();
fd.RestoreDirectory = true;
fd.Filter = "*-crc.bin|*-crc.bin";
var dia = fd.ShowDialog();
if (fd.CheckFileExists && dia == DialogResult.OK)
{
try
{
prd.DoWork += dialogue =>
{
can.Update(nodeID, myDataGridView1[nameDataGridViewTextBoxColumn.Index, e.RowIndex].Value.ToString(), 0,
fd.FileName);
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
}
can.FileSendProgress -= filesend;
prd.Dispose();
}
}
private void SetupSLCanPort(ICommsSerial port)
{
//check if we started from within mavlink - if not get settings from menu and create port
if (port == null || !port.IsOpen)
{
switch (MainV2._connectionControl.CMB_serialport.Text)
{
case "TCP":
port = new TcpSerial();
break;
case "UDP":
port = new UdpSerial();
break;
case "WS":
port = new WebSocket();
break;
case "UDPCl":
port = new UdpSerialConnect();
break;
default:
port = new SerialPort()
{
PortName = MainV2._connectionControl.CMB_serialport.Text,
BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text)
};
break;
}
}
if (can == null)
{
can = new DroneCAN.DroneCAN();
}
can.SourceNode = 127;
can.NodeAdded += (id, msg) =>
{
this.BeginInvoke((Action) delegate
{
allnodes.Add(new DroneCANModel()
{
ID = id,
Name = "?",
Health = msg.health.ToString(),
Mode = msg.mode.ToString(),
Uptime = TimeSpan.FromSeconds(msg.uptime_sec),
VSC = msg.vendor_specific_status_code
});
uAVCANModelBindingSource.ResetBindings(false);
});
};
if (!port.IsOpen)
{
try
{
port.Open();
}
catch (Exception)
{
CustomMessageBox.Show(Strings.CheckPortSettingsOr);
return;
}
}
if (chk_log.Checked)
{
can.LogFile = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".can";
}
var prd = new ProgressReporterDialogue();
prd.UpdateProgressAndStatus(-1, "Trying to connect");
prd.DoWork += sender => can.StartSLCAN(port.BaseStream);
prd.btnCancel.Click += (sender, args) =>
{
prd.doWorkArgs.CancelAcknowledged = true;
port.Close();
};
prd.RunBackgroundOperationAsync();
if (prd.doWorkArgs.CancelRequested || prd.doWorkArgs.ErrorMessage != null)
{
return;
}
can.SetupFileServer();
can.SetupDynamicNodeAllocator();
can.MessageReceived += (frame, msg, transferID) =>
{
if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_NodeStatus))
{
var ns = msg as DroneCAN.DroneCAN.uavcan_protocol_NodeStatus;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
if (nodes.Count() > 0 && nodes.First().Name == "?")
{
var statetracking = new DroneCAN.DroneCAN.statetracking();
// get node info
DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req gnireq =
new DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req()
{
};
gnireq.encode(DroneCAN.DroneCAN.dronecan_transmit_chunk_handler, statetracking);
var slcan = can.PackageMessageSLCAN(frame.SourceNode, 30, 0, gnireq);
can.WriteToStreamSLCAN(slcan);
}
foreach (var item in nodes)
{
switch (ns.health)
{
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK:
item.Health = "OK";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_WARNING:
item.Health = "WARNING";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_ERROR:
item.Health = "ERROR";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_CRITICAL:
item.Health = "CRITICAL";
break;
}
switch (ns.mode)
{
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL:
item.Mode = "OPERATIONAL";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION:
item.Mode = "INITIALIZATION";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE:
item.Mode = "MAINTENANCE";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:
item.Mode = "SOFTWARE_UPDATE";
break;
case (byte)DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_OFFLINE:
item.Mode = "OFFLINE";
break;
}
item.Uptime = TimeSpan.FromSeconds(ns.uptime_sec);
}
_updatePending = true;
}
else if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res))
{
