private void AmovPlanner_Load(object sender, EventArgs e)
{
AmovPlanner amov = new AmovPlanner();
amov.WindowState = FormWindowState.Maximized;
//************************************MAVLink对象* ****************************************
//dv1 = new Device(ConnectType.Tcp);//打开了设备，创建了数据读取类和用于更新UI的事件和委托函数
// dv1.linkEvent += Dv1_linkEvent;//绑定一个委托事件，用于读写线程( SerialReader)来触发这个UI显示事件
//this.Commandspanel.Visible = false
flightdata1.SuspendLayout();
devicecheck1.SuspendLayout();
flightdata1.Visible = false;
devicecheck1.Visible = false;
//System.Threading.Thread.Sleep(100000);占用较长时间
//数据加载完成通过实践通知
// SendMsg(sender, e);
}
Tool Tool = new Tool(); //自动读取设备的一个类，可以实现软件打开自动扫描设备类。
public AmovPlanner()
{
InitializeComponent();
CheckForIllegalCrossThreadCalls = false;
gbl_flag = new GBL_FLAG();
gbl_flag.flight = false; //地面站打开，系统默认为飞控不处于飞行状态
gbl_flag.bRoutePlan = false; //地面站打开，系统默认飞控不处于航线规划状态
massag_error = "";
//show_waypoint.Elapsed += new System.Timers.ElapsedEventHandler(theout);//到达时间的时候执行事件；
//show_waypoint.AutoReset = true;//设置是执行一次（false）还是一直执行(true)；
//show_waypoint.Enabled = true;//是否执行System.Timers.Timer.Elapsed事件；
FlightPlanner = new flightplanner(); //实例化路径规划类
devicecheck1.SuspendLayout(); // 进入时挂起控件
flightdata1.SuspendLayout();
instance = this;
//for (int i = 1; i <= 5; i++)//Tool类里面做了自动连接的配置，在Set文件中配置了连接类型，程序上电自动连接设备
//{
bool _have = false;
int n = 0;
for (n = 0; n < Tool.ConfSet.Count; n++)
{
//if (Tool.ConfSet[n].DeviceId == 1)
//{
_have = true;
break;
//}
}
if (_have)
{
Device dev = new Device();
if (Tool.ConfSet[n].IsComm)
{
dev.ConnectType = ConnectType.Com;
}
else
{
dev.ConnectType = ConnectType.Tcp;
}
dev.linkEvent += Dv1_linkEvent;
dev.Index = 1;
dev.ConnectState = Tool.ConfSet[n].IsConnect;
dev.ComPort = Tool.ConfSet[n].ComPort;
dev.IP = Tool.ConfSet[n].IP;
dev.Port = Tool.ConfSet[n].Port;
dev.Baud = 115200;
//if (dev.ConnectState)
//{
// dev.Start();
// dev.isOccupy = false;
//}
SorlistDevice.Add(1, dev);
//if (i == 1)
//{
dv1 = dev;
//}
}
else
{
Device dev = new Device(ConnectType.Tcp);
dev.ConnectState = false;
dev.Index = 1;
dev.linkEvent += Dv1_linkEvent;
dev.Baud = 115200;
SorlistDevice.Add(1, dev);
Set se = new Set();
se.DeviceId = 1;
se.IsConnect = false;
//if (i == 1)
//{
dv1 = dev;
//}
Tool.ConfSet.Add(se);
}
//}
//try
//{
// = ActiveChildForm(dllFormNameWithNameSpace);
// if (child != null)
// return child;
// loading ld = new loading();
// Action handler = new Action();
// handler.BeginInvoke(null, null); //在另外一个线程打开，否则会阻塞
// Form form = OpenPluginFormInMainDomain(dllFileSimpleName, dllFormNameWithNameSpace, initParam);
// if (form != null && form is Form)
// {
// child = form as Form;
// ((Fm11Base)child).RightsList = rightsList.ToLower();
// ((Fm11Base)child).OnLoadParams = onLoadParams;
// child.Text = tagTitle;
// child.MdiParent = (Form)this;
// child.FormClosed += Child_FormClosed;
// child.Show();
// child.WindowState = FormWindowState.Maximized;
// this.ActivateMdiChild(child);
// if (child.HasChildren)
// {
// child.Controls[0].Focus();
// }
// CloseLoadingForm();
// return child;
// }
// else
// {
// CloseLoadingForm();
// return null;
// throw new Exception("未找到窗体文件或加载了未知的窗体类型!");
// }
//}
//catch (Exception ex)
//{
// CloseLoadingForm();
// MyMsg.Information("窗体实例化出错,请重试.", ex.Message);
// return null;
//}
}