private void CHK_speecharmdisarm_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speecharmenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "Armed";
if (Settings.Instance["speecharm"] != null)
{
speechstring = Settings.Instance["speecharm"];
}
if (DialogResult.Cancel == InputBox.Show("Arm", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speecharm"] = speechstring;
speechstring = "Disarmed";
if (Settings.Instance["speechdisarm"] != null)
{
speechstring = Settings.Instance["speechdisarm"];
}
if (DialogResult.Cancel == InputBox.Show("Disarmed", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechdisarm"] = speechstring;
}
}
private void chk_ADSB_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
if (((CheckBox)sender).Checked)
{
var server = "127.0.0.1";
if (Settings.Instance["adsbserver"] != null)
{
server = Settings.Instance["adsbserver"];
}
if (DialogResult.Cancel == InputBox.Show("Server", "Server IP?", ref server))
{
return;
}
Settings.Instance["adsbserver"] = server;
var port = "30003";
if (Settings.Instance["adsbport"] != null)
{
port = Settings.Instance["adsbport"];
}
if (DialogResult.Cancel == InputBox.Show("Server port", "Server port?", ref port))
{
return;
}
Settings.Instance["adsbport"] = port;
}
Settings.Instance["enableadsb"] = chk_ADSB.Checked.ToString();
MainV2.instance.EnableADSB = chk_ADSB.Checked;
}
private void CHK_speechlowspeed_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speechlowspeedenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "Low Ground Speed {gsp}";
if (Settings.Instance["speechlowgroundspeed"] != null)
{
speechstring = Settings.Instance["speechlowgroundspeed"];
}
if (DialogResult.Cancel ==
InputBox.Show("Ground Speed", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechlowgroundspeed"] = speechstring;
speechstring = "0";
if (Settings.Instance["speechlowgroundspeedtrigger"] != null)
{
speechstring = Settings.Instance["speechlowgroundspeedtrigger"];
}
if (DialogResult.Cancel ==
InputBox.Show("speed trigger", "What speed do you want to warn at (m/s)?", ref speechstring))
{
return;
}
Settings.Instance["speechlowgroundspeedtrigger"] = speechstring;
speechstring = "Low Air Speed {asp}";
if (Settings.Instance["speechlowairspeed"] != null)
{
speechstring = Settings.Instance["speechlowairspeed"];
}
if (DialogResult.Cancel == InputBox.Show("Air Speed", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechlowairspeed"] = speechstring;
speechstring = "0";
if (Settings.Instance["speechlowairspeedtrigger"] != null)
{
speechstring = Settings.Instance["speechlowairspeedtrigger"];
}
if (DialogResult.Cancel ==
InputBox.Show("speed trigger", "What speed do you want to warn at (m/s)?", ref speechstring))
{
return;
}
Settings.Instance["speechlowairspeedtrigger"] = speechstring;
}
}
private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "WARNING, Battery at {batv} Volt, {batp} percent";
if (Settings.Instance["speechbattery"] != null)
{
speechstring = Settings.Instance["speechbattery"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Notification", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechbattery"] = speechstring;
speechstring = "9.6";
if (Settings.Instance["speechbatteryvolt"] != null)
{
speechstring = Settings.Instance["speechbatteryvolt"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Battery Level", "What Voltage do you want to warn at?", ref speechstring))
{
return;
}
Settings.Instance["speechbatteryvolt"] = speechstring;
speechstring = "20";
if (Settings.Instance["speechbatterypercent"] != null)
{
speechstring = Settings.Instance["speechbatterypercent"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Battery Level", "What percentage do you want to warn at?", ref speechstring))
{
return;
}
Settings.Instance["speechbatterypercent"] = speechstring;
}
}
private void CHK_Password_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["password_protect"] = CHK_Password.Checked.ToString();
if (CHK_Password.Checked)
{
// keep this one local
string pw = "";
InputBox.Show("Enter Password", "Please enter a password", ref pw, true);
Password.EnterPassword(pw);
}
}
private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
if (Settings.Instance["speechcustom"] != null)
{
speechstring = Settings.Instance["speechcustom"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Notification", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechcustom"] = speechstring;
}
}
private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "Mode changed to {mode}";