var gnires = msg as DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
foreach (var item in nodes)
{
item.Name = ASCIIEncoding.ASCII.GetString(gnires.name, 0, gnires.name_len);
item.HardwareVersion = gnires.hardware_version.major + "." + gnires.hardware_version.minor;
item.SoftwareVersion = gnires.software_version.major + "." + gnires.software_version.minor + "." +
gnires.software_version.vcs_commit.ToString("X");
item.SoftwareCRC = gnires.software_version.image_crc;
item.HardwareUID = gnires.hardware_version.unique_id.Select(a => a.ToString("X2")).Aggregate((a, b) =>
{
return(a + " " + b);
});
item.RawMsg = gnires;
item.VSC = gnires.status.vendor_specific_status_code;
}
_updatePending = true;
}
else if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_debug_LogMessage))
{
var debug = msg as DroneCAN.DroneCAN.uavcan_protocol_debug_LogMessage;
this.BeginInvoke((Action) delegate()
{
DGDebug.Rows.Insert(0, new object[]
{
frame.SourceNode, debug.level.value,
ASCIIEncoding.ASCII.GetString(debug.source, 0, debug.source_len),
ASCIIEncoding.ASCII.GetString(debug.text, 0, debug.text_len)
});
if (DGDebug.Rows.Count > 100)
{
DGDebug.Rows.RemoveAt(DGDebug.Rows.Count - 1);
}
});
}
};
}
private void WriteParameters(bool silent)
{
if (!osdSettings.Any(o => o.Changed))
{
if (!silent)
{
CustomMessageBox.Show("No Changes to Write!");
}
return;
}
if (!CheckConnected())
{
return;
}
var dialog = new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = "Writing changes..."
};
CancellationTokenSource cts = new CancellationTokenSource();
var cancellationToken = cts.Token;
List <string> failed = null;
dialog.DoWork += (s) =>
{
foreach (var p in osdSettings.Where(o => o.Changed))
{
if (cancellationToken.IsCancellationRequested)
{
break;
}
try
{
MainV2.comPort.setParam(p.Name, p.Value);
p.ClearChanged();
}
catch
{
(failed ?? (failed = new List <string>())).Add(p.Name);
}
}
};
dialog.doWorkArgs.CancelRequestChanged += (s, e) =>
{
if (dialog.doWorkArgs.CancelRequested)
{
cts.Cancel();
}
};
dialog.RunBackgroundOperationAsync();
if (!silent && null != failed)
{
var failedParamsEnum = string.Join(", ", failed.Take(3)) + (failed.Count > 3 ? "..." : "");
CustomMessageBox.Show($"Write Failed for {failed.Count} params: {failedParamsEnum}");
}
}
public void startslcan(byte canport)
{
but_slcanmode1.Enabled = false;
but_slcanmode2.Enabled = false;
try
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
if (CustomMessageBox.Show(
"You are not currently connected via mavlink. Please make sure the device is already in slcan mode or this is the slcan serialport.",
"SLCAN", CustomMessageBox.MessageBoxButtons.OKCancel) != CustomMessageBox.DialogResult.OK)
{
return;
}
}
if (MainV2.comPort.BaseStream.IsOpen)
{
var cport = MainV2.comPort.MAV.param["CAN_SLCAN_CPORT"].Value;
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_SLCAN_CPORT", canport, true);
if (cport == 0)
{
CustomMessageBox.Show("Reboot required" + " after setting CPORT. Please reboot!",
Strings.ERROR);
return;
}
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_SLCAN_TIMOUT", 2, true);
MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
"CAN_P" + canport + "_DRIVER", 1);
//MainV2.comPort.setParam((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent, "CAN_SLCAN_SERNUM", 0, true); // usb
// blind send
var paramname = "CAN_SLCAN_SERNUM";
var req = new MAVLink.mavlink_param_set_t
{
target_system = (byte)MainV2.comPort.sysidcurrent,
target_component = (byte)MainV2.comPort.compidcurrent,
param_type = (byte)MainV2.comPort
.MAVlist[(byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent]
.param_types[paramname],
param_id = paramname.MakeBytesSize(16)
};
MainV2.comPort.sendPacket(req, (byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent);
