public void AddSchedule(CommandPacket command)
{
commandSchedule.Add(command);
}
public void ModifySchedule(int index, CommandPacket command)
{
commandSchedule[index] = command;
}
public CommandModifyForm(MainForm mainForm, DataGridViewRow dataRow)
{
InitializeComponent();
this.mainForm = mainForm;
this.rollPitchGraphic = this.rollPitchBox.CreateGraphics();
this.gazYawGraphic = this.gazYawBox.CreateGraphics();
this.redPen = new Pen(Color.Red, 2f);
this.bluePen = new Pen(Color.Blue, 2f);
this.rollPitchMouseDown = false;
this.rollPitchPoint = Point.Empty;
this.gazYawMouseDown = false;
this.gazYawPoint = Point.Empty;
this.isOK = false;
this.rollPitchBox.Paint += rollPitchBox_Paint;
this.gazYawBox.Paint += gazYawBox_Paint;
if (dataRow.Cells[GridViewConsts.COMMAND_TYPE].Value.Equals(CommandComboBoxConsts.TAKE_OFF))
{
this.packet = CommandPacketManager.CommandPack(DroneCommandType.DRONE_FLYING, DroneFlyingMode.TAKE_OFF);
this.commandComboBox.SelectedIndex = 0;
}
else if (dataRow.Cells[GridViewConsts.COMMAND_TYPE].Value.Equals(CommandComboBoxConsts.LAND))
{
this.packet = CommandPacketManager.CommandPack(DroneCommandType.DRONE_FLYING, DroneFlyingMode.TAKE_OFF);
this.commandComboBox.SelectedIndex = 1;
}
else if (dataRow.Cells[GridViewConsts.COMMAND_TYPE].Value.Equals(CommandComboBoxConsts.PILOTING))
{
sbyte roll = 0, pitch = 0, yaw = 0, gaz = 0;
short sustainTime = 0;
bool parseResult =
sbyte.TryParse((string)dataRow.Cells[GridViewConsts.ROLL].Value, out roll) &&
sbyte.TryParse((string)dataRow.Cells[GridViewConsts.PITCH].Value, out pitch) &&
sbyte.TryParse((string)dataRow.Cells[GridViewConsts.YAW].Value, out yaw) &&
sbyte.TryParse((string)dataRow.Cells[GridViewConsts.GAZ].Value, out gaz) &&
short.TryParse((string)dataRow.Cells[GridViewConsts.TIME].Value, out sustainTime);
if (!parseResult)
{
mainForm.ShowMessageBox("선택한 행의 데이터가 잘못되었습니다.");
this.Close();
return;
}
this.packet = CommandPacketManager.CommandPack(DroneCommandType.DRONE_PILOTING,
DroneFlyingMode.NONE,
roll,
pitch,
yaw,
gaz,
sustainTime);
this.rollPitchPoint = new Point((int)((((float)roll + 100) / 200) * this.rollPitchBox.Size.Width),
(int)(((-(float)pitch + 100) / 200) * this.rollPitchBox.Size.Height));
this.gazYawPoint = new Point((int)((((float)yaw + 100) / 200) * this.gazYawBox.Size.Width),
(int)(((-(float)gaz + 100) / 200) * this.gazYawBox.Size.Height));
this.rollPitchBox.Invalidate();
this.gazYawBox.Invalidate();
this.rollTextBox.Text = roll.ToString();
this.pitchTextBox.Text = pitch.ToString();
this.yawTextBox.Text = yaw.ToString();
this.gazTextBox.Text = gaz.ToString();
this.timeTextBox.Text = sustainTime.ToString();
}
}