if (Settings.Instance["speechmode"] != null)
{
speechstring = Settings.Instance["speechmode"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Notification", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechmode"] = speechstring;
}
}
private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
{
if (startup)
{
return;
}
Settings.Instance["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();
if (((CheckBox)sender).Checked)
{
var speechstring = "WARNING, low altitude {alt}";
if (Settings.Instance["speechalt"] != null)
{
speechstring = Settings.Instance["speechalt"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Notification", "What do you want it to say?", ref speechstring))
{
return;
}
Settings.Instance["speechalt"] = speechstring;
speechstring = "2";
if (Settings.Instance["speechaltheight"] != null)
{
speechstring = Settings.Instance["speechaltheight"].ToString();
}
if (DialogResult.Cancel ==
InputBox.Show("Min Alt", "What altitude do you want to warn at? (relative to home)",
ref speechstring))
{
return;
}
Settings.Instance["speechaltheight"] = (double.Parse(speechstring) / CurrentState.multiplieralt).ToString();
// save as m
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = Strings.Connect;
}
else
{
try
{
comPort.PortName = CMB_serialport.Text;
}
catch
{
CustomMessageBox.Show(Strings.InvalidPortName, Strings.ERROR);
return;
}
try
{
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch
{
CustomMessageBox.Show(Strings.InvalidBaudRate, Strings.ERROR);
return;
}
try
{
comPort.Open();
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorConnecting + "\n" + ex.ToString(), Strings.ERROR);
return;
}
string alt = "100";
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
alt = (10 * CurrentState.multiplierdist).ToString("0");
}
else
{
alt = (100 * CurrentState.multiplierdist).ToString("0");
}
if (DialogResult.Cancel == InputBox.Show("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
{
return;
}
intalt = (int)(100 * CurrentState.multiplierdist);
if (!int.TryParse(alt, out intalt))
{
CustomMessageBox.Show(Strings.InvalidAlt, Strings.ERROR);
return;
}
intalt = (int)(intalt / CurrentState.multiplierdist);
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "followme Input"
};
t12.Start();
BUT_connect.Text = Strings.Stop;
}
}
private void but_graphit_Click(object sender, EventArgs e)
{
InputBox.Show("Points", "Points of history?", ref history);
var form = new Form()
{
Size = new Size(640, 480)
};
var zg1 = new ZedGraphControl()
{
Dock = DockStyle.Fill
};
var path = selectedmsgid.Split('\\');
if (path.Length < 4)
{
return;
}
var sysid = int.Parse(path[0].Split(' ')[1]);
var compid = int.Parse(path[1].Split(' ')[1]);
var msgt = path[2];
var field = path[3];
var msgid = int.Parse(msgt.Split(new[] { '#', ')' })[1]);
var msgidfield = field.Split(' ')[0];
var line = new LineItem(msgt.Split(' ')[0] + "." + msgidfield, new RollingPointPairList(history), Color.Red, SymbolType.None);
zg1.GraphPane.Title.Text = "";
try
{
var msginfo = MAVLink.MAVLINK_MESSAGE_INFOS.First(a => a.msgid == msgid);
var typeofthing = msginfo.type.GetField(
msgidfield);
if (typeofthing != null)
{
var attrib = typeofthing.GetCustomAttributes(false);
if (attrib.Length > 0)
{
zg1.GraphPane.YAxis.Title.Text = attrib.OfType <MAVLink.Units>().First().Unit;
}
}
}
catch { }
zg1.GraphPane.CurveList.Add(line);
zg1.GraphPane.XAxis.Type = AxisType.Date;
zg1.GraphPane.XAxis.Scale.Format = "HH:mm:ss.fff";
zg1.GraphPane.XAxis.Scale.MajorUnit = DateUnit.Minute;
zg1.GraphPane.XAxis.Scale.MinorUnit = DateUnit.Second;
Color[] color = new Color[]
{ Color.Red, Color.Green, Color.Blue, Color.Black, Color.Violet, Color.Orange };
var timer = new Timer()
{
Interval = 100
};
EventHandler <MAVLink.MAVLinkMessage> opr = null;
opr = (e2, msg) =>
{
if (msg.msgid != msgid)
{
return;
}
if (msg.sysid != sysid)
{
return;
}
if (msg.compid != compid)
{
return;
}
var item = msg.data.GetPropertyOrField(msgidfield);
if (item is IEnumerable)
{
int a = 0;
foreach (var subitem in (IEnumerable)item)
{
if (subitem is IConvertible)
{
while (zg1.GraphPane.CurveList.Count < (a + 1))
{
zg1.GraphPane.CurveList.Add(new LineItem(msgidfield + "[" + a + "]",
new RollingPointPairList(history), color[a % color.Length], SymbolType.None));
}
zg1.GraphPane.CurveList[a].AddPoint(new XDate(msg.rxtime),
((IConvertible)subitem).ToDouble(null));
a++;
}
}
}
else if (item is IConvertible)
{
line.AddPoint(new XDate(msg.rxtime),
((IConvertible)item).ToDouble(null));
}
else
{
line.AddPoint(new XDate(msg.rxtime),
(double)(dynamic)item);