MainV2.comPort.sendPacket(req, (byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent);
}
}
catch
{
}
{
// grab the connected port
var port = MainV2.comPort.BaseStream;
// place an invalid port in its place
if (port != null)
{
MainV2.comPort.BaseStream = new Comms.SerialPort()
{
PortName = port.PortName, BaudRate = port.BaudRate
}
}
;
//check if we started from within mavlink - if not get settings from menu and create port
if (port == null || !port.IsOpen)
{
port = new Comms.SerialPort()
{
PortName = MainV2._connectionControl.CMB_serialport.Text,
BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text)
};
}
if (can == null)
{
can = new uavcan();
}
can.SourceNode = 127;
can.NodeAdded += (id, msg) =>
{
this.BeginInvoke((Action) delegate
{
allnodes.Add(new UAVCANModel()
{
ID = id,
Name = "?",
Health = msg.health.ToString(),
Mode = msg.mode.ToString(),
Uptime = TimeSpan.FromSeconds(msg.uptime_sec),
VSC = msg.vendor_specific_status_code
});
});
};
if (!port.IsOpen)
{
try
{
port.Open();
}
catch (Exception e)
{
CustomMessageBox.Show(Strings.CheckPortSettingsOr);
return;
}
}
if (chk_log.Checked)
{
can.LogFile = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".can";
}
var prd = new ProgressReporterDialogue();
prd.UpdateProgressAndStatus(-1, "Trying to connect");
prd.DoWork += sender => can.StartSLCAN(port.BaseStream);
prd.btnCancel.Click += (sender, args) =>
{
prd.doWorkArgs.CancelAcknowledged = true;
port.Close();
};
prd.RunBackgroundOperationAsync();
if (prd.doWorkArgs.CancelRequested || prd.doWorkArgs.ErrorMessage != null)
{
return;
}
can.SetupFileServer();
can.SetupDynamicNodeAllocator();
can.MessageReceived += (frame, msg, transferID) =>
{
if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_NodeStatus))
{
var ns = msg as UAVCAN.uavcan.uavcan_protocol_NodeStatus;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
if (nodes.Count() > 0 && nodes.First().Name == "?")
{
var statetracking = new UAVCAN.uavcan.statetracking();
// get node info
UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_req gnireq = new UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_req()
{
};
gnireq.encode(UAVCAN.uavcan.uavcan_transmit_chunk_handler, statetracking);
var slcan = can.PackageMessage(frame.SourceNode, 30, 0, gnireq);
can.WriteToStream(slcan);
}
foreach (var item in nodes)
{
switch (ns.health)
{
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK:
item.Health = "OK";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_WARNING:
item.Health = "WARNING";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_ERROR:
item.Health = "ERROR";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_HEALTH_CRITICAL:
item.Health = "CRITICAL";
break;
}
switch (ns.mode)
{
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL:
item.Mode = "OPERATIONAL";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION:
item.Mode = "INITIALIZATION";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE:
item.Mode = "MAINTENANCE";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:
item.Mode = "SOFTWARE_UPDATE";
break;
case (byte)UAVCAN.uavcan.UAVCAN_PROTOCOL_NODESTATUS_MODE_OFFLINE:
item.Mode = "OFFLINE";
break;
}
item.Uptime = TimeSpan.FromSeconds(ns.uptime_sec);
}
_updatePending = true;
this.BeginInvoke((Action) delegate
{
if (_updatePending)
{
_updatePending = false;
uAVCANModelBindingSource.ResetBindings(false);
}
});
}
else if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_res))
{
var gnires = msg as UAVCAN.uavcan.uavcan_protocol_GetNodeInfo_res;
var nodes = allnodes.Where((a) => a.ID == frame.SourceNode);
foreach (var item in nodes)
{
item.Name = ASCIIEncoding.ASCII.GetString(gnires.name, 0, gnires.name_len);
item.HardwareVersion = gnires.hardware_version.major + "." + gnires.hardware_version.minor;
item.SoftwareVersion = gnires.software_version.major + "." + gnires.software_version.minor + "." + gnires.software_version.vcs_commit.ToString("X");
item.SoftwareCRC = gnires.software_version.image_crc;
item.HardwareUID = gnires.hardware_version.unique_id.Select(a => a.ToString("X2")).Aggregate((a, b) =>
{
return(a + " " + b);
});
item.RawMsg = gnires;
item.VSC = gnires.status.vendor_specific_status_code;
}
_updatePending = true;
this.BeginInvoke((Action) delegate
{
if (_updatePending)
{
_updatePending = false;
uAVCANModelBindingSource.ResetBindings(false);
}
});
}
else if (msg.GetType() == typeof(UAVCAN.uavcan.uavcan_protocol_debug_LogMessage))
{
var debug = msg as UAVCAN.uavcan.uavcan_protocol_debug_LogMessage;
this.BeginInvoke((Action) delegate()
{
DGDebug.Rows.Insert(0, new object[]
{
frame.SourceNode, debug.level.value,
ASCIIEncoding.ASCII.GetString(debug.source, 0, debug.source_len),
ASCIIEncoding.ASCII.GetString(debug.text, 0, debug.text_len)
});
if (DGDebug.Rows.Count > 100)
{
DGDebug.Rows.RemoveAt(DGDebug.Rows.Count - 1);
}
});
}
};
}
}
UAVCAN.uavcan can = new UAVCAN.uavcan();
private void FirmwareUpdate(byte nodeID)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
uavcan.FileSendProgressArgs filesend = (id, file, percent) =>
{
prd.UpdateProgressAndStatus((int)percent, id + " " + file);
};
can.FileSendProgress += filesend;
var devicename = can.NodeInfo[nodeID].name.Aggregate("", (a, b) => a + (char)b).ToString();
var hwversion =
double.Parse(
can.NodeInfo[nodeID].hardware_version.major + "." + can.NodeInfo[nodeID].hardware_version.minor,
CultureInfo.InvariantCulture);
if (CustomMessageBox.Show("Do you want to search the internet for an update?", "Update",
CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
var usebeta = false;
if (CustomMessageBox.Show("Do you want to search for a beta firmware? (not recommended)", "Update",
CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
usebeta = true;
}
var url = can.LookForUpdate(devicename, hwversion, usebeta);
if (url != string.Empty)
{
try
{
prd.DoWork += dialogue =>
{
var tempfile = Path.GetTempFileName();
Download.getFilefromNet(url, tempfile);
try
{
can.Update(nodeID, devicename, hwversion, tempfile);
}
catch (Exception ex)
{
throw;
}
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
else
{
CustomMessageBox.Show(Strings.UpdateNotFound, Strings.UpdateNotFound);
}
}
else
{
FileDialog fd = new OpenFileDialog();
fd.RestoreDirectory = true;
fd.Filter = "*.bin|*.bin";
var dia = fd.ShowDialog();
if (fd.CheckFileExists && dia == DialogResult.OK)
{
try
{
prd.DoWork += dialogue =>
{
can.Update(nodeID,
devicename, 0,
fd.FileName);
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
}
can.FileSendProgress -= filesend;
prd.Dispose();
}
private async void myDataGridView1_CellClick(object sender, DataGridViewCellEventArgs e)
{
// Ignore clicks that are not on button cells.
if (e.RowIndex < 0)
{
return;
}
try {
byte nodeID = (byte)myDataGridView1[iDDataGridViewTextBoxColumn.Index, e.RowIndex].Value;
if (e.ColumnIndex == myDataGridView1.Columns["Parameter"].Index)
{
IProgressReporterDialogue prd = new ProgressReporterDialogue();
List <uavcan.uavcan_protocol_param_GetSet_res> paramlist =
new List <uavcan.uavcan_protocol_param_GetSet_res>();
prd.doWorkArgs.ForceExit = true;
prd.doWorkArgs.CancelRequestChanged += (sender2, args) => { prd.doWorkArgs.CancelAcknowledged = true; };
prd.DoWork += dialogue =>
{
paramlist = can.GetParameters(nodeID);
};
prd.UpdateProgressAndStatus(-1, Strings.GettingParams);
prd.RunBackgroundOperationAsync();
if (!prd.doWorkArgs.CancelRequested)
{
new UAVCANParams(can, nodeID, paramlist).ShowUserControl();
}
}
else if (e.ColumnIndex == myDataGridView1.Columns["Restart"].Index)
{
can.RestartNode(nodeID);
}
else if (e.ColumnIndex == myDataGridView1.Columns["updateDataGridViewTextBoxColumn"].Index)