}
};
mav.OnPacketReceived += opr;
mav.OnPacketSent += opr;
timer.Tick += (o, args) =>
{
// Make sure the Y axis is rescaled to accommodate actual data
zg1.AxisChange();
// Force a redraw
zg1.Invalidate();
};
form.Controls.Add(zg1);
form.Closing += (o2, args2) => { mav.OnPacketReceived -= opr; mav.OnPacketSent -= opr; };
ThemeManager.ApplyThemeTo(form);
form.Show(this);
timer.Start();
but_graphit.Enabled = false;
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.S))
{
var exepath = CheckandGetSITLImage("ArduCopter.elf");
var model = "+";
var config = GetDefaultConfig(model);
var max = 10.0;
if (InputBox.Show("how many?", "how many?", ref max) != DialogResult.OK)
{
return(true);
}
max--;
for (int a = (int)max; a >= 0; a--)
{
var extra = " --disable-fgview -r50";
if (!string.IsNullOrEmpty(config))
{
extra += @" --defaults """ + config + @""" -P SERIAL0_PROTOCOL=2 -P SERIAL1_PROTOCOL=2 ";
}
var home = new PointLatLngAlt(markeroverlay.Markers[0].Position).newpos((double)NUM_heading.Value, a * 4);
if (max == a)
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "", a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
else
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "--uartD tcpclient:127.0.0.1:" + (5772 + 10 * a), a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
string simdir = sitldirectory + model + (a + 1) + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
string path = Environment.GetEnvironmentVariable("PATH");
Environment.SetEnvironmentVariable("PATH", sitldirectory + ";" + simdir + ";" + path, EnvironmentVariableTarget.Process);
Environment.SetEnvironmentVariable("HOME", simdir, EnvironmentVariableTarget.Process);
ProcessStartInfo exestart = new ProcessStartInfo();
exestart.FileName = exepath;
exestart.Arguments = extra;
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
File.AppendAllText(Settings.GetUserDataDirectory() + "sitl.bat", "mkdir " + (a + 1) + "\ncd " + (a + 1) + "\n" + @"""" + exepath + @"""" + " " + extra + " &\n");
File.AppendAllText(Settings.GetUserDataDirectory() + "sitl1.sh", "mkdir " + (a + 1) + "\ncd " + (a + 1) + "\n" + @"""../" + Path.GetFileName(exepath).Replace("C:", "/mnt/c").Replace("\\", "/").Replace(".exe", ".elf") + @"""" + " " + extra.Replace("C:", "/mnt/c").Replace("\\", "/") + " &\nsleep .3\ncd ..\n");
Process.Start(exestart);
}
try
{
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
return(true);
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return(true);
}
}
if (keyData == (Keys.Control | Keys.D))
{
var exepath = CheckandGetSITLImage("ArduCopter.elf");
var model = "+";
var config = GetDefaultConfig(model);
var max = 10.0;
if (InputBox.Show("how many?", "how many?", ref max) != DialogResult.OK)
{
return(true);
}
max--;
for (int a = (int)max; a >= 0; a--)
{
var extra = " --disable-fgview -r50 ";
if (!string.IsNullOrEmpty(config))
{
extra += @" --defaults """ + config + @""" -P SERIAL0_PROTOCOL=2 -P SERIAL1_PROTOCOL=2 ";
}
var home = new PointLatLngAlt(markeroverlay.Markers[0].Position).newpos((double)NUM_heading.Value, a * 4);
if (max == a)
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "", a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
else
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "" /*"--uartD tcpclient:127.0.0.1:" + (5770 + 10 * a)*/, a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
string simdir = sitldirectory + model + (a + 1) + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
string path = Environment.GetEnvironmentVariable("PATH");
Environment.SetEnvironmentVariable("PATH", sitldirectory + ";" + simdir + ";" + path, EnvironmentVariableTarget.Process);
Environment.SetEnvironmentVariable("HOME", simdir, EnvironmentVariableTarget.Process);
ProcessStartInfo exestart = new ProcessStartInfo();
exestart.FileName = exepath;
exestart.Arguments = extra;
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
Process.Start(exestart);
}
try
{
for (int a = (int)max; a >= 0; a--)
{
var mav = new MAVLinkInterface();
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760 + (10 * (a)));
mav.BaseStream = client;
//SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
MainV2.instance.doConnect(mav, "preset", "5760");
try
{
mav.GetParam("SYSID_THISMAV");
mav.setParam("SYSID_THISMAV", a + 1, true);
mav.GetParam("FRAME_CLASS");
mav.setParam("FRAME_CLASS", 1, true);
} catch { }
MainV2.Comports.Add(mav);
}
return(true);
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return(true);
}
}
return(base.ProcessCmdKey(ref msg, keyData));
}