{
ProgressReporterDialogue prd = new ProgressReporterDialogue();
uavcan.FileSendProgressArgs filesend = (id, file, percent) =>
{
prd.UpdateProgressAndStatus((int)percent, id + " " + file);
};
can.FileSendProgress += filesend;
if (CustomMessageBox.Show("Do you want to search the internet for an update?", "Update",
CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
var devicename = myDataGridView1[nameDataGridViewTextBoxColumn.Index, e.RowIndex].Value.ToString();
var hwversion =
double.Parse(
myDataGridView1[hardwareVersionDataGridViewTextBoxColumn.Index, e.RowIndex].Value
.ToString(), CultureInfo.InvariantCulture);
var usebeta = false;
if (CustomMessageBox.Show("Do you want to search for a beta firmware? (not recommended)", "Update",
CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
usebeta = true;
}
var url = can.LookForUpdate(devicename, hwversion, usebeta);
if (url != string.Empty)
{
try
{
prd.DoWork += dialogue =>
{
var tempfile = Path.GetTempFileName();
Download.getFilefromNet(url, tempfile);
try
{
can.Update(nodeID, devicename, hwversion, tempfile);
}
catch (Exception ex)
{
throw;
}
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
else
{
CustomMessageBox.Show(Strings.UpdateNotFound, Strings.UpdateNotFound);
}
}
else
{
FileDialog fd = new OpenFileDialog();
fd.RestoreDirectory = true;
fd.Filter = "*.bin|*.bin";
var dia = fd.ShowDialog();
if (fd.CheckFileExists && dia == DialogResult.OK)
{
try
{
prd.DoWork += dialogue =>
{
can.Update(nodeID, myDataGridView1[nameDataGridViewTextBoxColumn.Index, e.RowIndex].Value.ToString(), 0,
fd.FileName);
return;
};
prd.RunBackgroundOperationAsync();
}
catch (Exception ex)
{
CustomMessageBox.Show(ex.Message, Strings.ERROR);
}
}
}
can.FileSendProgress -= filesend;
prd.Dispose();
}
} catch
{
}
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
CustomMessageBox.Show("Data will be collected for 60 seconds, Please click ok and move the apm around all axises");
ProgressReporterDialogue prd = new ProgressReporterDialogue();
Utilities.ThemeManager.ApplyThemeTo(prd);
prd.DoWork += prd_DoWork;
prd.RunBackgroundOperationAsync();
}
public void Open()
{
if (client.Client.Connected)
{
log.Info("udpserial socket already open");
return;
}
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting Mavlink UDP"
};
frmProgressReporter.DoWork += frmProgressReporter_DoWork;
frmProgressReporter.UpdateProgressAndStatus(-1, "Connecting Mavlink UDP");
frmProgressReporter.RunBackgroundOperationAsync();
}
private void UpdateOsdTuningSlots(SetupDialog.Change[] changes)
{
if (!CheckConnected())
{
return;
}
var dialog = new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = "Updating Parameters..."
};
var errors = new List <string>();
int responseCount = 0;
dialog.DoWork += (s) =>
{
using (var osdParamsProvider = new OsdTuningSlotProvider())
{
var lastResponseTime = DateTime.Now;
osdParamsProvider.OnParamSetResponce += r =>
{
responseCount++;
lastResponseTime = DateTime.Now;
if (!r.Success)
{
errors.Add($"Screen {r.Screen} Slot {r.Index}: Update Failed");
}
};
foreach (var change in changes)
{
if (dialog.doWorkArgs.CancelRequested)
{
break;
}
osdParamsProvider.ParamSet(change.Screen, change.Index, change.ParamName,
(OSD_PARAM_CONFIG_TYPE)change.Type,
(float)change.Min, (float)change.Max, (float)change.Increment);
}
while (responseCount < changes.Length && (DateTime.Now - lastResponseTime).TotalSeconds < 10)
{
Thread.Sleep(100);
}
}
};
dialog.RunBackgroundOperationAsync();
if (dialog.doWorkArgs.CancelRequested)
{
return;
}
if (responseCount != changes.Length)
{
errors.Add($"Got {responseCount} responses of {changes.Length} requests");
}
if (errors.Any())
{
var errorMsg = string.Join(Environment.NewLine, errors);
CustomMessageBox.Show(errorMsg);
}
}